Six-freedom-degree earthquake experience testing system and control method thereof

Abstract

The invention belongs to the field of earthquake simulation equipment, and in particular relates to a six-freedom-degree earthquake experience testing system and a control method of the six-freedom-degree earthquake experience testing system. The system comprises a control unit, a servo drive unit and an earthquake experience testing bed, has the advantages of high real-time property, extension flexibility, easy maintenance, high response speed, reliable and stable work, and smooth movement locus, and can realize the high-precision simulation function for transverse waves, longitudinal waves and surface waves generated by earthquakes. According to the control method, a motion simulation mathematical model of the earthquake experience testing bed is established through dynamic simulation software, the movement locus is mapped to joint space through the motion simulation mathematical model, the fitting interpolating calculation of the movement locus is carried out, and then the motion information files of piston rods at piston cylinders are obtained; the closed-loop control movements for the displacement of the piston rods at the piston cylinders are carried out, so that the earthquake experience testing bed simulates and reproduces the motion process of the earthquake waves according to the planned motion path. With the adoption of the control method, the locus smoothness, stability and high precision when the testing bed acts can be further guaranteed.

Description

technical field [0001] The invention belongs to the field of earthquake simulation equipment, and in particular relates to a six-degree-of-freedom earthquake experience test system and a control method thereof. Background technique [0002] Earthquake is one of the main natural disasters on the earth, and my country is a country with frequent earthquake disasters. Every year, earthquakes often cause huge property losses and casualties to citizens. Because the general public in China does not know enough about earthquake knowledge, once an earthquake occurs, they tend to panic easily, so that they cannot implement effective, orderly and effective earthquake emergency measures, which will eventually bring greater property and casualties. Therefore, it is very necessary and important to improve the general public's perceptual understanding of earthquakes, so that everyone can understand and feel the occurrence of earthquakes more intuitively through simulation, and to take nece...

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Problems solved by technology

Similar to the seismic simulation platforms disclosed in the above-mentioned patents, there is a universal problem: that is, although the current seismic wave includes the transverse wave of the plane XY axis displacement, the longitudinal wave of the vertical Z axis movement and the surface wave of the flipping movement, but It can be clearly seen from the above patents that at pre

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