CN106594170B - It is a kind of to lead the passive floating control method for being laid flat platform of mixing damping historical relic damping - Google Patents

Abstract

The invention discloses a control method for an active-passive hybrid shock-absorbing cultural relic shock-absorbing floating platform. The method firstly applies the active-passive hybrid shock-absorbing method to the earthquake prevention research of cultural relic protection. This method combines active damping technology and passive damping technology, which can have a control effect better than either of active damping and passive damping, and at the same time can make up for the shortcomings of relying on active damping or passive damping alone. It can reduce the impact of seismic waves on cultural relics during sudden earthquakes, so that cultural relics do not overturn, slip or collide, thereby protecting the integrity of cultural relics. This method mainly suppresses the vibration transmission in the horizontal direction, that is, the shear wave in the seismic wave. The propagation speed of shear waves in seismic waves is smaller than that of longitudinal waves, but the destructive effect is far greater than that of longitudinal waves. The device is equipped with active control in the orthogonal X and Y directions in the horizontal direction, effectively suppressing the horizontal acceleration component, velocity component and displacement component transmitted by the shear wave to the cultural relics through active vibration control, weakening the vibration of cultural relics and protecting the safety of cultural relics.

Description

A control method for active-passive hybrid shock-absorbing cultural relics shock-absorbing floating platform

technical field

The invention belongs to the field of shock absorption technology, and relates to a shock absorption technology for a cultural relic floating platform in a museum, in particular to a control method for an active and passive hybrid shock absorption floating platform for cultural relics.

Background technique

The movable cultural relics, mainly floating cultural relics in the collection, are the precious heritage left to us by our ancestors. They have extremely important scientific, cultural and historical values, and their protection is of great significance. However, under the action of earthquakes, floating cultural relics without earthquake-proof measures are easily damaged. Just take the 8.0-magnitude Wenchuan Earthquake in my country in 2008 as an example. According to incomplete statistics, 3,169 movable cultural relics in 216 cultural relic collection units in Sichuan Province alone were damaged to varying degrees, resulting in huge loss of value. It can be seen that taking effective shock-absorbing measures for cultural relics is an important prerequisite for reducing their earthquake damage.

Traditional methods are mostly reinforcement or suspension methods, most of which have more requirements on the size, shape and weight of the cultural relics themselves, and at the same time need to carry out certain modifications on the cultural relics themselves to meet the constraints of placement. However, the vibration output effect obtained by the traditional method is not very ideal. The anti-shock device for floating cultural relics uses advanced technology to improve the ability to prevent earthquakes. The designed anti-shock device inside the cabinet is fixed and placed in the museum display cabinet, and the cultural relics on display are floated on the table of the product. When a sudden earthquake occurs, this product can effectively reduce the impact of the earthquake on the countertop, maintain the stable floating of cultural relics, and prevent cultural relics from being damaged due to cultural relics overturning, cultural relics slipping, or countertops colliding with the inner wall of the display cabinet. Using the anti-shock device in the cabinet does not need to change the original display method of cultural relics, nor does it need to modify the museum site and display cabinets. Therefore, the anti-shock device in the cabinet is the first choice for museums to implement anti-shock protection for precious cultural relics on display. At present, the existing floating platform shock absorption technology mainly adopts passive shock absorption technology, and the control scheme is mainly to consume vibration energy through elastic material deformation or sliding damping, so it requires enough space around the floating base to meet the sliding during earthquakes. need. For example, the patent number CN201320448519.7 describes a self-triggering vibration isolation pedestal with limited space on both sides. When an earthquake causes relative motion on different planes, the energy of the seismic wave is dissipated by damping, reducing the energy transferred to the cultural relics. It can be seen that there are certain defects in passive shock absorption. First, passive shock absorption has high requirements for energy-dissipating materials, and the characteristics of materials directly affect the final control effect. Second, passive shock absorption requires a sufficiently long allowable Displacement, that is, the maximum sliding displacement to meet the needs of sliding or deformation; finally, near the fault, long-period, high-speed vibration will cause the displacement stroke of the isolated layer in the passive damping control to increase, so that the control effect will also be affected by the placement position. limit, and even the phenomenon of magnifying the acceleration appears. Therefore, it is necessary to find a control method that can not only avoid the above limitations, but also play a good damping control effect in earthquakes.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a control method for a floating platform of cultural relics with active and passive shock absorption, which is the first time that the active and passive hybrid shock absorption method is applied to the earthquake prevention research of cultural relics protection. This method combines active damping technology and passive damping technology, which can have a control effect better than either of active damping and passive damping, and at the same time can make up for the shortcomings of relying on active damping or passive damping alone. It can reduce the impact of seismic waves on cultural relics during sudden earthquakes, so that cultural relics do not overturn, slip or collide, thereby protecting the integrity of cultural relics. This method mainly suppresses the vibration transmission in the horizontal direction, that is, the shear wave in the seismic wave. The propagation speed of shear waves in seismic waves is smaller than that of longitudinal waves, but the destructive effect is far greater than that of longitudinal waves. The device is equipped with active control in the orthogonal X and Y directions in the horizontal direction, effectively suppressing the horizontal acceleration component, velocity component and displacement component transmitted by the shear wave to the cultural relics through active vibration control, weakening the vibration of cultural relics and protecting the safety of cultural relics.

