Abstract
Active vibration isolation system (AVIS) has attracted increasing attention of researchers in precision engineering. In this paper, a desired compensation adaptive robust controller (DCARC) is proposed for an AVIS developed in our laboratory. The AVIS composed of one platform and three active isolators is required to achieve high-performance vibration isolation as well as low trajectory tracking error for positioning. The vertical three degrees of freedom (DOFs) and horizontal three DOFs are decoupled by the joint bearing of the isolators. The dynamic model of the system is built and is simplified to three single-input-single-output (SISO) systems. The DCARC control scheme is then proposed, which contains a deterministic robust control (DRC) term and an adaptive control (AC) term. The high performance in vibration isolation and positioning can be subsequently achieved, even the actual load and system stiffness are unknown and there exists direct bounded disturbance on the platform. The AC term is designed to estimate the unknown parameters of the system. The DRC term can improve the robustness of the system, which is used to reject the direct disturbance and the parameter estimation error. Furthermore, the computing time and the influence of the measurement noise can be reduced effectively by reason of desired compensation. The numerical simulation and comparative experiments are carried out under the conditions of using DCARC, DRC, and AC controllers. The experimental results validate that the proposed DCARC control strategy outperforms other control method and possesses both high-performance vibration isolation and low tracking error.
Highlights
Vibration isolation system is widely used in industrial equipment [1, 2], building structure [3, 4], and commercial vehicles [5,6,7], to protect the isolating object, such as human and structure, from being damaged by vibration with certain frequency regions
The experimental results validate that the proposed desired compensation adaptive robust controller (DCARC) control strategy outperforms other control method and possesses both high-performance vibration isolation and low tracking error
Vibration can be divided into two categories, the ground vibration which is caused by geodetic pulsation, wind blowing, automobile moving, people walking, and so forth, transferred via the suspension of the system, and the load vibration which is caused by inertial force from a moving load or other disturbance directly acted on the isolation system [15]
Summary
Vibration isolation system is widely used in industrial equipment [1, 2], building structure [3, 4], and commercial vehicles [5,6,7], to protect the isolating object, such as human and structure, from being damaged by vibration with certain frequency regions. To reduce the ground vibration, an isolation system with low suspension stiffness is more susceptible, the zero stiffness is ideal, and the performance of transmissibility is the priority of the isolation system. To reduce the load vibration, an isolation system with high suspension stiffness is more susceptible, the infinite stiffness is ideal, and the performance of compliance is the priority of the isolation system. With the increasing demands to AVIS performance of Complexity broad frequency, high positioning accuracy, low transmissibility, and high compliance, the research interest is brought much to the control method [20]. Heertjes et al proposed a switching control method with two regimes to enhance both the steady-state noise properties of the passive isolation system and disturbance rejection properties of transients [23]. The results show that the proposed DCARC control strategy outperforms other control method and possesses both highperformance vibration isolation and low tracking error
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