Tracking Differentiator-based Linear Active Disturbance Rejection Control for Electro-Hydraulic Shake Table Control

Real-Time hybrid simulation (RTHS) is an important method to study the seismic resistance of medium and large equipment structures. The delay of waves reproduction for earthquake simulation shaking table has a negative effect on the stability and accuracy of RTHS. In this paper, Linear Active Disturbance Rejection Control (LADRC) is used to reduce the time delay of the seismic simulation shaking table, and double Tracking Differentiator(TD) is introduced into LADRC to track the position, velocity and acceleration of the shaking table to form TD-LADRC, which uses the state tracked by TD to replace the estimated state of extended state observer(ESO) and forms a feedback control law. ESO is specially used to estimate the total disturbance. TD-LADRC solves the problems of difficult parameter tuning and poor control effect caused by the ESO being sensitive to the noise of the state observation of the shaking table. The TD-LADRC still uses the bandwidth method to set parameters, and the parameters of TD can be set independently. In this paper, the simulation control test of the single-degree-of-freedom hydraulic shaking table is carried out. The test fully proves that TD has a strong ability to suppress noise and can accurately track the acceleration signal of the shaking table. Compared with LADRC and PID control, the control performance of TD-LADRC is greatly improved, and the robustness to different control conditions of the seismic simulation shaking table is better.