In order to achieve the above object, the technical scheme adopted in the present invention is as follows: a control method of active and passive hybrid shock absorption floating platform for cultural relics, the active and passive hybrid shock absorption floating platform for cultural relics includes sequentially stacking from bottom to top The base, the first sliding seat and the second sliding seat, the first sliding seat has a degree of freedom in the X direction, the second sliding seat has a degree of freedom in the Y direction, and the X and Y directions are horizontal and horizontal The projections intersect at 90 degrees; active shock absorbing mechanisms and passive shock absorbing mechanisms are provided between the first slide seat and the base, and between the first slide seat and the second slide seat; The active shock absorbing mechanism and the passive shock absorbing mechanism constitute a first shock absorbing platform, and the first slide seat and the second slide seat and the active shock absorbing mechanism and the passive shock absorbing mechanism between them constitute a second shock absorbing platform;

The active damping mechanism includes: a screw rod arranged along the X-direction or Y-direction and driven by a motor; Or the gyroscope of the motion acceleration of the first sliding seat, the gyroscope is used to output the signal for controlling the motor; the active damping mechanism also includes a first straight line for detecting the sliding displacement of the first sliding seat and the sliding sleeve a displacement sensor, the linear displacement sensor is used to output a signal for controlling the motor;

The base is provided with an X guide rail adapted to the X-direction movement of the first slide, and the first slide is provided with a Y guide guide adapted to the Y-direction movement of the second slide; the passive shock absorbing mechanism is a spring, and the The spring is arranged at the junction of the first and second sliding seats and the sliding sleeve;

It also includes an acquisition card, a second linear displacement sensor and a computer, the second linear displacement sensor is used to detect the sliding displacement of the first sliding seat or the second sliding seat, the first linear displacement sensor and the second linear displacement sensor All are connected with the acquisition card, and the acquisition card and the gyroscope are connected with the computer;

The control method includes the following steps:

(1) Model establishment:

Establish the spring-mass-damping models of the first shock-absorbing platform and the second shock-absorbing platform respectively. The two models are the same, and the first shock-absorbing platform is taken as an example below;

Let the acceleration ω(t) of the base be:

Wherein, x ₁ (t) is the displacement of the base, and t is the time;

Make the acceleration of the sliding sleeve for:

Where x ₃ (t) is the displacement of the sliding sleeve; u(t) is the acceleration of the sliding sleeve relative to the base;

Let the output of the acceleration of the first damping platform be Then there are:

In the formula, k _s is the stiffness coefficient of the spring, _m is the total mass of the second damping platform, and B is the damping coefficient of the relative sliding between the first damping platform and the base;

