JPH0621839B2 - Shaking table controller - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shake table controller for a servo system in which two shake tables vibrate in directions in which they act on each other.

2. Description of the Related Art In a shaking table controller having a plurality of servo systems, the respective servo systems are controlled by independent controllers.

FIG. 3 is a schematic view of a vibrating table used in a vibration experiment device or the like. A column 54 is provided on a first vibrating table 51 which vibrates in the direction of arrow 55, and a second vibrating table 52 supported by a shaft 53 attached to the top of the column vibrates in the direction of arrow 56. The two vibrating tables 51 and 52 are driven by independent servo systems.

Problems to be Solved by the Invention As described above, in the shaking table controller configured by the servo systems independent of each other, the vibration in the direction of arrow 55 and the arrow 56
It is difficult to give a desired vibration to the vibrating table because one vibration affects the other servo system as a disturbance by interacting with the vibration in the direction of.

The present invention has been invented to solve the above problems, and an object of the present invention is to provide a shaking table controller capable of controlling each servo system without being influenced by each other.

Means for Solving the Problems A vibrating table control device of the present invention includes a first servo system for controlling a first vibrating table and a first servo system provided on the first vibrating table.
In a second servo system for controlling a second vibrating table that vibrates in a direction in which the vibrating table and the other vibrating table interact with each other, a first acceleration feedback circuit and a first velocity feedback circuit, a second acceleration feedback circuit, and a second acceleration feedback circuit. 2 speed feedback circuits, and a first crossing circuit and a second crossing circuit.

Action The first acceleration feedback circuit and the first velocity feedback circuit feed back the acceleration signal and the velocity signal from the second vibrating table to the displacement signal of the first servo system.

The second acceleration feedback circuit and the second velocity feedback circuit feed back the acceleration signal and the velocity signal from the first vibrating table to the displacement signal of the second servo system.

Three feedback circuits for respectively feeding back the acceleration signal, the velocity signal and the position signal from the first vibrating table to the displacement signal of the first servo system, the first acceleration feedback circuit and the first velocity feedback circuit are in no particular order. In series to generate a first servo valve actuation signal.

Three feedback circuits for respectively feeding back the acceleration signal, the velocity signal and the position signal from the second vibrating table to the displacement signal of the second servo system, the second acceleration feedback circuit and the second velocity feedback circuit are in no particular order. And connected in series with to generate a second servo valve actuation signal.

The first crossover circuit feeds back the second servo valve actuation signal to the first servo valve actuation signal, the output of which operates the servo valve via the servo amplifier of the first servo system.

The second crossing circuit feeds back the first servo valve actuation signal to the second servo valve actuation signal, the output of which operates the servo valve via the servo amplifier of the second servo system.

Embodiment FIG. 1 is a block diagram showing an embodiment of the present invention.
In the figure, the first servo system (the number is followed by a) and the second servo system (the number is followed by b) have substantially the same configuration.

The displacement signal 41a that determines the vibration of the first vibrating table is input to the arithmetic circuit 109 composed of an adder and a subtractor, and the output thereof is guided to the input a of the first acceleration feedback circuit 1a.
The output c is connected to the input a of the first speed feedback circuit 2a, and the servo valve operating signal 42 appearing at the output c is connected to the input a of the first crossing circuit 3a. Then, the output c operates the servo actuator 22a via the servo amplifier 21a to vibrate the vibrating table 30a. The vibration of the vibrating table 30a is detected by the position sensor 23a, the speed sensor 24a, and the acceleration sensor 25a, and the detection signals are sent to the respective feedback amplifiers 11a.
, 12a, 13a to the arithmetic circuit 10a, and the vibration table 3
The vibration of 0a follows the displacement signal 41a better.

In the second servo system, the first acceleration feedback circuit 1a of the first servo system is used as the second acceleration feedback circuit 1b, the first speed feedback circuit 2a is used as the second speed feedback circuit 2b, and the first speed feedback circuit 2a is used as the first speed feedback circuit 2b. The intersection circuit 3a has been changed to a second intersection circuit 3b.

