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中文摘要：
针对地震模拟振动台改造的需要，应用迭代学习控制理论，在振动台作动器位移PID控制的基础上构建外部加速度闭环，组成双闭环控制。采用Matlab进行了仿真，验证了算法的正确性和适用性。进行了控制系统软硬件的改造和开发，设计了简易的试验构件，通过大量的离线迭代实验，达到了理想控制效果，验证了改造后控制系统的性能。并进行了在线实时立呋代荤习控制古白援索釉客次试验．访研究对她雳模拟撮动台试验研究有重要意义。
英文摘要：
To the need of improving of the shaking table, the iterative learning control theory is employed, and outer acceleration closed loop is constructed to form the double closed loop based on the displacement PID control of actor of the shaking table. Matlab is adopted for simulation testify to the applicability and validity of this algorithm. The software and hardware of the control system are modified and developed. The simple experimental specimen is designed to achieve the satisfactory control effects. The experiments of the online and real-time iterative learning control show the performance of the modified system, which makes the contributions to the study on shaking table test.
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