六自由度主被动一体隔振平台鲁棒控制  

Robust control of a 6-DOF active-passive vibration isolation platform

作　　者：郝慧荣[1] 白鸿柏[1] 张慧杰[2] 

机构地区：[1]军械工程学院,石家庄050003 [2]内蒙古工业大学,呼和浩特010000

出　　处：《振动与冲击》2012年第7期122-127,共6页Journal of Vibration and Shock

基　　金：武器装备十一五预先研究资助项目(51312040405);军械工程学院原始创新基金资助科研项目(YSCX0904)

摘　　要：针对六自由度主被动一体隔振平台的关键技术开展系统研究,具体内容包括控制系统的实验建模与控制器设计两大部分。根据实验辨识时的输入输出数据,利用最小二乘递推算法辨识出了系统的标称参数;考虑到实验建模的不确定性及隔振控制目的,应用基于H∞的混合灵敏度设计出鲁棒控制器。最终实验表明主被动一体隔振平台不仅可以有效地隔离地基的干扰,还能对直接作用于平台的外力有较好地抑制作用。For a 6-DOF active-passive vibration isolation platform, its key technologies were studied, they included experimental modeling and controller design. According to the input and output data of the modeling experiment, the nominal parameters of the system were identified with the recurrence least square algorithm （RLS）. Taking uncertainties of experimental modeling and vibration control purposes into account, a robust controller was designed adopting the mixed sensitivity H ^-based. Final vibration isolation experimental results showed that the active-passive vibration isolation platform can not only effectively isolate the interference of the foundation but also better suppress the external force exerted directly on the platform.

关 键 词：六自由度 实验建模 鲁棒控制 

分 类 号：TB535.1[理学—物理]