一种Stewart隔振平台的动力学建模及实验研究

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振动与冲击 ›› 2017, Vol. 36 ›› Issue (12) : 201-207.

论文

谢溪凌1,2，王超新1,2，陈燕毫1,2，张志谊1,2

作者信息 +

Dynamic Modeling and Experiment of A Hybrid Passive/Active Stewart Vibration Isolation Platform

Xie Xiling1,2, Wang Chaoxin1,2, Chen Yanhao1,2, Zhang Zhiyi1,2

Author information +

文章历史 +

摘要

提出一种采用石墨自润滑球铰连接的立方体构型Stewart隔振平台，6个支腿通过可转动的球铰与基础及载荷平台相连，每个支腿由音圈作动器与力传感器构成。在假设各支腿、基础及载荷平台均为弹性体的基础上，采用子结构频响函数综合法对Stewart隔振平台进行动力学建模，并通过FEM方法进行验证，给出内嵌反馈控制的隔振平台模型，对反馈控制效果进行仿真验证。在仿真分析的基础上，对隔振平台的被动隔振性能和内嵌反馈控制的主动隔振性能进行实验，结果表明，被动隔振在30-200Hz频段内具有约-36dB/dec的衰减率，主动隔振在3-100Hz频段内可获得最大20dB的幅值衰减，在200Hz内，支腿力RMS值控制后下降75-80%。

Abstract

A Stewart platform of cubic configuration was presented for hybrid passive/active vibration isolation. In the platform, the six struts are connected with the base and the payload through spherical joints lubricated by graphite, and each strut comprises a voice coil actuator and a force transducer. The Stewart platform was treated as an elastic system and an FRF (frequency response function) model was built by using the FRF-based substructure synthesis method. This model was validated by the finite element method and used in subsequent simulation. Vibration isolation with embedded feedback was analyzed and the effectiveness was evaluated. Experiments were also conducted to verify the hybrid passive/active vibration isolation performance. The results demonstrated that the passive isolation has approximately -36dB/dec attenuation rate in the frequency range of 30-200Hz, and the active isolation can achieve a maximum attenuation of 20dB in the frequency range of 3-100Hz, moreover, the RMS values of dynamic forces in the struts were reduced by about 75-80% within 200Hz.

导出引用

谢溪凌1,2，王超新1,2，陈燕毫1,2，张志谊1,2. 一种Stewart隔振平台的动力学建模及实验研究[J]. 振动与冲击, 2017, 36(12): 201-207

Xie Xiling1,2, Wang Chaoxin1,2, Chen Yanhao1,2, Zhang Zhiyi1,2. Dynamic Modeling and Experiment of A Hybrid Passive/Active Stewart Vibration Isolation Platform[J]. Journal of Vibration and Shock, 2017, 36(12): 201-207

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