基于压电驱动型Stewart平台微振动控制

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• 英文论文题名：Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators
• 论文作者：王超新 ; 谢溪凌 ; 张志谊
• 英文论文作者：Wang Chaoxin ; Xie Xiling ; Zhang Zhiyi ; Institute of Vibration Shock & Noise ; Shanghai Jiaotong University ; State Key Laboratory of Mechanical Systems and Vibration ; Shanghai Jiao Tong University
• 年：2016
• 作者机构：上海交通大学振动冲击噪声研究所;上海交通大学机械系统与振动国家重点实验室;
• 论文关键词：微振动 ; Stewart平台 ; 频响函数综合 ; 自适应控制 ; 雅克比矩阵
• 英文论文关键词：Micro-vibration ; Stewart platform ; FRF synthesis ; adaptive control ; Jacobian matrix
• 会议召开时间：2016-08-12
• 会议录名称：第十六届全国模态分析与试验学术会议论文集
• 语种：中文
• 分类号：TB535
• 学会代码：ZGZH
• 会议名称：第十六届全国模态分析与试验学术会议
• 会议地点：中国天津
• 主办单位：中国振动工程学会模态分析与试验专业委员会
• 学会名称：中国振动工程学会
• 页数：8
• 文件大小：713k
• 原文格式：D
• 会议级别：全国

摘要

采用数值仿真和模型实验研究基于压电驱动型立方体Stewart平台的微振动控制效果。在平台运动学分析的基础上,Stewart平台的动力学模型采用子结构频响函数综合方法获得,以考虑平台的固有振动模态。振动控制采用力积分反馈与自适应算法相结合的方法,控制平台的固有振动和周期振动。通过实验测试平台在5-200Hz范围内的振动控制性能,首先测试压电驱动型支腿的输出一致性,根据实测数据修正雅克比矩阵并确定内环反馈增益,然后应用滤波自适应控制算法实施控制,验证平台的微振动控制效果。实验结果表明,在5-200Hz范围内,压电驱动型Stewart平台,对于周期振动,振幅衰减最大可达30dB,对于随机振动,有效值衰减最大可达10dB。
A Stewart platform with piezoelectric actuators is presented for micro-vibration isolation. Based on kinematic analysis,the dynamic model of the platform is established by the FRF(frequency response function) synthesis method in order to consider the inherent modes. In the active control loop,the direct feedback of integrated forces is combined with the FxL MS-based adaptive feedback to dampen vibration of inherent modes and suppress transmission of periodic vibrations. In the experiment,output consistency of the six piezoelectric actuators was measured at first and the theoretical Jacobian matrix as well as the feedback gain of each piezoelectric actuator was then modified according to the measured consistency. The Fx LMS based adaptive feedback control was adopted to suppress vibration transmission in the six struts. Experimental results demonstrated that the Stewart platform is able to achieve 30 d B attenuation of narrowband disturbances and 10 d B attenuation of broadband disturbances in the frequency range of 5-200 Hz.

引文

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