柔性载荷隔震的MIMO控制规律研究*

2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI:10.1109/ICCMA46720.2019.8988713

J. Watchi, B. Ding, Guoying Zhao, C. Collette

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引用次数: 0

摘要

为了正常工作，一些精密应用需要在六个自由度中与地面运动隔离。本文给出了一个六角形载荷的全方向隔离模型。通过与实验数据的对比，验证了模型的正确性。它很好地再现了结构的悬架模式和柔性。该系统采用了集中控制和奇异值分解两种多输入多输出控制技术。这两种方法都可以在不干扰柔性模式的情况下，将低频(高达5赫兹)地面运动的传输减少100倍。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Study of MIMO Control Laws for Seismic Isolation of Flexible Payload*

In order to operate properly, some precision applications need to be isolated from the ground motion in the six degrees of freedom. This paper presents the model of a hexagonal payload which is isolated in all directions. The model is validated by comparison with experimental data. It reproduces properly the suspension modes and the flexibilities of the structure. Two multi-input multi-output (MIMO) control techniques have been applied to this system: centralized control and singular value decomposition (SVD). Both methods allow to reduce by a factor 100 the transmission of ground motion at low frequency (up to 5 Hz) without interfering with the flexible modes.

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2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)

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