Control device for vibration test apparatus and control method for vibration test apparatus

Abstract

To appropriately reduce fluctuation of a vertical load when a table is vibrated in a state where a vertical load is applied to an excitation object.SOLUTION: A control device for a vibration test apparatus comprises: a command value generation part that sets and outputs vertical load command values for a plurality of vertical excitation devices in a waveform corresponding to predetermined test conditions so as to reduce fluctuation of a vertical load caused by horizontal vibration of a table part by a horizontal excitation device; a feedback control part that outputs a target command value on the basis of a difference between the vertical load command values and feedback values of vertical loads of the plurality of vertical excitation devices; a learning control part that corrects the current target command value by iterative learning control using the vertical load command values and the feedback values output in a previous test under the same test conditions; and a dead zone compensation part that outputs, to each of the plurality of vertical excitation devices, a servo command value subjected to dead zone compensation of the plurality of vertical excitation devices on the basis of the target command value reflecting correction by the learning control part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device for a vibration testing apparatus and a control method for a vibration testing apparatus. [Background technology]

[0002] BACKGROUND ART A vibration testing device is known that vibrates a table on which an object to be vibrated is placed using a horizontal vibrator (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3418667 Summary of the Invention [Problem to be solved by the invention]

[0004] In the vibration testing apparatus described above, when the table is vibrated while a vertical load is applied to the object to be vibrated, it is necessary to appropriately reduce fluctuations in the vertical load.

[0005] The present disclosure has been made in consideration of the above, and aims to provide a control device for a vibration testing apparatus and a control method for a vibration testing apparatus that can appropriately reduce fluctuations in vertical load when a table is vibrated with a vertical load applied to an object to be vibrated. [Means for solving the problem]

[0006] The control device for a vibration testing apparatus according to the present disclosure is a control device for a vibration testing apparatus including a table section on which a vibration target is placed, a horizontal vibration device that vibrates the table section in a horizontal direction, and a plurality of vertical vibration devices connected to the table section, and when the table section is vibrated in the horizontal direction by the horizontal vibration device with a vertical load applied to the vibration target placed on the table section, the control device controls the vertical load command values ​​for the plurality of vertical vibration devices to be in a waveform that satisfies predetermined test conditions so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table section by the horizontal vibration device. a feedback control unit that outputs a target command value based on the difference between the vertical load command value and the feedback values ​​of the vertical loads of the plurality of vertical vibration devices; a learning control unit that corrects the current target command value through iterative learning control using the vertical load command value and the feedback value that were output during a previous test under the same test conditions; and a dead zone compensation unit that outputs servo command values ​​that have undergone dead zone compensation for the plurality of vertical vibration devices to each of the vertical vibration devices based on the target command value that reflects the correction by the learning control unit.

[0007] A control method for a vibration testing apparatus according to the present disclosure is a control method for a vibration testing apparatus including a table section on which an object to be vibrated is placed, a horizontal vibration device that vibrates the table section in a horizontal direction, and a plurality of vertical vibration devices connected to the table section, wherein when a vertical load is applied to the object to be vibrated and the table section is vibrated in the horizontal direction by the horizontal vibration device, vertical load command values ​​for the plurality of vertical vibration devices are set with waveforms that satisfy predetermined test conditions and output so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table section by the horizontal vibration device. a feedback control step of outputting a target command value based on the difference between the vertical load command value and feedback values ​​of the vertical loads of the plurality of vertical vibration exciters; a learning control step of correcting the current target command value by iterative learning control using the vertical load command value and the feedback value output during a previous test under the same test conditions; and a dead-zone compensation step of outputting servo command values ​​that have undergone dead-zone compensation for the plurality of vertical vibration exciters, based on the target command value reflecting the correction by the learning control step, to each of the vertical vibration exciters. [Effects of the Invention]

[0008] According to the present disclosure, when a table is vibrated while a vertical load is applied to an object to be vibrated, fluctuations in the vertical load can be appropriately reduced. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram schematically illustrating an example of a vibration testing device according to this embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of control of the vertical vibration device by the control device. [Figure 3] FIG. 3 is a diagram for explaining the dead zone. [Figure 4] FIG. 4 is a flowchart showing an example of a control method for the vibration testing apparatus according to this embodiment. [Figure 5]FIG. 5 is a diagram showing a partial configuration of a vertical load control unit according to a modified example. [Figure 6] FIG. 6 is a diagram showing a partial configuration of a vertical load control unit according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of a control device for a vibration testing apparatus and a control method for a vibration testing apparatus according to the present disclosure will be described with reference to the drawings. Note that the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially identical.

