基于气动肌肉并联隔振系统的主动控制研究

PID Control of a Parallel Vibration Isolation System Based on Pneumatic Artificial Muscle

为了解决仪器仪表等高精密设备的防微振和抗冲击问题,基于气动肌肉搭建了隔振实验系统,对其主被动控制进行研究。建立了隔振系统的动力学模型,在此基础之上分别采用被动和PID控制算法进行了实验。通过对比试验结果表明该隔振系统在宽频段内有较好的隔振效果,在低频段内效果尤为显著,该研究为气动肌肉在隔振系统中的进一步控制奠定了基础。

In order to solve the micro-amplitude vibration and shock proof problems of high precision equipments, the vibration isolation system is set up based on the pneumatic muscle and the active and passive control is studied. The dynamic model of vibration isolation system is established in this paper. The experiment is completed by the PID control algorithm. The results show that the vibration isolation system has good broadband vibration isolation effect, and in the low frequency, the effect is remarkable. This study provides a foundation for further control of pneumatic muscle in isolation system.