摘要
基于车体振动的特点提出一种应用于车载设备的三维隔振系统,建立了该系统的半主动模糊最优控制模型,并通过实验验证了该多维隔振系统的性能。该系统通过使用磁流变(MR)阻尼器与弹簧组成的隔振子系统代替3-RPC(旋转副-平移副-螺旋副)并联机构中的驱动器实现空间三维振动隔离。控制模型结合了H∞状态反馈控制方法和MR阻尼器的工作原理得到阻尼器的可输出控制力,并通过模糊模型计算得到MR阻尼器的输入电流。设计制造了一套振动隔离实验平台,并采用正弦信号和随机信号进行振动实验完成了对平台的隔振性能的验证。通过测量上平台的振动加速度表明此隔振系统具有良好的隔振效果。
Based on vibration characteristics of vehicles, a three-dimensional vibration isolation system as a vehicular device was proposed and a semi-active fuzzy optimal control model was established. Then, the performance of the system was validated with tests. It was shown that this system realizes the spatial three-dimensional vibration isolation through replacing the actuator of its 3-RPC parallel mechanism with a subsystem consisting of a magnetorheological(MR) damper and a spring; the out put control force of the MR damper is obtained using H∞state feedback control strategy and the MR damper working principle; the input current of the MR damper is calculated with the fuzzy model. In order to validate the performance of the system, a three-dimensional vibration isolation test platform was developed, and vibration tests with sinusoidal and random excitations were conducted. Finally, the measurement results of vibration accelerations verified the effectiveness of the vibration isolation system and its control strategy. © 2017, Editorial Office of Journal of Vibration and Shock. All right reserved.
出处
《振动与冲击》
EI
CSCD
北大核心
2017年第7期62-69,共8页
Journal of Vibration and Shock
基金
机器人技术与系统国家重点实验室开放基金(SKLRS-2013-MS-03)
关键词
振动隔离
并联机构
模糊最优控制
Damping
Mechanisms
State feedback
Vibration analysis
