【作者】 杨庆俊； 王晓雷； 郑钢铁；

【Author】 Yang Qingjun Wang Xiaolei Zheng Gangtie Harbin Institute of Technology,Harbin,China,150001 Tsinghua University,Beijing,China,100084

【机构】 哈尔滨工业大学气动技术中心； 清华大学航天航空学院；

【摘要】 本文讨论了单轴柔性体气弹簧主动隔振系统。首先讨论了设计指标问题。理论分析表明,由于柔性体其他单元对接口单元的传递率不变,接口单元的传递率即为隔振系统对柔性体各单元振动传递率的衰减率。控制住该传递率,就可清晰明了地控制柔性体全部自由度的传递率。因此,该传递率可以作为柔性体隔振的设计和考核指标．其次,由于气动作动器的带宽有限,且高阶校正不易实现,仅采用反馈控制传递率改善的幅度受到限制,故增设基座激励前馈控制．以进一步降低传递率。四自由度柔性体气弹簧主动隔振算例验证了本文控制策略的有效性。更多还原

【Abstract】 Active single-axis isolation of flexible payload using pneumatic spring is studied. Transmissibility of the interface element, through which the flexible payload is connected with isolation system, is chosen to be the design target and evaluation index because the transmissibility of all other elements over the interface element keep unchanged. The controller has a base excitation feed forward besides interface element vibration feedback in order to compensate for the insufficient improvement of transmissibility due to limited bandwidth of pneumatic actuator. An example of four-freedom flexible payload is used to illustrate the idea of this paper.更多还原