摘要
针对六自由度主被动一体隔振平台的关键技术开展了系统研究，具体内容包括控制系统的实验建模与控制器设计两大部分。根据实验辨识时的输入输出数据，利用最小二乘递推算法辨识出了系统的标称参数；考虑到实验建模的不确定性以及隔振控制的目的，应用基于H∞的混合灵敏度设计出了鲁棒控制器。最终实验表明主被动一体隔振平台不仅可以有效地隔离地基的干扰，还能对直接作用于平台的外力有较好的抑制作用。
Abstract
To 6-DOF active-passive vibration isolation platform, the key technologies have been studied, which include the experimental modeling and the controller design. According to the input and output data of the modeling experiment, the nominal parameters of the system are identified with the recurrence least squares algorithm (RLS). Taking into account the uncertainties from experimental modeling and vibration control purposes, the robust controller has been designed through the application of mixed sensitivity H∞-based. Final vibration isolation experimental results show that active-passive vibration isolation platform, can not only effectively isolate the interference of the foundation, but also better restrain the force directly on the platform.
关键词
六自由度 /
实验建模 /
鲁棒控制
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Key words
6-DOF /
experiment modeling /
robust control
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郝慧荣;白鸿柏;张慧杰.
六自由度主被动一体隔振平台的鲁棒控制[J]. 振动与冲击, 2012, 31(7): 122-127
Hao Huirong;Bai Hongbai;Zhang huijie.
Robust Control of the 6-DOF Active-passive Vibration Isolation Platform[J]. Journal of Vibration and Shock, 2012, 31(7): 122-127
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