The state space model of the first damping platform can be obtained from formula (1)-(3):

Wherein, Z is the state space variable of the first damping platform;

The output Y of the state space model of the first damping platform is:

(2) Construction of the control scheme:

The control method adopts the method of output feedback and feedforward, the controller adopts PID controller, and the output result G(s) of the controller is:

In the formula, s is a complex variable, Kp is a proportional coefficient, Ki is an integral coefficient, Kd is a differential coefficient, and N is a filter coefficient;

Set the allowable maximum output acceleration of the first shock-absorbing platform as a _set , make a difference between a _set and the output Y of the state-space model of the first shock-absorbing platform in step (1), and obtain the deviation value e=a _set − Y; Multiply the deviation value e by the time domain equation of G(s) to obtain the control variable v1 of the motor;

The base acceleration measured by the gyroscope is filtered through the Kalman filter to obtain the base speed v2, and the base speed v2 is transmitted to the motor through the feedforward channel, and the final motor control value is v=v1+v2;

(3) Control process:

(3.1) The linear displacement sensor obtains the relative displacement of the first damping platform and the base, and outputs it to the acquisition card after AD conversion, and the computer reads the displacement collected by the acquisition card. If the read displacement exceeds the set When the displacement threshold is reached, the computer rotates the motor to reset the sliding sleeve;

(3.2) If the read displacement does not exceed the set displacement threshold, the computer compares the acceleration collected by the gyroscope with the set acceleration threshold;

(3.2.1) If the acceleration collected by the gyroscope exceeds the set acceleration threshold, make a difference between the acceleration of the base and a _set , and then use the difference as the input of G(s) to obtain the speed control of the motor Command, and send it to the motor, control the motor to perform shock-absorbing movement, repeat steps (3.1) and steps (3.2) after the command is sent;

(3.2.2) If the acceleration collected by the gyroscope does not exceed the set acceleration threshold, and the earthquake has stopped, then the motor is controlled to perform a reset movement. If it is already at zero, it does not move, and repeats steps (3.1) and steps ( 3.2);

(3.2.3) If the acceleration collected by the gyroscope does not exceed the threshold value of the acceleration set, and the earthquake does not stop, directly repeat step (3.1) and step (3.2);

(3.2.4) If the acceleration collected by the gyroscope does not exceed the set acceleration threshold and the earthquake does not occur, the computer will control the motor to reset the sliding sleeve, and repeat steps (3.1) and (3.2).

Beneficial effects of the present invention: this solution is the first design adopting a hybrid shock absorbing solution, and after vibration input tests, the hybrid shock absorbing platform can effectively isolate vibrations. When the maximum acceleration of the input vibration is about 2.5m/s ² (about an earthquake of magnitude 8), the output acceleration of the uppermost layer is less than 1m/s ² . When the peak acceleration input during the physical test is 2.5m/s ² , the inverted water bottle on the platform can remain upside down for a long time without overturning. It can be seen that the anti-seismic protection method of cultural relics can obtain excellent control effect, and it is due to the shock absorption effect of any previous control scheme.

Description of drawings

Figure 1 is a schematic structural view of a hybrid shock-absorbing cultural relic protection platform;

Figure 2 is a schematic diagram of the base structure;

Figure 3 is a schematic diagram of the local structure of the lead screw;

Figure 4 is a connection diagram of electrical components;

Fig. 5 is the control block diagram of feedback combining feedforward of the present invention;

Fig. 6 is a control block diagram of the active-passive hybrid damping cultural relics damping floating platform of the present invention.

