ALLOCATION OF THREE CONTROL FORCES TO FOUR ACTUATORS FOR 3-DOF HYBRID VIBRATION ISOLATION SYSTEM

摘要

This paper treats a hybrid type vibration isolation system for 3-DOF vibrations, that is, bouncing, pitching and rolling vibrations. The hybrid type system is composed of passive spring-damper system and active system with electromagnetic actuators. The controller for the vibration isolation system derives one control force for bounce and two control moments for pitch and roll in regard to the center of gravity. Usually, an actuator to supply vibration control force is set in each supporting part at the four corners of the loading platform. The allocation of three control outputs to four actuators is not unique because of redundancy. In this paper, the allocation of the control output is discussed in detail.