基于气动肌肉和负刚度机构的主、被动宽频隔振研究

刘延斌;韩秀英;马佳佳;尹晨旭

振动与冲击 ›› 2014, Vol. 33 ›› Issue (24) : 179-186.

PDF(1498 KB)
PDF(1498 KB)
振动与冲击 ›› 2014, Vol. 33 ›› Issue (24) : 179-186.
论文

基于气动肌肉和负刚度机构的主、被动宽频隔振研究

  • 刘延斌,韩秀英,马佳佳,尹晨旭
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Research on Active and Passive Broad-frequency Vibration Isolation Based on PAM and Negative Stiffness Element

  • LIU Yan-bin, HAN Xiu-ying, MA Jia-jia, YIN Chen-xu
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摘要

为实现简单、可靠、低耗、高效的微振动宽频隔振,基于气动肌肉和负刚度机构构建了一种新型隔振系统,对其主、被动控制进行了研究。首先建立了系统的动力学模型, 在此基础上分析了系统的准零刚度特性,分别运用近似解析方法和数值方法对系统的振动传递率、振动响应以及非线性现象进行了分析。然后结合反演控制设计方法、自适应以及滑模控制技术,制定了系统的低频主动控制策略,运用数值方法对主动控制下的隔振性能进行了分析。结果表明,该系统拓宽了被动控制的低频隔振频带,对5mm以下幅值的激励,隔振频率可降至0.033Hz,而在小于0.033Hz的超低频带,应用主动控制方式可以实现低能耗的高精度隔振,因此二者结合可以实现简单、可靠、低耗、高效的微振动宽频隔振。

Abstract

In order to realize simple, reliable, low power consumption and high efficient broad-frequency micro-vibration isolation, a new vibration isolation system was set up by using the pneumatic artificial muscle (PAM) and the negative stiffness element, and active and passive control for the vibration isolation system were discussed. Firstly, the dynamics model of the vibration isolation system were built, the quasi-zero stiffness characteristics was analyzed, and the vibration transmissibility, response and nonlinear phenomena were analyzed by using the approximate analytical method and numerical method. And then, the low-frequency active control strategy for the vibration isolation system was developed by using backstepping control method and adaptive control technology and sliding mode control technology, and the vibration isolation performance under the active control was analyzed by using numerical method. The results show that the vibration isolation system widens the frequency band of low-frequency vibration isolation, the vibration isolation frequency can be lowered to 0.033Hz for the harmonic excitation whose amplitude is less than 5mm, and low power consumption and high precision vibration isolation can be realized by using the active control method, for this reason, simple, reliable, low power consumption and high efficient broad-frequency micro-vibration isolation can be realized by combining the passive control with the active control.

关键词

宽频隔振 / 气动肌肉 / 负刚度机构 / 主动控制

Key words

broad-frequency vibration isolation / pneumatic artificial muscle / negative stiffness element / active control

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刘延斌;韩秀英;马佳佳;尹晨旭. 基于气动肌肉和负刚度机构的主、被动宽频隔振研究[J]. 振动与冲击, 2014, 33(24): 179-186
LIU Yan-bin;HAN Xiu-ying;MA Jia-jia;YIN Chen-xu. Research on Active and Passive Broad-frequency Vibration Isolation Based on PAM and Negative Stiffness Element[J]. Journal of Vibration and Shock, 2014, 33(24): 179-186

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