Vibration Robust Optimal Semi-Active Control of Multi-Dimensional Vibration Isolator Based on Parallel Mechanism

doi:10.16183/j.cnki.jsjtu.2023.230

Abstract

Abstract:

In order to isolate multi-dimensional vibration experienced by vehicle-mounted precise instrument, a novel multi-dimensional vibration isolator is proposed based on 2-RPC/2-SPC parallel mechanism and the magneto-rheological (MR) damper. The kinematic and dynamic models are established by geometric relation and the Lagrange approach respectively. The robust optimal semi-active control algorithm is obtained by deducing linear matrix inequality. The vibration isolation capability is addressed in time and frequency domain under stochastic road excitation with mass, stiffness, and damping coefficient uncertain factors respectively. Meanwhile, the relation between isolation performance and uncertain factors is explored. The isolation capability is compared with the linear quadratic regulator (LQR) semi-active control algorithm with the same uncertain factors under step excitation. The results demonstrate that the proposed isolator inhibit the vibration in the x, y, z axes and around the y axis significantly. The isolation performance is affected by mass uncertain factor most obviously. The robust optimal semi-active control algorithm is more effective than the LQR algorithm with uncertain factors.

Key words: parallel mechanism, multi-dimensional vibration isolator, magneto-rheological (MR) damper, semi-active control

CLC Number:

TB535
TH113

GAO Xiang, NIU Junchuan, HE Lei, QIN Zhen, WANG Zhonglong. Vibration Robust Optimal Semi-Active Control of Multi-Dimensional Vibration Isolator Based on Parallel Mechanism[J]. Journal of Shanghai Jiao Tong University, 2025, 59(5): 648-656.

Figures/Tables 8

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参数	取值
活塞有效面积,A_p/mm²	0.6
磁流变液黏度,η/(Pa·s)	0.15
阻尼通道长度,L/mm	25
阻尼器内外壳间隙,h/mm	1.5
阻尼器内壳外径,r/mm	1.2
拟合系数,a₄/(kPa·T^-3)	-1 090
拟合系数,a₃/(kPa·T^-2)	718.2
拟合系数,a₂/(kPa·T^-1)	11.4
拟合系数,a₁/kPa	0.271
拟合系数,a₀/(kPa·T^-4)	389.7

参数	取值
动平台质量,m_p/kg	25
动平台绕y轴转动惯量,I_y/(kg·m²)	0.67
弹簧刚度,k/(N·m^-1)	15 000
定平台边长,d/m	0.35
定平台边长,c/m	0.40
动平台边长,b/m	0.16
动平台边长,a/m	0.15
权重系数,α_K	70
权重系数,α_M	80
权重系数,β_M	6×10^-3
下截止频率,n₀/m^-1	0.012
参考空间频率,n₁/m^-1	0.1
路面不平度系数,G_q/m³	6.4×10^-5
车速,v_e/(m·s^-1)	16.7

控制策略	沿x轴/ (m·s^-1)	沿y轴/ (m·s^-1)	沿z轴/ (m·s^-1)	绕y轴/ (rad·s^-1)
被动	5.01×10^-3	5.78×10^-3	2.09×10^-3	7.00×10^-3
半主动	2.50×10^-3	2.06×10^-3	1.02×10^-3	2.20×10^-3
主动	5.48×10^-5	8.84×10^-4	5.77×10^-4	2.11×10^-5