Detailed ways

As shown in Figures 1-4, a control method of an active-passive hybrid shock-absorbing cultural relics shock-damping floating platform according to the present invention, the active-passive hybrid shock-absorbing cultural relics shock-damping floating platform is shown in Figure 1, including sequentially from bottom to top The stacked base 3, the first sliding seat 2 and the second sliding seat 1, the first sliding seat 2 has a degree of freedom in the X direction, the second sliding seat 1 has a degree of freedom in the Y direction, and the X direction and The Y direction is horizontal and the horizontal projection intersects at 90 degrees; the first slide 2 and the base 3 and the first slide 2 and the second slide 1 are provided with an active shock absorbing mechanism and a passive shock absorbing mechanism; the The first sliding seat 2 and the base 3 and the active shock absorbing mechanism and the passive shock absorbing mechanism between them constitute the first shock absorbing platform, and the first sliding seat 2 and the second sliding seat 1 and the active shock absorbing mechanism between them The mechanism and the passive shock absorbing mechanism constitute the second shock absorbing platform;

Take the first floor of the base 3 as an example, as shown in Figure 2. The active damping mechanism includes: arranged along the X direction or the Y direction and composed of a motor 331, a reduction box 336 and a driver 38, a motor mounting plate 334, a motor-driven screw 332, a fixing sleeve 335 of the screw, and the The first sliding seat 2 or the second sliding seat 1 moves synchronously and the sliding sleeve 333 threaded with the screw rod 332, and the gyroscope 37 that detects the motion acceleration of the base 3 or the first sliding seat 2, and the gyroscope 37 is used for output Control the signal of the motor 331; the active damping mechanism also includes a first linear displacement sensor 36 and a linear displacement sensor connecting plate 343 for detecting the sliding displacement of the first sliding seat 2 and the sliding sleeve 333, the first The linear displacement sensor 36 is used to output the signal for controlling the motor 331; the passive damping device, as shown in Figures 2 and 3, includes a sliding sleeve 333, a first limiting plate 341 and a second limiting plate of the sliding sleeve 333 Plate 342, and the spring 35 between the two limiting plates and the sliding sleeve.

The base 3 is provided with an X-guiding rail 31 and a slider 32 adapted to the X-direction movement of the first slide seat, and the corresponding first slide seat 2 is provided with a Y-guided guide rail adapted to the Y-direction movement of the second slide seat; The above-mentioned passive damping mechanism is arranged at the junction of the first and second sliding seats and the sliding sleeve 333;

Also comprise acquisition card, the second linear displacement sensor 39 and connecting plate 344 thereof and computer, described second linear displacement sensor is used for detecting the sliding displacement of first sliding seat or second sliding seat, and described first linear displacement sensor and the second linear displacement sensor are all connected with the acquisition card, and the acquisition card and the gyroscope are connected with the computer;

As shown in Figure 6, the control method includes the following steps:

(1) Model establishment:

Because the structures of the first and second damping platforms are similar but there is no coupling relationship, they are modeled separately. After simplifying the mechanical structure of the first shock-absorbing platform and the second shock-absorbing platform, respectively establish the spring-mass-damping model of the first shock-absorbing platform and the second shock-absorbing platform, and the The model forms are the same. In the following, the first damping platform is simplified and modeled first. The motion state of the base 3 is affected by the acceleration input by the earthquake, and the first shock-absorbing platform is taken as an example below;

Let the acceleration ω(t) of base 3 be:

Wherein, x ₁ (t) is the displacement of base 3, and t is time;

Since the displacement of the sliding sleeve 333 is the sum of the displacement of the base 3 and the displacement of the sliding sleeve 333 relative to the base, by differentiating it twice, the acceleration of the sliding sleeve 333 can be obtained for:

Wherein x ₃ (t) is the displacement of sliding sleeve 333; u (t) is the acceleration of sliding sleeve 333 relative to the base;

The output of the acceleration of the first damping platform is affected by the force of the spring and the damping force, so that the output of the acceleration of the first damping platform is Then there are:

In the formula, k _s is the stiffness coefficient of the spring, _m is the total mass of the second damping platform, and B is the damping coefficient of the relative sliding between the first damping platform and the base;

The state space model of the first damping platform can be obtained from formula (1)-(3):

