Model reference sliding mode control for two-degree-of-freedom electro-hydraulic shaking table

The multi-axis electro-hydraulic shaking table (EHST) is capable of simulating complex vibration environments to assess product reliability under vibrational excitation. The random vibration control method plays a crucial role in simulating these environments. However, the unmolded disturbances and the nonlinearity of the system have a significant impact on the control accuracy of the EHST. Sliding mode control (SMC) can be used in single-input single-output electro-hydraulic servo systems (EHSS) to attenuate the influence of disturbance forces. The conventional SMC is not suitable for acceleration random vibration control of the multi-axis EHST because the coupling between the axes and the actuators and the null bias of the servo valve are not taken into account. A model reference sliding mode control (MRSMC) is presented in this paper based on the nonlinear dynamic model of the EHST. The MRSMC designed based on the backstepping method and Lyapunov theory is used to compensate for the disturbance forces and the null bias of the servo valve. Experimental acceleration random vibration responses show that the MRSMC enhances the accuracy of tracking the acceleration random signal.