一种Stewart隔振平台的动力学建模及实验研究  

Dynamic modeling and experiment of a hybrid passive/active Stewart vibration isolation platform

作　　者：谢溪凌[1,2] 王超新[1,2] 陈燕毫 张志谊[1,2] XIE Xiling WANG Chaoxin CHEN Yanhao ZHANG Zhiyi(Inst itute of Vibrat ion ＆ Noise, Shanghai Jiao Tong Universi ty, Shanghai 200240, China State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China)

机构地区：[1]上海交通大学振动冲击噪声研究所,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《振动与冲击》2017年第12期201-207,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金(51275540)

摘　　要：提出一种采用石墨自润滑球铰连接的立方体构型Stewart隔振平台,6个支腿通过可转动的球铰与基础及载荷平台相连,每个支腿由音圈作动器与力传感器构成。在假设各支腿、基础及载荷平台均为弹性体的基础上,采用子结构频响函数综合法对Stewart隔振平台进行动力学建模,并通过FEM方法进行验证,给出内嵌反馈控制的隔振平台模型,对反馈控制效果进行仿真验证;在仿真分析的基础上,对隔振平台的被动隔振性能和内嵌反馈控制的主动隔振性能进行实验。结果表明,被动隔振在30~200 Hz频段内具有约-36 d B/dec的衰减率,主动隔振在3~100 Hz频段内可获得最大20 d B的幅值衰减,<200 Hz,支腿力RMS值控制后下降75%~80%。A Stewart platform o f cub ic configuration was presented fo r h yb r id pa s sive/active v ibrat ion iso lat io n. In the platform , the six struts are connected wi th the base and the payload through spherical jo in ts lu brica ted by g ra p h ite, and each strut comprises a voice c o i l actuator and a force transducer. The Stewart plat form was treated as an elastic system and an FRF （frequency response func t ion） model was b u i l t by using the FRF-based substructure synthesis method. This model was val idated by the f ini te element method and used in subsequent sim u lat io n. V ib ra t io n isolation w i th embedded feedback was analyzed and the effectiveness was evaluated. Experiments were also conducted to ve r ify the h yb r id passive/ active vibration isolation performance. The results demonstrated that the passive isolation has approximately -36 dB /d e c attenuation rate in the frequency range o f 30 - 200 Hz , and the active isolation can achieve a maximum attenuation of 20 dB in the frequency range of 3 - 100 Hz. Moreover, the RMS values o f dynamic forces in the stmts were reduced by about 75% -80% wi thin 200 Hz.

关 键 词：STEWART平台 主动隔振 频响函数综合 子结构 球铰 音圈作动器 

分 类 号：TB535[理学—物理]