摘要
对于平台的六自由度微隔振,采用橡胶和压电材料复合的作动器作为平台隔振的动力元件,橡胶被动隔离高频外扰,压电堆主动隔离低频扰动。针对现有压电微隔振平台的鲁棒控制器很少综合考虑外扰存在不确定性和作动器输出存在摄动这两种情况,从而导致隔振的仿真效果与实际试验差距较大的现实。基于Riccati不等式,采用鲁棒控制器的状态反馈控制方法,将两种摄动归结为模型中各参数的摄动,基于此,设计了一种新的鲁棒控制器算法,用于低频外扰振动的隔离。仿真和试验结果表明:利用设计的控制器,仿真的振幅降低了97.4%,实际平台扰动的振幅降低了93.9%,优于一般鲁棒控制器。
New kind of composite actuator is designed by rubber and piezoelectric materials which as the acnve part to isolate the platform＇s six-degree of freedom （6-DOF） vibrations, and the rubber isolate the high frequency distri- bution when the piezoelectric stack isolates the low frequency interference actively. Because of the piezoelectric micro-vibration isolation platform~ distribution and the actuators＇ perturbation, which would lead to the platform＇s actual isolation effect could not achieve the simulation effect and does not be considered when designs the piezoelec- tric micro-vibration isolation platform＇s robust controllers. Based on the Riecati inequality, through the method of state feedback control, designed a new Algorithms of Robust Controller which contends compromise factors＇ affection to isolate the low frequency distribution, and those factors＇ affection are replaced by all kinds of platform model＇s parameters distribution. The simulation and experiment results show that the amplitude is reduced 97.4% by simulation when 93.9% by test. The Algorithm is better than the simple robust controller.
出处
《机械科学与技术》
CSCD
北大核心
2013年第10期1518-1523,共6页
Mechanical Science and Technology for Aerospace Engineering
关键词
压电材料
振动
设计
控制
反馈控制
算法
controllers
piezoelectric materials
actuators
algorithms
computer simulation
control
degrees offreedom （ mechanics ）
design
efficiency
feedback control
MATLAB
robust control
vibrations（mechanical）
