基于模糊PID控制的准零刚度磁悬浮隔振平台的设计与实现

Design and Implementation of Magnetic Suspension Vibration Isolation Platform with Quasi-Zero Stiffness Based on Fuzzy PID Control

为有效降低系统固有频率,获得外部振动在多频段的强衰减,以永磁电磁混合作动器为负刚度结构提出并设计了一种准零刚度的磁悬浮隔振平台,实现了基于模糊PID(proportional integral differential)算法的振动主动控制系统.首先,通过特性分析与参数计算,基于准零刚度理论完成了准零刚度磁悬浮隔振平台的方案设计;其次,建立磁悬浮隔振系统模型,提出基于模糊PID算法的振动主动控制策略,可主动调节系统的等效刚度和阻尼;最后,基于Speedgoat实时目标机开发振动主动控制系统,搭建隔振测试平台,并开展了隔振性能测试.研究结果表明:本文设计的准零刚度磁悬浮隔振平台通过采用模糊PID的控制策略能够主动调节PID参数,动态调整系统的等效刚度和阻尼;外部振动频率在20~100 Hz频率段内,振动衰减率大于80%;外部振动频率在100~500 Hz频率段内,振动衰减率大于90%.

In order to effectively reduce the natural frequency of systems and realize the strong attenuation of external vibrations in multiple frequency bands,a magnetic suspension vibration isolation platform with quasizero stiffness was designed,in which the permanent-magnet and electromagnetic hybrid actuator was the negative stiffness structure,and an active vibration control system based on fuzzy PID(proportional integral differential)algorithm was implemented.Firstly,based on the theory of quasi-zero stiffness,the scheme of the magnetic suspension vibration isolation platform with quasi-zero stiffness was designed through characteristic analysis and parameter calculation;secondly,the model of the magnetic suspension vibration isolation system was established,and the active vibration control strategy based on fuzzy PID algorithm was designed to actively adjust the equivalent stiffness and damping of the system;finally,an active vibration control system was developed based on the Speedgoat real-time target machine.A vibration isolation test platform was built,and a series of vibration isolation performance tests were carried out.The results show that the magnetic suspension vibration isolation platform with quasi-zero stiffness can actively adjust PID parameters by adopting a fuzzy PID control strategy and dynamically adjust the equivalent stiffness and damping of the system.When the external vibration frequency is 20–100 Hz,the vibration attenuation rate is greater than 80%;when the external vibration frequency is 100–500 Hz,the vibration attenuation rate is greater than 90%.