Research On Semi-active Control Of Multi-DIM Vibration Absorber Based On MR Damper And Parallel Mechanism

Multi-DIM vibration is a universal phenomenon in mechanical devices, precise instruments, equipment of vehicles and ships, aerospace equipment and so on. It influences seriously the performance and operating life of these equipments. So there is actual meaning to put multi-DIM vibration absorber into effect.Supported by the National Science Foundation project-Systematic theory of design and nonlinear decoupling control of multi-DIM vibration absorber imitating rubber(50375067), this paper firstly presents that 3-translation parallel mechanism is used as the main mechanism of multi-DIM vibration absorber, magnetorheological fluid damper (MRD) is the primary damping component of mechanism, and build a 3-DIM vibration absorber system that be controlled. Thus we can solve the problems of 3-DIM vibration absorber system in actual project.Firstly, based on the principle of MRD the magnetic circuit theorem and the effect of magnetic gap, the paper designed a small type of MRD that'll be suitable in multi-DIM vibration absorber, and tested the mechanical properties.Secondly, 3-PUU is chosen the paper, a 3-translation parallel mechanism, as the main mechanism of 3-DIM vibration absorber that we build in this thesis. The kinematics and kinetic analysis of 3-PUU parallel mechanism is done. In order to improve the performance of the parallel mechanism, we changed it into 3-PRRP^(4R), and we solved the position analysis,speed analysis,accelaration analysis,kinetic equations from the perspective of control model. We build the model of multi-DIM vibration absorber system jointed with MRD.Thirdly, in view of the strong coupling in the machine, we decoupled from the perspective of modal analysis in this paper. The analysis of impact of some mechanical parameters to moving-flat is done, the response model of the system under the effect of natural frequency and pulse is achieved, and its simulation is done.The semi-active control of multi-DIM vibration absorber system is introduced in this paper. We have mainly analyzed two kinds of control method in this paper: the parameter feedback control based on working space and the control based on limb acceleration feedback, which are used respectively in LQR controller and Fuzzy adaptive controller. A kind of simulation technology combined with ADAMS software and MATLAB software is introduced in this paper, and the controlling simulation of vibration and isolation is done, so that the correctness of controller and the effect of multi-DIM vibration absorber system are proved.Lastly, in order to prove the theory system and simulation results, the magnetor-heological multi-DIM vibration absorber testing and controlling system is built, which includes the magnetorheological multi-DIM vibration absorber testing prototype, sensor system, data acquisition and processing system, controller, current driver and vibration source. The key technology such as the controller based on LPC2210,current driver and controlling software is designed and realized. Then, the fuzzy adaptive controller is used to do controlling test, and the data are compared and analyzed. The result shows that the magnetorheological multi-DIM vibration absorber system has the function of 3-directions vibration, and has good vibration controlling capacity.The magnetorheological technology and parallel mechanism technology are used in multi-DIM vibration absorber field together for the first time. The multi-DIM vibration absorber semi-active controlling system that designed in this paper has simple structure and high precision. The content in this paper has offered a new study direction for multi-DIM vibration absorber, which has extensive theoretical and practical value.