大行程Hexapod平台及其隔振实验

Large-stroke Hexapod platform and its vibration isolation test

为提高车载、机载光学设备在低频大振幅扰动环境中的观测精度,研制了具有6自由度振动隔离能力的大行程主动隔振平台.平台主动元件采用直线电机,并针对隔振任务设计了无间隙万向节结构.隔振平台采用6-UPS并联机构Hexapod构型,具有30 kg承载能力,上平面可进行±30 mm平动和±8°转动.Hexapod平台控制方法采用PID(Proportion-Integral-Derivative)定位控制和X滤波自适应逆振动控制结合的方法.对Hexapod平台进行3～20 Hz垂直方向正弦振动隔离实验结果显示,平台对基座振动的振幅隔离幅度高于90%,对5～20 Hz频段随机振动隔离实验结果显示,隔振前后上平面振幅峰峰值下降78%.

In order to improve observation precision of vehicular and airborne optical equipment,large-stroke 6 degree freedom active vibration isolation platform was designed.The actuator of Hexapod platform adopted linear motor,and to use in vibration isolation mission,gapless gimbal joint was designed.The platform adopted 6-UPS Stewart configuration,had 30 kg carrying capacity,and upper mounting plate had 30 mm translational and 8 rotational movement capability.Platform control system combined proportion integral-derivative（PID） control and filtered-X adaptive inverse control method,PID controller applied positioning control and filtered-X adaptive inverse controller applied vibration control.3～20 Hz sinusoidal vibration isolation experiment result shows that the Hexapod platform vibration isolation ability is higher than 90%,5～20 Hz frequency range random vibration isolation experiment result shows that the upper plate vibration amplitude peak-peak value is reduced by 78%.