六自由度主被动一体隔振平台传感器/作动器的优化配置

摘要

针对六自由度平台研究了振动主动控制中传感器/作动器的优化配置问题。首先通过惯性物理坐标到传感器坐标变换给出了传感器/作动器的位置矩阵,结合位置矩阵给出了布置传感器/作动器应满足的约束条件;然后建立了基于传感器坐标的状态空间模型,根据状态空间模型,建立了以能观、能控矩阵范数最大为基础的目标函数,将优化配置归结为一个有约束的非线性优化问题;最后采用Matlab遗传算法工具箱求得了传感器/作动器配置的最优解。%Aiming at the 6-DOF active-passive vibration isolation platform, it is studied how to dispose sensors/ac- tuators on the optimization placement. At first, through coordinate transformation from inertial physical frame to sensor reference frame, the position matrixes of sensors/actuators are given out, and the constrained conditions are provided, which should satisfy the position matrixes. Then, the state space model is set up based on the sensor ref- erence frame, and the objective function is build up with most observability and controllability matrix norm. The problem can be expressed as a nonlinear optimization problem with constraints. Finally, the optimum solution of sensors/actuators collocation is received using the Matlab genetic algorithm toolbox.