基于Stewart平台的隔振与抑振协同控制研究

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振动与冲击 ›› 2019, Vol. 38 ›› Issue (7) : 186-194.

论文

王嘉铭，孔永芳，黄海

作者信息 +

Cooperative control for vibration isolation and suppression based on Stewart platform

WANG Jiaming, KONG Yongfang, HUANG Hai

Author information +

文章历史 +

摘要

Stewart平台常被选作卫星本体和精密载荷之间的连接和隔抑振装置，但现有基于Stewart平台的控制方法无法实现宽带隔振与抑振协同控制，针对此问题，提出了一种自适应滤波与Skyhook相结合的控制方法，其中自适应滤波控制可实现隔抑振协同控制，但平台小阻尼比特性会对其稳定性产生不利影响，故引入Skyhook作为控制内环以增加主动阻尼。实验结果表明，当平台的上、下平板同时受到扰动时，上平板在6-50Hz频率范围内加速度响应的衰减可达12dB以上，验证了宽带隔振与抑振协同控制的有效性，且与单独的自适应滤波控制相比，所提出的方法具有更好的稳定性。

Abstract

Stewart platform is often taken as a connection device between a satellite and precise load and a device for vibration isolation and suppression. However,the existing control methods based on Stewart platform can’t realize cooperative control of broadband vibration isolation and suppression. Aiming at this problem,a control method combining adaptive filtering with Skyhook was proposed. The adaptive filtering method was used to realize cooperative control of vibration isolation and suppression,but the platform feature of small damping ratio had a negative effect on its stability. Skyhook was taken as the control inner loop to increase active damping. The test results showed that when the upper plate and lower one of the platform are both disturbed,the decay of the upper plate’s acceleration response can reach more than 12 dB within the frequency range of 6-50 Hz,the effectiveness of the cooperative control for broadband vibration isolation and suppression is verified; compared with the single adaptive filtering control method,the proposed method has a better stability.

导出引用

王嘉铭，孔永芳，黄海. 基于Stewart平台的隔振与抑振协同控制研究[J]. 振动与冲击, 2019, 38(7): 186-194

WANG Jiaming, KONG Yongfang, HUANG Hai. Cooperative control for vibration isolation and suppression based on Stewart platform[J]. Journal of Vibration and Shock, 2019, 38(7): 186-194

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