Internal force-coupling dynamic suppression strategy for redundantly-actuated hydraulic shaking table

When the motion range of redundant shaking table is large, adopting the linearization near the zero position to control the degrees of freedom (DOF) and suppress internal force coupling can result in large motion errors and poor internal force suppressing performance. In order to solve this problem, a kinematics model and a kinetic model are constructed for a redundantly-actuated hydraulic shaking table of two redundant DOFs and large motion range, and the internal force space structure of the shaking table is analyzed. Then, an internal force-coupling dynamic suppression strategy is proposed on the basis of the real-time solution of internal force space basis. In this strategy, the internal force of the shaking table is reduced by real-time acquiring and dynamically suppressing the force of redundant DOF space. Simulation results show that the proposed strategy can reduce the internal force of redundant shaking table effectively.