3-RPS并联隔振平台的建模与控制

Modeling and Control of 3-RPS Parallel Vibration Isolation Platform

针对传统被动隔振装置隔振效果较差、使用寿命较短的问题,本文以3-RPS并联机构为主体建立并联隔振平台,通过拉格朗日法求解并联隔振平台系统动力学方程,在Matlab/Simulink中设计基于天棚模型的半主动on-off控制器。为解决并联机构系统模型存在非线性化和理想化等问题,应用Sim Mechanics建立并联隔振平台系统物理模型,通过对并联隔振平台单个支链分别进行on-off控制,提高隔振平台的隔振性能。仿真结果表明:相比于被动隔振平台,含有on-off控制器的隔振平台可以有效抑制振幅,具有良好的隔振效果。

Aiming at the problems of poor vibration isolation effect and short service life of traditional passive vibration isolation device,this paper takes 3-RPS parallel mechanism as the main body to establish a parallel vibration isolation platform,solves the system dynamics equation of the parallel vibration isolation platform by Lagrange method,and designs a semi-active on-off controller based on canopy model in Matlab/Simulink.Due to the lack of nonlinearity and idealization of the parallel mechanism system model,this paper established a physical model of the parallel vibration isolation platform system based on SimMechanics,and improved the vibration isolation performance of the parallel vibration isolation platform through on-off control of a single branch chain of the parallel vibration isolation platform.The simulation results show that compared with the passive vibration isolation platform,the vibration isolation platform with on-off controller can effectively suppress the amplitude and has good vibration isolation effect.