Sliding mode trajectory tracking control of a ball‐screw‐
driven shake table based on online state estimations using
| Amir Hossein Abolmasoumi
| Mehdi Soleymani
Department of Mechatronics, Arak
University, Arak, Iran
Electrical Engineering Department, Arak
University, Arak, Iran
Mechanical Engineering Department,
Arak University, Arak, Iran
Amir Hossein Abolmasoumi, Electrical
Engineering Department, Arak University,
In this paper, we propose a new trajectory tracking control of a ball‐screw‐
driven servomechanism for a shaking table. Displacement and acceleration sen-
sors are assumed available, but currents and velocity sensors are not. The
design of this control strategy is based on sliding mode approach with state esti-
mation by extended Kalman filter/unscented Kalman filter. The basic feature of
this design is that high velocity and high positioning accuracy can be met
despite of the fact that the controlled process suffers from noise, friction, and
uncertainty. Torque/flux sliding mode controller with online estimation using
extended Kalman filter and unscented Kalman filter is proposed to improve
velocity sensorless trajectory tracking control of uniaxial earthquake simulator.
Simulation works are carried out to show the ability of the proposed method to
simulate the speed and acceleration of 2 important earthquakes. The results
also demonstrate the activity of the proposed strategy at wide range of velocity
operation with measurement noises.
ball‐screw servomechanism, earthquake simulator, extended Kalman filter, sliding mode control,
unscented Kalman filter
1 | INTRODUCTION
Ball‐screw‐driven servomechanisms are applied to seismic tests for a wide variety of structures and/or mechanisms such
as buildings, bridges, transportation systems, and power facilities. At present, a large number and a wide variety of earth-
quake simulators are in active use around the world (e.g., a 1,200 ton payload extremely large shake table,
and 6‐degrees‐of‐freedom shake tables
). The main purpose of the control systems in earthquake simu-
lators is to reproduce reference accelerations at the table. In general, the reference accelerations are recorded accelera-
tions during earthquake, synthetic accelerations from attenuation and seismological study, or some sorts of waveforms
such as sinusoidal and random waves.
In recent decades, different aspects of shake tables including the construction, performance evaluation, and structure
tests via shake tables have been extensively considered in different studies (see previous works
as some instances).
Azalée, for instance, a famous six‐degree‐of‐freedom shake table, utilizes a control strategy with three overlapped
Researchers in Luco et al.
have investigated the tracking signal reproduction capability of the UCSD‐NEES
shake table system through a series of broadband and harmonic experiments with different tuning and test amplitudes.
Also, system identification problem of UCSD‐NEES has been investigated in Astroza et al.
A 2 m by 6 m unidirectional
Received: 4 June 2016 Revised: 26 September 2017 Accepted: 22 November 2017
Struct Control Health Monit. 2018;25:e2133.
Copyright © 2017 John Wiley & Sons, Ltd.wileyonlinelibrary.com/journal/stc 1of13