Wherein, Z is the state space variable of the first damping platform;

The output Y of the state space model of the first damping platform is:

(2) Construction of the control scheme:

According to the model constructed and the state of the state quantity, the control scheme using output feedback combined with feedforward is selected, as shown in Figure 5; in the feedback part, the controlled variable is selected as the output value of the acceleration, that is, the acceleration of the first damping platform Numerical value; the set value of the acceleration is the maximum allowable acceleration value a _set to ensure that the cultural relics do not appear damaged; the feedback value is the output acceleration a _out of the first damping platform, measured by the spring 35 and the first linear displacement sensor 36, There is a certain difference between the actual value and the value calculated by using the theoretical value. Here, it is necessary to use the least squares identification to obtain the correlation between the linear displacement and the acceleration. The acceleration caused by the earthquake acts directly on the mechanical structure as the acceleration ω(t) of the base. The control method adopts the method of output feedback and feedforward, the controller adopts PID controller, and the output result G(s) of the controller is:

In the formula, s is a complex variable, Kp is a proportional coefficient, Ki is an integral coefficient, Kd is a differential coefficient, and N is a filter coefficient; this equation is a PID controller formula in the complex frequency domain. Inverse Laplace transform.

Set the allowable maximum output acceleration of the first shock-absorbing platform as a _set , make a difference between a _set and the output Y of the state-space model of the first shock-absorbing platform in step (1), and obtain the deviation value e=a _set − Y; Multiply the deviation value e by the time domain equation of G(s) to obtain the control variable v1 of the motor;

The acceleration of the base 3 measured by the gyroscope 37 is filtered through a Kalman filter to obtain the speed v2 of the base 3, and the speed v2 of the base is transmitted to the motor 331 through the feedforward channel, and the final motor control value is v=v1+ v2;

The process of performing filter processing by the Kalman filter is as follows:

In the feedforward part, the acceleration value of the base measured by the gyroscope 37 is filtered through the Kalman filter to obtain the velocity V _f of the base. The recursive formula of Kalman equation is as formula (6):

In the formula is the optimal estimate of the state x(k+1), A is the parameter matrix, is the optimal estimate of the state x(k), K is the filter gain matrix, y(k+1) is the output of the system at k+1 time, and C is the observation matrix. The Kalman filter gain matrix K(k+1) satisfies:

In the formula, R ₁ and R ₂ are the noise covariance matrix, P is the system covariance matrix, and ∑(k|k) is the estimation error covariance matrix. The estimated error covariance matrix ∑(k+1|k+1) satisfies:

The Kalman filter input vector is [acc*T 0], where acc is the acceleration of the input, parameter matrix A, input matrix B, observation matrix C, output matrix D, model noise covariance matrix R, observation noise covariance matrix Q. The system covariance matrix P is set as follows:

C=[1 0]

D=[1]

Q=[1]

In the formula, T is the sampling period of the acceleration of the base.

Feedforward channel function for reverse motion, set to constant -0.99. After V _f passes through the feedforward channel function, the feedforward control value V ₂ of the motor is obtained. Add the feedforward control quantity and the feedback control quantity of the motor 331 to obtain the final motor control quantity V=V ₁ +V ₂ , and transmit it to the motor driver.

(3) Control process:

(3.1) The second linear displacement sensor obtains the relative displacement of the first damping platform and the base, and outputs it to the acquisition card after AD conversion, and the computer reads the displacement collected by the acquisition card. When a certain displacement threshold is reached, the computer rotates the motor to reset the sliding sleeve;

(3.2) If the read displacement does not exceed the set displacement threshold, the computer compares the acceleration collected by the gyroscope with the set acceleration threshold;

(3.2.1) If the acceleration collected by the gyroscope exceeds the set acceleration threshold, make a difference between the acceleration of the base and a _set , and then use the difference as the input of G(s) to obtain the speed control of the motor Command, and send it to the motor, control the motor to perform shock-absorbing movement, repeat steps (3.1) and steps (3.2) after the command is sent;

