Totally optimal design for hybrid vibration control system composed of passive mechanism and active one

被动机构与主动机构混合振动控制系统的整体优化设计

• 批准号: 17560208
• 负责人: MIZUTANI Kazuki
• 金额: $ 2.24万
• 依托单位: Mie University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2005
• 资助国家: 日本
• 起止时间: 2005 至 2006
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-17560208/
• 关键词: Vibration control; Hybrid vibration isolation system; Optimal design; Robust control; Optimal allocation of control forces; 制御力分配手法

This research studies a totally optimal design for the hybrid type vibration control system composed of a passive spring-damper system and an active system with electromagnetic actuators. The hybrid system isolates 3-DOF vibrations, that is, bouncing, pitching and rolling vibrations in this study.The disturbance rejection problem of H_∞ control theory is applied to design the active system in the hybrid system, and the transfer function can be arranged in a required characteristic to give the high vibration isolation performance. In order to obtain a higher robustness of the control system, the mixed sensibility problem of H_∞ control theory is modified to derive the simultaneous optimization method for both of the sensibility reduction for disturbances in the low frequency range and the decrement of the complementary sensibility function in the high frequency range.In this hybrid system, an actuator to supply vibration control force is set in each supporting part at the four corners of the loading platform, but the controller derives one control force for bounce and two control moments for pitch and roll in regard to the center of gravity of the loading platform. The allocation of three control outputs to four actuators is not unique because of redundancy, so that the allocation of the control force and moments about the center of gravity to each actuator is discussed in detail, and the optimal allocation method is obtained.In order to make certain of analytical results, some experiments are performed for the modeled test equipment with hybrid vibration control system. It is confirmed that the optimal allocation method derived from the analysis can be applied to the experimental system in real time. The experimental accuracy is not satisfactory for vibration control because of frictions in the apparatus and noises of acceleration sensors, so the experiment is proceeded after the inadequate parts in the experimental apparatus are improved.

本研究针对由被动弹簧阻尼系统与电磁作动器主动系统所组成之混合式振动控制系统，进行全最佳化设计。该混合系统隔离了三自由度振动，即弹跳、俯仰和横摇振动，并利用H ∞控制理论中的干扰抑制问题设计了混合系统中的主动系统，使系统的传递函数满足要求的特性，从而获得良好的隔振性能。为了使控制系统具有更强的鲁棒性，对H_∞控制理论中的混合灵敏度问题进行了改进，导出了在低频范围内降低对干扰的灵敏度和在高频范围内减小互补灵敏度函数的同时优化方法，在该混合系统中，在装载平台的四个角部的每个支撑部中设置有用于提供振动控制力的致动器，但是控制器得到一个用于弹跳的控制力和两个用于俯仰和滚转的控制力矩平台由于冗余性的存在，三个控制输出分配给四个作动器的分配并不唯一，因此详细讨论了控制力和控制力矩在各作动器上的分配问题，得到了最优分配方法，并对混合振动控制系统的模型试验装置进行了试验验证。实验结果表明，本文提出的优化分配方法可以真实的应用于实验系统。由于实验装置的摩擦力和加速度传感器的噪声等原因，振动控制实验精度不高，因此对实验装置中的不足之处进行了改进。

项目成果

Optimal Vibration Control for Overhung Rotor System Using Actively Flexible Pedestal

使用主动柔性基座的悬臂转子系统的最佳振动控制

• 发表时间: 2006
• 期刊: Proceedings of the ACTIVE 2006 (CD-ROM) No.a06_026
• 作者: Kohei Nagahara;Hiroki Uba;Yogo Takada;Tomoyuki Wakisaka;山下清隆;Kazuki MIZUTANI
• 通讯作者: Kazuki MIZUTANI

Impedance control for an industrial power assist device considering contact operations (in Japanese)

考虑接触操作的工业助力装置的阻抗控制（日语）

• 发表时间: 2006
• 期刊: Trans. the Japan Society of Mechanical Engineers, C Vol.72, No.714
• 作者: Hiroyuki Kato;Ryojun Ikeura;Shinpei Noguchi;Kazuki Mizutani;Hisashi Nakamura;Tomohiro Honda
• 通讯作者: Tomohiro Honda

3自由度アクティブ除振システムの4点支持アクチュエータへの制御力の配分

3自由度主动隔振系统的4点支撑执行器的控制力分配

• 发表时间: 2006
• 期刊: 日本機械学会北信越支部第43期総会・講演会講演論文集 No.067-1
• 作者: 水谷一樹;伊藤敬介;池浦良淳
• 通讯作者: 池浦良淳

能動弾性軸受台で支持されたオーバーハング回転軸系のロバスト振動制御

主动弹性轴承座支撑的悬臂旋转轴系统的鲁棒振动控制

• 发表时间: 2006
• 期刊: 日本機械学会Dynamics ＆ Design講演会論文集 (CD-ROM) No.322
• 作者: Satoshi Taninaka;Yogo Takada;Tomoyuki Wakisaka;Noriyuki Furuichi;Shinji Toga;Tadashi Hachiga;谷口 章;田川正人;福島正也
• 通讯作者: 福島正也

Allocation of three control forces to four supporting points for 3-DOF hybrid vibration isolation system

三自由度混合隔振系统的三个控制力分配到四个支撑点

• 发表时间: 2006
• 期刊: Proceedings of the 13^<th> International Congress on Sound and Vibration No. 509(CD-ROM)
• 作者: Kazuki Mizutani;Keisuke Ito;Ryojun Ikeura
• 通讯作者: Ryojun Ikeura