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首页> 外文期刊>Journal of vibration and control: JVC >Robust control of a novel active pneumatic vibration isolator through floor vibration observer
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Robust control of a novel active pneumatic vibration isolator through floor vibration observer

机译:通过地板振动观测器对新型主动式气动隔振器的鲁棒控制

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摘要

Active vibration control techniques have been widely applied to enhance passive vibration isolators. The active strategy can improve the common disadvantages of the passive pneumatic isolator, such as resonant character and poor isolation performance at low frequency. In the study, a novel active pneumatic vibration isolator is designed. The isolator uses a passive isolator to support the weight of the payload and a pneumatic actuator to suppress the vibration disturbance through active control strategy. This investigation proposes a robust H_∞ controller in order to have good disturbance rejection ability and robustness. According to the linearized nominal plant and appropriate weighting functions, the robust controller can be obtained and implemented by measuring vibration of payload and disturbance. However, it costs higher in practical implementation because two precision accelerometers must be used to measure the vibration at the same time. Therefore, the proportional integral observer (PI observer) is designed to estimate the disturbance and achieve trade-off between cost and performance. Because the PI observer can also estimate the state variables of the active isolation system, the linear quadratic control is also adopted to compare the isolation results with robust control strategies. The simulations and the experimental results show that the proposed robust control scheme improves the disadvantages of the passive pneumatic isolator. Furthermore, the PI observer can estimate the disturbance precisely, and almost the same isolation performance is met comparing to direct disturbance measurement.
机译:主动振动控制技术已广泛应用于增强被动振动隔离器。主动策略可以改善被动式气动隔离器的共同缺点,例如谐振特性和低频隔离性能差。在研究中,设计了一种新型的主动式气动隔振器。隔离器使用无源隔离器支撑有效负载的重量,并使用气动执行器通过主动控制策略抑制振动干扰。本研究提出了一种鲁棒的H_∞控制器,以具有良好的抗干扰能力和鲁棒性。根据线性化的名义工厂和适当的加权函数,可以通过测量有效载荷的振动和干扰来获得并实现鲁棒控制器。但是,由于必须使用两个精密加速度计同时测量振动,因此在实际实施中成本较高。因此,比例积分观测器(PI观测器)旨在估算干扰并在成本和性能之间进行权衡。由于PI观测器还可以估计主动隔离系统的状态变量,因此还采用线性二次控制将隔离结果与鲁棒控制策略进行比较。仿真和实验结果表明,所提出的鲁棒控制方案改善了被动式气动隔离器的缺点。此外,PI观测器可以精确估计干扰,与直接干扰测量相比,几乎可以达到相同的隔离性能。

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