Modeling and feedforward controller design in 2-dimensional shaking table systems

This paper presents the modeling and basic controller design approach for multiaxis shaking table systems. A target shaking table system in this paper is composed of 4 actuators to move a table in horizontal plane, where coordinated action of each actuator is required to achieve the accurate table motion. In this paper, the simulation model of shaking table mechanism is constructed on the computer aided by multibody dynamics software. Based on the model, feedforward compensators for each actuator are designed to improve the tracking performance.