Dynamic modeling and control for a three-dimensional vibration isolation system with a 3-RPC parallel mechanism
ZHAO Wei1, CHEN Wei1, LI Bing2
1.School of Mechanical and Electrical Engineering,Shenzhen Polytechnic,Shenzhen 518055,China;
2.School of Mechanical Engineering and Automation,Harbin Institute of Technology（Shenzhen）,Shenzhen 518055,China
Abstract：Based on vibration characteristics of vehicles,a three-dimensional vibration isolation system as a vehicular device was proposed and a semi-active fuzzy optimal control model was established.Then,the performance of the system was validated with tests.It was shown that this system realizes the spatial three-dimensional vibration isolation through replacing the actuator of its 3-RPC parallel mechanism with a subsystem consisting of a magnetorheological(MR) damper and a spring; the out put control force of the MR damper is obtained using H∞ state feedback control strategy and the MR damper working principle; the input current of the MR damper is calculated with the fuzzy model.In order to validate the performance of the system,a three-dimensional vibration isolation test platform was developed,and vibration tests with sinusoidal and random excitations were conducted.Finally,the measurement results of vibration accelerations verified the effectiveness of the vibration isolation system and its control strategy.
赵伟1，陈伟1，李兵2. 基于3-RPC并联机构的三维振动隔离系统的动力学建模与控制研究[J]. 振动与冲击, 2017, 36(7): 62-69.
ZHAO Wei1, CHEN Wei1, LI Bing2. Dynamic modeling and control for a three-dimensional vibration isolation system with a 3-RPC parallel mechanism. JOURNAL OF VIBRATION AND SHOCK, 2017, 36(7): 62-69.
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