In addition, the three sensors of the first servo system (23a, 24a
, 25a) detects only the vibration of the first vibrating table, but the acceleration sensor 25b and the speed sensor 24b of the second servo system combine the vibration of the first vibrating table with the vibration of the second vibrating table. Detect vibration. The position sensor 23b detects the position of the second vibrating table with respect to the first vibrating table.

FIG. 2 is a block diagram showing an embodiment of the first acceleration feedback circuit 1a. It has two inputs a and b and one output c, and the input from b passes through the amplifier 62 with the amplification factor k1a,
It is added to the input from a by the adder 61 and output from c. The second acceleration feedback circuit 1b, the first and second velocity feedback circuits 2, and the first and second crossing circuits 3 have the same structure and have two inputs a and b and one output c. ing. Only the amplification factor k differs depending on each circuit, and the amplification factor k may be 1 or less or may be negative.

Returning to FIG. 1, the acceleration sensor of the second servo system
The acceleration signal from 25b is connected to the input b of the first acceleration feedback circuit 1a of the first servo system. Similarly, the speed signal is sent to the first speed feedback circuit 2a, and the servo valve operation signal 42b is sent to the first crossover signal. Each is connected to the circuit 3a.

The same applies to the second servo system, to which the three signals from the first servo system are connected.

The amplification factor k of the amplifier of each of the two acceleration feedback circuits 1, the velocity feedback circuit 2, and the crossing circuit 3 and the amplification factor k of the feedback amplifiers 11, 12, and 13 are set to 0 for the diagonal element, and the operation of the servo system is performed. Expressed in a matrix, a solution with which mutual influence is 0 is obtained, and the amplification factor is set according to the solution.

The present invention is not limited to the above-mentioned embodiment, and the order of connection with the acceleration feedback circuit and the velocity feedback circuit is changed as the configuration of three arithmetic circuits for feeding back the acceleration signal, the velocity signal, and the position signal. It is possible to

EFFECTS OF THE INVENTION In two servo systems in which the vibrations of the shaking table act on each other, the detection signal of the shaking table vibration and the servo valve operation signal are fed back to each other, and the feedback ratio is set to a value at which the interference is zero. By doing so, it is possible to provide a shaking table controller that can control each servo system without being influenced by the other one.

[Brief description of drawings]

1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a block diagram showing an embodiment of a first acceleration feedback circuit, and FIG. 3 is a vibration table used in a vibration test apparatus. It is a schematic diagram. 1a ... first acceleration feedback circuit 2a ... first speed feedback circuit 3a ... first crossing circuit 1b ... second acceleration feedback circuit 2b ... second speed feedback circuit 3b ... second Crossing circuit.

Claims (1)

[Claims] 1. A first servo system for controlling a first vibrating table, and a second vibrating table provided on the first vibrating table and vibrating in a direction in which the first vibrating table and the first vibrating table interact with each other. In a vibrating table control device including a second servo system, a first acceleration feedback circuit and a first speed for feeding back an acceleration signal and a velocity signal from the second vibrating table to a displacement signal of the first servo system. A feedback circuit; a second acceleration feedback circuit and a second velocity feedback circuit for feeding back the acceleration signal and the velocity signal from the first vibrating table to the displacement signal of the second servo system; The first servo system feeds back the acceleration signal, the velocity signal, and the position signal from the first vibrating table to the displacement signal of the first servo system, respectively. Horn A feedback circuit, the first acceleration feedback circuit and the first velocity feedback circuit are connected in series in any order, and the output of the latter stage of the first acceleration feedback circuit or the first velocity feedback circuit is the first output; And a second servo system for feeding back the acceleration signal, the velocity signal, and the position signal from the second vibrating table to the displacement signal of the second servo system, respectively. The second acceleration feedback circuit and the second velocity feedback circuit are connected in series in any order, and the output of the latter stage of the second acceleration feedback circuit or the second velocity feedback circuit is used as the second servo. The first cross circuit feeds back the second servo valve operation signal to the first servo valve operation signal, and the output is the first signal.
Connected to the servo amplifier of the servo system of
And a crossing circuit for feeding back the first servo valve operation signal to the second servo valve operation signal, the output of which is connected to the servo amplifier of the second servo system.