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

研究了由被动弹簧-阻尼器系统和带有电磁执行器的主动系统组成的混合型振动控制系统的完全优化设计。利用H_∞控制理论中的扰动抑制问题设计混合系统的主动系统，并将传递函数设置在所要求的特性中，以获得较高的隔振性能。为了使控制系统具有更高的鲁棒性，对H_∞控制理论中的混合灵敏度问题进行了改进，提出了在低频范围内抑制扰动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，在加载平台四角的每个支承部件上设置一个执行器来提供振动控制力，而控制器得到一个弹跳控制力和两个相对于加载平台重心的纵横摇控制力矩.针对3个控制输出分配给4个执行器的冗余性不是唯一的问题，详细讨论了控制力和重心力矩在每个执行器上的分配，得到了最优分配方法。为了验证分析结果，对具有混合振动控制系统的模型试验设备进行了实验。结果表明，由分析得出的最优分配方法可以实时应用于实验系统。由于实验装置中的摩擦和加速度传感器的噪声，振动控制的实验精度不能令人满意，因此对实验装置中的不足之处进行改进后再进行实验。

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.