论文部分内容阅读
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 the observational accuracy of on-board and on-board optical equipment in low-frequency and large-amplitude disturbance environment, a large-stroke active vibration isolation platform with 6-DOF vibration isolation capability was developed. The active components of the platform adopted linear motor and designed for vibration isolation task Gapless joint structure. Vibration isolation platform using 6-UPS parallel mechanism Hexapod configuration, with 30 kg carrying capacity, the plane can be ± 30 mm translation and ± 8 ° rotation.Hexapod platform control method using PID (Proportion- Integral-Derivative) positioning control and X-filtering adaptive inverse vibration control.Experimental results of 3 ~ 20 Hz vertical sinusoidal vibration isolation experiments on Hexapod platform show that the amplitude isolation amplitude of the platform to the base vibration is higher than 90% The experimental results of random vibration isolation in the frequency band of 5 ~ 20 Hz show that the peak amplitude of the upper plane before and after vibration isolation is reduced by 78%.