[0011] 1 is a diagram schematically illustrating an example of a vibration testing apparatus 100 according to this embodiment. As shown in FIG. 1, the vibration testing apparatus 100 includes a base unit 10, a table unit 20, a horizontal vibration excitation device 50, a vertical vibration excitation device 60, and a control device 70.

[0012] The base unit 10 is placed on a horizontal floor surface or the like. The base unit 10 has a rectangular parallelepiped recess 11. The recess 11 accommodates the table unit 20, the horizontal vibration device 50, and the vertical vibration device 60.

[0013] The vibration target M is placed on the table section 20. The table section 20 has a lower table 30 and an upper table 40. The lower table 30 is placed on the bottom of the recessed portion 11 via a vertical vibration device 60. The lower table 30 has, for example, a rectangular parallelepiped shape, but is not limited to this configuration.

[0014] The upper table 40 is placed on the lower table 30 via bearings or the like. The upper table 40 is, for example, rectangular parallelepiped-shaped, but is not limited to this configuration. The object M to be vibrated is placed on an upper surface 41 of the upper table 40. When the object M to be vibrated is placed on the upper table 40, a vertical load can be applied to the object M by a reaction beam 90 or the like. Examples of the object M to be vibrated include laminated rubber bearings and spherical rolling bearings.

[0015] The horizontal vibration device 50 is supported on the side surface of the recess 11 of the base 10, etc. The horizontal vibration device 50 is connected to the upper table 40 and applies horizontal vibration to the upper table 40. For example, a horizontal dynamic jack or the like is used as the horizontal vibration device 50. When horizontal displacement is applied to the vibration target M, the load generated in the horizontal direction can be detected by, for example, a detector (not shown) provided in the horizontal vibration device 50.

[0016] The vertical vibration device 60 is supported on the bottom surface of the recess 11 of the base portion 10, etc. The vertical vibration device 60 supports the lower table 30 and applies vertical vibration to the lower table 30. A plurality of vertical vibration devices 60 are provided. The plurality of vertical vibration devices 60 can be controlled independently of each other. As the vertical vibration device 60, for example, a vertical dynamic jack is used. The plurality of vertical vibration devices 60 are connected to the table portion 20 so that they are not constrained relative to each other in the up and down direction. The vertical vibration device 60 is provided with a detection unit 61, such as a load cell, that detects the magnitude of the vertical load. The detection result of the detection unit 61 is sent to the control device 70.

[0017] The control device 70 comprehensively controls the vibration testing apparatus 100. The control device 70 controls the operations of the horizontal vibration excitation device 50 and the multiple vertical vibration excitation devices 60. The control device 70 can control the operations of the multiple vertical vibration excitation devices 60 independently of each other. The control device 70 has a processing unit 71 and a memory unit 72.

[0018] The processing unit 71 performs various types of information processing. The processing unit 71 includes a processor such as a CPU (Central Processing Unit) and memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The processing unit 71 has a horizontal displacement control unit 71A and a vertical load control unit 71B. The horizontal displacement control unit 71A controls the operation of the horizontal vibration excitation device 50. The vertical load control unit 71B controls the operation of the vertical vibration excitation device 60.

[0019] The storage unit 72 stores information such as various programs, data, etc. The storage unit 72 includes storage such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive).

[0020] In the control device 70, a processor in the processing unit 71 reads out various programs and loads them into memory, thereby executing information processing corresponding to the functions of the above-mentioned units. Examples of the various programs include programs stored in the storage unit 72 and programs recorded on an external recording medium. The control device 70 functions as an information processing device (computer) that executes various information processes. Note that the various programs may be executed by an information processing device other than the control device 70, or the control device 70 and the other information processing device may cooperate to execute the various programs.

[0021] When a vibration test of the vibration target M is performed using the vibration testing apparatus 100 configured as described above, the vibration target M is placed on the upper table 40, and a vertical load is applied to the vibration target M. In this state, the control device 70 controls the horizontal vibration device 50 to apply horizontal vibration to the upper table 40.

[0022] In this way, when a vertical load is applied to the vibration target M and the upper table 40 is placed on the upper table 40, and the upper table 40 is vibrated in the horizontal direction by the horizontal vibration device 50, if deformation or the like occurs in the vibration target M, the area of ​​the vibration target M that receives the load may increase or decrease, and the vertical load may fluctuate. For this reason, the control device 70 controls the multiple vertical vibration devices 60 so as to reduce the fluctuation of the vertical load on the vibration target M.