(3.2.2) If the acceleration collected by the gyroscope does not exceed the set acceleration threshold, and the earthquake has stopped, then the motor is controlled to perform a reset movement. If it is already at zero, it does not move, and repeats steps (3.1) and steps ( 3.2);

(3.2.3) If the acceleration collected by the gyroscope does not exceed the threshold value of the acceleration set, and the earthquake does not stop, directly repeat step (3.1) and step (3.2);

(3.2.4) If the acceleration collected by the gyroscope does not exceed the set acceleration threshold and the earthquake does not occur, the computer will control the motor to reset the sliding sleeve, and repeat steps (3.1) and (3.2).

The following points need to be set in the program:

(1) Zero position setting: Based on the current mechanical mechanism, the zero position is set as the middle point of the mechanical stroke. At this time, the projections of the base, the first sliding seat and the second sliding seat in the vertical direction coincide, and take The average value of the AD conversion value of the second linear displacement sensor is used as the zero position, and the fluctuation range of this value is multiplied by 1.5 and then set as the dead zone near the zero position.

(2) Acceleration threshold setting: Take the mean value of the acceleration in the X and Y directions collected by the gyroscope in the static state, and set it as zero. At the same time, multiply the fluctuation range of the value by 1.5 and set it as the dead zone near the zero.

(3) Judging the earthquake state: When the acceleration collected by the gyroscope exceeds the set acceleration zero and dead zone, it is determined that an earthquake is occurring; when the collected acceleration exceeds the acceleration threshold and the dead zone, it is judged whether the earthquake has stopped , if the acceleration does not exceed the threshold for more than or equal to 30 seconds, it is determined that the earthquake has not occurred or has stopped; if the acceleration exceeds the threshold for less than 30 seconds, it is determined that the earthquake is still in progress.

(4) Set the operating cycle of the control program as 2ms.

The present invention adopts the damping control method of the mixed damping scheme combining active damping and passive damping for the first time, and combines the advantages of the active damping and passive damping schemes at the same time, which is superior to the previous damping control scheme. Compared with the existing traditional shock absorption and passive shock absorption schemes, it has the advantages of good shock absorption effect, high earthquake energy level, long earthquake duration, wide earthquake frequency and small relative sliding displacement. Vibration input tested, this hybrid shock-absorbing platform provides effective vibration isolation. When the maximum acceleration of the input vibration is about 2.5m/s ² (approximately a magnitude 8 earthquake), the output acceleration of the top layer is less than 1m/s ² , and the input acceleration peak value is 2.5m/s ² when the physical test is inverted on the platform The water bottle (Nongfu Mountain Spring Oriental Leaves) can be kept upright for a long time without overturning. It can be seen that the anti-shock protection platform for cultural relics can effectively complete the shock absorption work.

Claims (1)

1. a kind of leading the passive floating control method for being laid flat platform of mixing damping historical relic damping, the master passively mixes damping historical relic damping The floating platform that is laid flat includes the pedestal being sequentially stacked from the bottom to top, first slide and second slide, and the first slide has X to freedom Degree, the second slide have a Y-direction degree of freedom, and the X is to being that horizontal direction and floor projection are crossed as 90 degree with Y-direction；First slides It is equipped with active vibration damping mechanism and passive energy dissipation mechanism between seat and pedestal and first slide and second slide；Described first slides Seat and pedestal and the active vibration damping mechanism between them and passive energy dissipation mechanism the first damped platform of composition, the first slide And second slide and active vibration damping mechanism between them and passive energy dissipation mechanism constitute the second damped platform；

The active vibration damping mechanism includes：Along X to or Y-direction arrangement and by motor-driven lead screw, with the first slide or The sliding sleeve that second slide moves synchronously and coordinates with wire rod thread detects pedestal or the gyroscope of first slide acceleration of motion, The gyroscope is for exporting the signal for controlling the motor；The active vibration damping mechanism further includes detection first slide and cunning The first straight line displacement sensor of the slide displacement of set, the linear displacement transducer is for exporting the letter for controlling the motor Number；

