Abstract
An inertially stabilized platform is subject to the vibration force and moment from its support base, and low-frequency vibrations cannot be eliminated by mechanical vibration isolation. Combining gimbals with magnetic bearings instead of mechanical bearings, a maglev inertially stabilized platform (MISP) is characterized by no friction or an active vibration control capability. In this paper, an improved linear extended state observer (LESO) replacing displacement error with next-order error is proposed to estimate the low-frequency vibration and improve the estimation accuracy. An active vibration isolation control method is then designed to realize cancellation compensation on the MISP. Finally, a simulation example is presented to validate that the proposed measures can effectively eliminate the low-frequency vibration force transmitted from the base and ensure the stability of the MISP.
Highlights
A maglev inertially stabilized platform (MISP) is a new type of inertially stabilized platform (ISP) that utilizes magnetic bearings instead of mechanical bearings
The performance of a MISP can be restricted by factors such as a change in the platform load, a disturbance acting on the platform [5], and a vibration force and vibration moment from a pitching frame
We address the suppression effect for low-frequency vibrations on a MISP
Summary
A maglev inertially stabilized platform (MISP) is a new type of inertially stabilized platform (ISP) that utilizes magnetic bearings instead of mechanical bearings. W. Shi et al.: Active Vibration Isolation of a MISP Based on an Improved LESO for structural optimization design and cascade PID control of maglev actuators was proposed based on the principle of the Lorentz force. In [22], a novel disturbance observation-based robust control method was proposed that could be applied in practical active-passive vibration isolation systems, which obtained stable precision and outstanding transient performance. A control system for a MISP [3], [24] based on PID and dual-stage systems was structured that able to realize disturbance rejection to a certain extent but had difficulty suppressing vibrations at low frequencies. It is meaningful and necessary to study effectively isolating the low-frequency vibrations from the base to improve the performance of the MISP and provide smooth working conditions for payloads. The forces at four locations are combined and simplified to FA,FB,FC and FD for analyzing the kinetic model with
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