[0023] Fig. 2 is a block diagram showing an example of control of the vertical vibration exciter 60 by the vertical vibration control unit 71B of the control device 70. The block diagram shown in Fig. 2 shows control of a plurality of vertical vibration exciter 60. In this embodiment, each vertical vibration exciter 60 can be controlled independently, and therefore each vertical vibration exciter 60 is controlled in accordance with the block diagram shown in Fig. 2.

[0024] As shown in FIG. 2, the control device 70 has a load command generating unit 73, a calculation unit 74, a feedback control unit 75, a learning control unit 76, a calculation unit 77, a load control unit 78, a dead zone compensation unit 79, and a calculation unit 80.

[0025] The load command generating unit 73 sets and outputs a vertical load command value, which is a command value for the vertical vibration device 60, in a waveform that satisfies a predetermined test condition.

[0026] The calculation unit 74 receives the vertical load command value, which is the output result of the load command generation unit 73, and the output result (feedback value of the vertical loads of the multiple vertical vibration devices 60) of the calculation unit 80, which will be described later. The calculation unit 74 subtracts the feedback value from the vertical load command value and outputs the result of the subtraction.

[0027] The difference between the vertical load command value and the feedback value, which is the output result of the calculation unit 74, is input to the feedback control unit 75. The feedback control unit 75 adjusts the control gain of the input difference, and outputs the adjusted result as a target command value.

[0028] The learning control unit 76 receives as input the vertical load command value that is the output result of the load command generation unit 73 and the output result (feedback value of the vertical loads of the multiple vertical vibration devices 60) of the calculation unit 80, which will be described later. The learning control unit 76 stores the input vertical load command value and feedback value in the storage unit 72. The learning control unit 76 corrects the current vertical load command value by iterative learning control, using the vertical load command value that was output during the previous test under the same test conditions, and outputs the corrected result as a compensation value.

[0029] In this embodiment, the learning control unit 76 is provided in parallel with the feedback control unit 75. This configuration allows the learning control unit 76 to directly use the vertical load command value output from the load command generation unit 73. In other words, a compensation value can be generated by iterative learning control using a vertical load command value that is not affected by the calculation results by the calculation unit 74 and the feedback control unit 75. This makes it possible to calculate a compensation value that more directly reflects the change in the vertical load command between the previous and current vertical load commands.

[0030] The calculation unit 77 receives the target command value that is the output result of the feedback control unit 75 and the compensation value that is the output result of the learning control unit 76. The calculation unit 77 adds the input target command value and compensation value and outputs the sum.

[0031] The load control unit 78 receives the output result of the calculation unit 77. The load control unit 78 generates and outputs a base servo command value for each of the multiple vertical vibration exciters 60 based on the input target command value and the sum of the compensation values. In this embodiment, the load control unit 78 generates the base servo command value so as to reduce the instrumental difference between the multiple vertical vibration exciters 60. For example, the load control unit 78 acquires the measurement value of the vertical load measured by each vertical vibration exciter 60 and the feedback value of the vertical loads of the multiple vertical vibration exciters 60. The load control unit 78 calculates the average value of the measurement values ​​of the vertical loads measured by the multiple vertical vibration exciters 60 based on the acquired feedback value. The load control unit 78 corrects the input target command value and the sum of the compensation values ​​based on the difference between the acquired measurement value of the vertical vibration exciter 60 and the calculated average value, thereby individually generating each base servo command value. The load control unit 78 outputs the individually generated base servo command value to the corresponding vertical vibration exciter 60.

[0032] A dead zone compensator 79 is provided for each vertical vibration exciter 60. A base servo command value, which is the output result of the load controller 78, is input to each dead zone compensator 79. Each dead zone compensator 79 generates a servo command value by performing dead zone compensation for the corresponding vertical vibration exciter 60 for the input base servo command value, and outputs the generated servo command value to the corresponding vertical vibration exciter 60.

[0033] FIG. 3 is a diagram illustrating the dead zone and shows an example of a vibration exciter of the vertical vibration exciter 60. The vibration exciter 60a has a cylinder 62C, a piston 62P, a rod 63, and a servo valve 64. The servo valve 64 is operated using, for example, hydraulic oil. The servo valve 64 has a spool 65, cylinder connections 66 (66a, 66b), tank connections 67 (67a, 67b), and a pump connection 68. The high-output servo valve 64 has wraps 69 at both the tank connection 67 and the pump connection 68 to reduce internal leakage.

