主动隔振平台模态区间参数模型的独立模态控制方法  

Independent modal control method for the modal interval parameter model of the active isolation platform

作　　者：侯军芳[1] 李荣利[1] 白鸿柏[2] 

机构地区：[1]北京特种车辆研究所,北京100072 [2]军械工程学院自行火炮教研室,河北石家庄050003

出　　处：《振动工程学报》2011年第6期670-675,共6页Journal of Vibration Engineering

摘　　要：针对六自由度隔振平台模态区间参数模型的控制器设计问题,提出了一种模态参数存在摄动时的独立模态控制设计方法,其中将振型矩阵存在不确定性时的模态位移变换转换为模态坐标下增广的等效模态位移测量噪声,在模态控制器设计时通过对噪声的适当加权进行处理;将振型矩阵存在不确定性时的实际控制力变换等效为模态控制器设计时的控制输入矩阵的摄动。通过所提出的方法,将振型矩阵存在不确定性的模态控制器设计问题转换为输入矩阵存在摄动的新辅助系统的控制器设计,为模态参数区间模型的性能鲁棒控制器设计奠定了理论基础。对六自由度隔振平台进行了直接干扰和地基干扰下的主被动隔振实验,实验结果证实了所提方法的有效性。As regards the controller design of the interval modal parameter model of the 6-DOF isolation platform,a kind of independent modal control design method considering the modal parameter uncertainty is put forward.In this method,the modal displacement transformation with uncertainty of the modal matrix is equivalent to the modal displacement measurement noise,and is considered by properly weighting of the noise in the modal controller design.And the actual force transformation with uncertainty of modal matrix is equivalent to the perturbation of the input matrix in the modal controller design.By this way,the modal controller design with uncertainty of modal matrix is transformed into the controller design of the new auxiliary system with perturbation of the input matrix,which establishes the foundation of the application of the independent modal control method for interval modal parameter model.The active isolation experiment for the 6-DOF isolation platform was carried out under direct disturbance and base disturbance respectively,and the experimental results verify the effectiveness of the proposed control method.

关 键 词：模态参数区间 振型摄动 独立模态控制 主动隔振平台 

分 类 号：TB535[理学—物理] O328[理学—声学]