摘要
采用典型三平移并联机构3-PRRP(4r)作为主体机构,选择MR(磁流变)阻尼器替代并联机构的驱动副,建立三平移并联多维减振系统;利用Lagrange方程建立多维减振系统的数学模型,以支路速度、加速度作为反馈信号,对机构动平台进行控制;根据MR阻尼器阻尼力的产生原则,设计了自适应模糊控制器。在此基础上,建立了实验样机及减振测控系统,对系统进行减振控制实验。实验结果表明,该半主动多维减振装置结构简单、可靠性好、所采取的控制算法有效,具有良好的多维减振效果。
A three-translational parallel multidimensional damping system is built by 3-PRRp（4r） which makes parallel mechanism as main body structure and MR damper as driving pair. Mathematical model of the system is deduced according to Lagrange equation, and the moving platform is controlled according to feedback signal of velocity and acceleration of the three branches. A self-adaptive fuzzy controller is designed based on the rules of damping force pro- duced by MR damper. The test result shows that the multi-dimension damping device has some merits compared with the traditional way, and the control algorithm used in this damping system is effective.
出处
《机械设计与研究》
CSCD
北大核心
2010年第1期40-43,47,共5页
Machine Design And Research
基金
国家自然科学基金(50375067)