[0034] 3, when spool 65 is displaced from the neutral point to the left or right in the figure based on a servo command value, hydraulic oil flows from cylinder connection part 66 to cylinder 62C, and rod 63 is displaced to the left or right in the figure, resulting in the output of vertical vibration device 60. Due to the presence of wrap 69, when spool 65 is displaced from the neutral point, there is a period during which hydraulic oil does not flow until tank connection part 67 and pump connection part 68 are opened, i.e., a dead zone occurs during which there is no response to the servo command value.

[0035] The dead zone compensator 79 accelerates the change in the servo command value from when the spool 65 enters the wrap 69 until the tank connection part 67 and the pump connection part 68 are released, thereby allowing the spool 65 to exit the wrap 69 in a short time. Specifically, the dead zone compensator 79 adds a positive wrap amount when the base servo command value is positive, adds a negative wrap amount when the base servo command value is negative, and adds nothing when the base servo command value is 0. This linearizes the relationship between the base servo command value and the output of the vibration exciter 60a of the vertical vibration exciter 60 relative to the base servo command value, thereby making it possible to make the characteristics of the vertical vibration exciter 60, which is the object to be controlled, closer to linearity.

[0036] The calculation unit 80 receives the detection results of the respective detection units 61 provided in the vertical vibration device 60. The calculation unit 80 adds up the respective detection results and outputs the sum as a feedback value.

[0037] Fig. 4 is a flowchart showing an example of a control method for the vibration testing apparatus 100. As shown in Fig. 4, the method includes a command value generating step S10, a feedback control step S20, a learning control step S30, a load control step S40, and a dead zone compensation step S50.

[0038] In the command value generation step S10, when a vertical load is applied to the vibration target object M and the table portion 20 is placed on the table portion 20, and the table portion 20 is vibrated horizontally by the horizontal vibration device 50, vertical load command values ​​for the multiple vertical vibration devices 60 are set and output with waveforms that satisfy specified test conditions so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table portion 20 by the horizontal vibration device 50.

[0039] In the feedback control step S20, the control gain is adjusted for the difference between the vertical load command value and the feedback value of the vertical load of the plurality of vertical vibration devices 60, and the result is output as a target command value.

[0040] In the learning control step S30, a compensation value is calculated by correcting the current target command value using the vertical load command value and feedback value output during the previous test under the same test conditions, and the calculated compensation value is output.

[0041] In the load control step S40, a base servo command value for each of the plurality of vertical vibration devices 60 is output based on a target command value generated based on the vertical load command value to which the correction in the learning control step S30 has been reflected.

[0042] In the dead zone compensation step S50, for each base servo command value, a servo command value obtained by performing dead zone compensation for the corresponding vertical vibration device 60 is output to each vertical vibration device 60.

[0043] As described above, according to the first aspect of the present disclosure, there is provided a control device 70 for a vibration testing apparatus including a table portion 20 on which a vibration target M is placed, a horizontal vibration device 50 for vibrating the table portion 20 in the horizontal direction, and a plurality of vertical vibration devices 60 connected to the table portion 20, wherein when a vertical load is applied to the vibration target M placed on the table portion 20 and the table portion 20 is vibrated in the horizontal direction by the horizontal vibration device 50, vertical load command values ​​for the plurality of vertical vibration devices 60 are set to waveforms that satisfy predetermined test conditions so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table portion 20 by the horizontal vibration device 50. a feedback control unit 75 that outputs a target command value based on the difference between the vertical load command value and the feedback value of the vertical load of the plurality of vertical vibration devices 60; a learning control unit 76 that corrects the current target command value through iterative learning control using the vertical load command value and the vertical load feedback value output during the previous test under the same test conditions; and a dead zone compensation unit 79 that outputs servo command values ​​that have undergone dead zone compensation for the plurality of vertical vibration devices 60 based on the target command value reflecting the correction by the learning control unit 76 to each of the vertical vibration devices 60.

[0044] According to this configuration, the provision of the learning control unit 76 makes it possible to set an appropriate control gain when the feedback control unit 75 calculates a target command value for a vertical load command value that is output multiple times under the same test conditions. Furthermore, the provision of the dead zone compensating unit 79 makes it possible to suppress oscillations that occur when the control gain is increased. As a result, when the table is vibrated with a vertical load applied to the object to be vibrated, fluctuations in the vertical load can be appropriately reduced.

