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

本文研究了由被动弹簧-阻尼器系统和主动电磁作动器系统组成的混合型振动控制系统的整体优化设计。混合系统隔离了三自由度振动，即弹跳振动、俯仰振动和滚动振动。将H_∞控制理论的抗扰问题应用于混合系统的主动系统设计，并将传递函数安排在所需的特性上，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_∞控制理论的混合灵敏度问题进行了修正，导出了在低频范围内对扰动的灵敏度降低和在高频范围内对互补灵敏度函数的灵敏度降低同时进行优化的方法。在该混合系统中，在加载平台四角的每个支承部分设置一个致动器来提供振动控制力，但控制器根据加载平台的重心导出一个弹跳控制力和两个俯仰和横摇控制力矩。由于存在冗余，3个控制输出分配给4个作动器时不是唯一的，因此详细讨论了各作动器的控制力和重心力矩的分配，得到了最优分配方法。为了验证分析结果，在混合振动控制系统的模拟试验设备上进行了实验。结果表明，通过分析得出的优化分配方法可以实时应用于实验系统。由于实验装置内部的摩擦和加速度传感器的噪声等原因，实验精度不能满足振动控制的要求，因此对实验装置中存在缺陷的部分进行改进后，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.