基于并联机构的三维隔振系统半主动模糊最优控制研究  

Semi-active Fuzzy Optimal Control for a Three-Dimensional Vibration Isolator Based on a Parallel Mechanism

作　　者：赵伟[1] 王文斌[1] 马金平[1] 

机构地区：[1]深圳职业技术学院机电工程学院,广东深圳518055

出　　处：《深圳职业技术学院学报》2016年第3期3-9,共7页Journal of Shenzhen Polytechnic

摘　　要：文章提出一种基于3-RPC(旋转副-平移副-螺旋副)并联机构的三维隔振系统,设计了系统的半主动模糊最优控制方法.系统的隔振功能主要通过调节并联机构各个分支中一个由磁流变(MR)阻尼器和弹簧组成的隔振子系统的输出力来实现.MR阻尼器的可达输出力采用$H状态反馈与MR阻尼器的工作原理相结合的方法得到.由于MR阻尼器的动力学模型具有高度非线性,因此阻尼器的输入电流则通过一个由基因算法训练得到的Takagi-Sugeno(T-S)模糊模型计算得出.最后采用随机型号和正弦信号对系统的隔振性能进行仿真,结果表明此隔振系统具有良好的隔振效果.In the paper, a three-dimensional vibration isolation system based on a 3-RPC parallel mechanism is proposed, and the semi-active fuzzy optimal control method is designed, then the performance of the isolator is validated by simulations. The vibration isolation function is realized by adjusting the output force of the subsystem in every limb, which is composed of a magnet orheological（MR） damper and a spring. The output force of the dampers is obtained combining the H∞ state feedback control strategy and the work principle of the MR damper. Since the inverse dynamics of MR damper is highly nonlinear, the input current of damper is calculated by a Takagi-Sugeno（T-S） fuzzy model, which is obtained from a genetic algorithm. At last, the vibration simulations with sinusoidal and random signals are conducted and a good vibration isolation is proved.

关 键 词：三维隔振 半主动 模糊最优控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]