[0045] In a second aspect of the present disclosure, the control device of the vibration testing device according to the first aspect further includes a load control unit 78 that outputs base servo command values ​​for each of the plurality of vertical vibration excitation devices 60 based on a target command value that reflects the correction by the learning control unit 76, so as to reduce the machine differences between the plurality of vertical vibration excitation devices 60, and a dead zone compensation unit 79 generates and outputs servo command values ​​for the corresponding vertical vibration excitation devices 60 based on the respective base servo command values ​​output from the load control unit 78.

[0046] According to this configuration, the vertical loads of multiple vertical vibration devices 60 are controlled by a single load control unit 78, thereby reducing the differences between the multiple vertical vibration devices 60 and efficiently suppressing fluctuations in the vertical load.

[0047] In a third aspect of the present disclosure, in the control device of the vibration testing device according to the second aspect, the load control unit 78 corrects the target command value based on the difference between the measured value of the vertical load measured by each vertical vibration device 60 and the average value of the measured values ​​among the multiple vertical vibration devices 60, and generates each base servo command value.

[0048] According to this configuration, the base servo command value is generated based on the difference between each measured value of the vertical load and the average value, so that the differences between the multiple vertical vibration devices 60 can be appropriately reduced.

[0049] In a fourth aspect of the present disclosure, in a control device of a vibration testing device according to any one of the first to third aspects, the learning control unit 76 further includes a calculation unit 77 that outputs a compensation value for the current vertical load command value based on the immediately previous vertical load command value, and outputs a sum obtained by adding the compensation value and the target command value to the load control unit 78.

[0050] According to this configuration, the learning control unit 76 can generate a compensation value directly using the vertical load command value output from the load command generating unit 73, so that a compensation value can be calculated that more directly reflects the fluctuation in the vertical load command between the previous and current values.

[0051] In a fifth aspect of the present disclosure, in a control device for a vibration testing apparatus according to any one of the first to fourth aspects, a plurality of vertical vibration devices 60 are connected to the table portion 20 so as not to be constrained relative to each other in the vertical direction between the table portion 20 and the vertical vibration devices 60.

[0052] According to this configuration, in a configuration in which the table section 20 and the plurality of vertical vibration devices 60 are connected so as not to be constrained relative to each other in the up-down direction, fluctuations in the vertical load can be appropriately reduced.

[0053] According to a sixth aspect of the present disclosure, there is provided a control method for a vibration testing apparatus according to the first aspect, the control method comprising: a table section 20 on which a vibration target M is placed; a horizontal vibration device 50 for vibrating the table section 20 in the horizontal direction; and a plurality of vertical vibration devices 60 connected to the table section 20, the method including the steps of: when a vertical load is applied to the vibration target M placed on the table section 20 and the table section 20 is vibrated in the horizontal direction by the horizontal vibration device 50; a learning control step of correcting the current target command value by iterative learning control using the vertical load command value and the vertical load feedback value output during the previous test under the same test conditions; a load control step of outputting base servo command values ​​for each of the plurality of vertical vibration devices 60 based on the target command value reflecting the correction by the learning control step; and a dead zone compensation step of outputting servo command values ​​obtained by performing dead zone compensation for the corresponding vertical vibration device 60 for each base servo command value to each vertical vibration device 60.

[0054] According to this configuration, the learning control step allows an appropriate control gain to be set when the feedback control unit 75 calculates a target command value for a vertical load command value output multiple times under the same test conditions. Also, the dead zone compensation step allows oscillation to be suppressed when the control gain is increased. As a result, when the table is vibrated with a vertical load applied to the vibration target, fluctuations in the vertical load can be appropriately reduced.

[0055] The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications may be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the learning control unit 76 generates a compensation value directly using a vertical load command value and a vertical load feedback value. However, the present invention is not limited to this configuration. For example, the learning control unit may generate a compensation value using a target command value output from the feedback control unit 75. FIG. 5 is a diagram showing the configuration of a portion of a vertical load control unit according to a modified example. As shown in FIG. 5, a learning control unit 76a may be arranged to receive the output result of the feedback control unit 75, and the target command value generated based on the current vertical load command value and vertical load feedback value may be corrected based on a target command value generated based on a vertical load command value and vertical load feedback value output during a previous test under the same test conditions.