The pedestal, which is equipped with, adapts to X direction guiding rails of the first slide X to movement, and the first slide, which is equipped with, adapts to second slide Y-direction The Y-direction guide rail of movement；The passive energy dissipation mechanism is spring, and the connection in the first, second slide and sliding sleeve is arranged in the spring Place；

Further include capture card, second straight line displacement sensor and computer, the second straight line displacement sensor is for detecting the The slide displacement of one slide or second slide, the first straight line displacement sensor and second straight line displacement sensor with acquisition Card is connected, and the capture card and gyroscope are connected with computer；

It is characterized in that, the control method includes the following steps：

(1) foundation of model：

Spring-quality-damper model of the first damped platform and the second damped platform is established respectively, two models are identical, below By taking the first damped platform as an example；

The acceleration ω (t) of pedestal is enabled to be：

Wherein, x₁(t) it is the displacement of pedestal, t is the time；

Enable the acceleration of sliding sleeveFor：

Wherein x₃(t) it is the displacement of sliding sleeve；U (t) is acceleration of the sliding sleeve with respect to pedestal；

The output of the acceleration of the first damped platform is enabled to beThen have：

In formula, k_sFor the stiffness coefficient of spring, m₂For the gross mass of the second damped platform, B is that the first damped platform and pedestal are opposite The damped coefficient of sliding；

The state-space model of the first damped platform can be obtained by formula (1)-formula (3)：

Wherein, Z is the state space variable of the first damped platform；

The output Y of the state-space model of first damped platform is：

(2) structure of control program：

For control method using method output feedback and feedovered, controller uses PID controller, controller to export result G (s) For：

In formula, s is complex variable, and Kp is proportionality coefficient, and Ki is integral coefficient, and Kd is differential coefficient, and N is filter factor；

The maximum output acceleration of the first damped platform of permission is set as a_set, by a_setWith the first damped platform in step (1) The output Y of state-space model do difference, obtain deviation e=a_set-Y；Deviation e is multiplied by the when domain equation of G (s), is obtained To the controlled quentity controlled variable v1 of motor；

The pedestal acceleration that gyroscope measurement obtains is filtered by Kalman filter, obtains the speed of pedestal The speed v2 of the pedestal is passed to motor by v2 by feedforward path, and final motor controlled quentity controlled variable is v=v1+v2；

(3) control flow：

(3.1) linear displacement transducer obtains the relative shift of the first damped platform and pedestal, is given by being exported after AD conversion Capture card, computer read the collected displacement of capture card, if when displacement threshold value of the displacement read beyond setting, Computer makes motor rotate, and sliding sleeve is made to reset；

(3.2) if the displacement read without departing from setting displacement threshold value when, computer is by the collected acceleration of gyroscope It spends and is compared with the acceleration rate threshold of setting；

(3.2.1) if the collected acceleration of gyroscope beyond setting acceleration rate threshold, by the acceleration and a of pedestal_set Difference is done, then using the difference as the input quantity of G (s), obtains the rate control instruction of motor, and be issued to motor, control electricity Machine carries out damping campaign, and instruction repeats step (3.1) and step (3.2) after being sent；

(3.2.2) is if the collected acceleration of gyroscope and when earthquake has stopped, is then controlled without departing from the acceleration rate threshold of setting Motor processed executes resetting movement, if in zero-bit if do not move, repeat step (3.1) and step (3.2)；

(3.2.3) if the collected acceleration of gyroscope without departing from the acceleration of setting threshold value, and when earthquake does not stop, directly Connect repetition step (3.1) and step (3.2)；

(3.2.4) is if the collected acceleration of gyroscope and when earthquake does not occur, is calculated without departing from the acceleration rate threshold of setting Machine makes control motor that sliding sleeve be made to reset, and repeats step (3.1) and step (3.2).