期刊
JOURNAL OF SOUND AND VIBRATION
卷 439, 期 -, 页码 398-412出版社
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jsv.2018.10.007
关键词
Dynamic modeling; Decoupled control; Six-axis vibration isolator; Flexible Stewart platform; Pseudo-rigid-body model; Principle of virtual power
资金
- National Natural Science Foundation of China [51375230, 51575256, 51405417]
- Natural Science Foundation of Jiangsu Province [BK20140470]
- Natural Science Research of Jiangsu Higher Education Institutions of China [17KJB460003]
The vibration isolation system is crucial to high-precision space systems. This paper studies dynamics and control of a six-axis vibration isolator via a flexible Stewart platform. The parasitic stiffness induced by flexible joints is considered in dynamics modeling and compensated in control for the first time. The explicit dynamic equations are established based on the pseudo-rigid-body model and the principle of virtual power. After validation by ADAMS/ Flex and the finite element method, the dynamic equations are used for designing a decoupled controller. The control force is synthesized based on the leg's force and position feedback. The impact of bending and torsional stiffness of flexible joints is compensated and the MIMO system is consequently decoupled in modal space, making parameter design and performance implementation more convenient and effective. The identical sub-controller for every SISO system makes the six-DOF isolator achieve the capability of vibration isolation simultaneously for the six modes. With a proportional plus integral compensator as the sub-controller, the vibration isolation bandwidth and active damping can be regulated separately. (C) 2018 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据