基于气动肌肉和负刚度机构的主、被动宽频隔振研究  

Active and passive broad-frequency vibration isolation based on PAM and negative stiffness element

作　　者：刘延斌[1] 韩秀英[1] 马佳佳[1] 尹晨旭[1] 

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《振动与冲击》2014年第24期179-186,共8页Journal of Vibration and Shock

基　　金：河南省教育厅科学技术研究重点项目(13A460237)

摘　　要：为实现简单、可靠、低耗、高效的微振动宽频隔振,基于气动肌肉和负刚度机构构建了一种新型隔振系统,对其主、被动控制进行了研究。首先建立系统的动力学模型,在此基础上分析了系统的准零刚度特性,分别运用近似解析方法和数值方法对系统的振动传递率、振动响应以及非线性现象进行分析。然后结合反演控制设计方法、自适应以及滑模控制技术,制定了系统的低频主动控制策略,运用数值方法对主动控制下的隔振性能进行了分析。结果表明,该系统拓宽了被动控制的低频隔振频带,对5 mm以下幅值的激励,隔振频率可降至0.033 Hz,而在小于0.033 Hz的超低频带,应用主动控制方式可以实现低能耗的高精度隔振,因此二者结合可以实现简单、可靠、低耗、高效的微振动宽频隔振。In order to realize simple,reliable,low energy consumption and high efficient broad-frequency micro-vibration isolation,a new vibration isolation system was set up by using pneumatic artificial muscle （PAM）and negative stiffness element,and active and passive control for the vibration isolation system were studied.Firstly,the dynamic model of the vibration isolation system was built,its quasi-zero stiffness characteristics were analyzed,its vibration transmissibility,response and nonlinear phenomena were analyzed by using the approximate analytical method and the numerical method.And then,the low-frequency active control strategy for the vibration isolation system was developed by using the inversion control design method,the adaptive control technique and the sliding mode control technique.The vibration isolation performance under the active control was analyzed by using the numerical method.The results showed that the vibration isolation system widens the low-frequency vibration isolation frequency band of passive control,the vibration isolation frequency can be lowered to 0.033Hz for the harmonic excitation whose amplitude is less than 5mm;the low energy consumption and high precision isolation can be realized by using the active control method within an ultralow frequency range of less than 0.033 Hz,for this reason,simple,reliable,low energy consumption and high efficient broad-frequency isolation can be realized by combining the passive control with the active control.

关 键 词：宽频隔振 气动肌肉 负刚度机构 主动控制 

分 类 号：TH113.1[机械工程—机械设计及理论]