[0056] Furthermore, in the above embodiment, a configuration in which one vertical load control unit 71B controls multiple vertical vibration exciters 60 via the load control unit 78 has been described as an example, but the present invention is not limited to this configuration. FIG. 6 is a diagram showing the configuration of a portion of a vertical load control unit according to a modified example. As shown in FIG. 6, for example, a configuration may be adopted in which the load control unit 78 is not provided, and a calculation unit 74, a feedback control unit 75, a learning control unit 76, and a calculation unit 77 are provided for each vertical vibration exciter 60. For example, when N vertical vibration exciters 60 are provided, the vertical load command value output from the load command generation unit 73 is divided by N by an amplifier 82 and supplied to each calculation unit 74. [Explanation of symbols]

[0057] 10 Base 11 Recess 20 Table section 30 Lower Table 40 Upper table 41 Top surface 50 Horizontal vibration device 60 Vertical vibration device 60a Vibrator 61 Detector 62C cylinder 62P Piston 63 Rod 64 Servo valve 65 spools 66 Cylinder connection 67 Tank connection 68 Pump connection 69 laps 70 Control device 71 Processing section 72 Memory section 73 Load command generation section 74,77,80 Arithmetic unit 75 Feedback control section 76,76a Learning control unit 78 Load control section 79 Dead band compensation section 82 Amplifier 90 Reaction beam 100 Vibration Test Equipment M Vibration target

Claims

1. a table portion on which an object to be vibrated is placed; a horizontal vibration device that vibrates the table portion in a horizontal direction; a plurality of vertical vibration devices connected to the table portion; A control device for a vibration testing device comprising: a command value generating unit that sets and outputs vertical load command values ​​for the plurality of vertical vibration devices in waveforms that satisfy predetermined test conditions so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table unit by the horizontal vibration devices when the table unit is vibrated in a horizontal direction by the horizontal vibration devices while the vibration target is placed on the table unit with a vertical load applied thereto; a feedback control unit that outputs a target command value based on a difference between the vertical load command value and feedback values ​​of the vertical loads of the plurality of vertical vibration devices; a learning control unit that corrects the current target command value through iterative learning control using the vertical load command value and the feedback value that were output during a previous test under the same test conditions; a dead zone compensating unit that outputs servo command values ​​that have undergone dead zone compensation for the plurality of vertical vibration exciters based on the target command value that has been corrected by the learning control unit to each of the vertical vibration exciters; A control device for a vibration testing device comprising:

2. a load control unit that outputs a base servo command value for each of the plurality of vertical vibration exciters based on the target command value to which the correction by the learning control unit has been reflected, so as to reduce an instrumental difference between the plurality of vertical vibration exciters; The dead zone compensator generates and outputs the servo command value to the corresponding vertical vibration exciter based on the base servo command value output from the load controller. The control device for a vibration testing apparatus according to claim 1.

3. The load control unit corrects the target command value based on a difference between a measurement value of the vertical load measured by each of the vertical vibration exciters and an average value of the measurement values ​​among the plurality of vertical vibration exciters, and generates each of the base servo command values. The control device for a vibration testing apparatus according to claim 2.

4. the learning control unit outputs a compensation value for the current vertical load command value based on the immediately previous vertical load command value; a calculation unit that outputs a sum obtained by adding the compensation value and the target command value to the load control unit; The control device for a vibration testing apparatus according to claim 1.

5. The plurality of vertical vibration devices are connected to the table section so as not to be constrained relative to each other in the up and down direction. The control device for a vibration testing apparatus according to claim 1.

6. a table portion on which an object to be vibrated is placed; a horizontal vibration device that vibrates the table portion in a horizontal direction; a plurality of vertical vibration devices connected to the table portion; A method for controlling a vibration testing apparatus comprising: a command value generation step of setting and outputting vertical load command values ​​for the plurality of vertical vibration devices with waveforms that satisfy predetermined test conditions so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table unit by the horizontal vibration devices when the table unit is vibrated in a horizontal direction by the horizontal vibration devices while the vibration target object is placed on the table unit with a vertical load applied thereto; a feedback control step of outputting a target command value based on a difference between the vertical load command value and feedback values ​​of the vertical loads of the plurality of vertical vibration devices; a learning control step of correcting the current target command value by iterative learning control using the vertical load command value and the feedback value output during a previous test under the same test conditions; a dead zone compensation step of outputting servo command values, which have been subjected to dead zone compensation for the plurality of vertical vibration exciters, to each of the vertical vibration exciters based on the target command value reflecting the correction made in the learning control step; A method for controlling a vibration testing apparatus, comprising:

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