Research Of The Control System Of The Precision Platform Vibration Based On MRE

Magnetorheological Elastomer(MRE) is a new branch of the magnetorheological materials, the typical characteristic of MRE is that the modulus and damping properties can be controlled by external magnetic field, and the controllability is good and the response is quick. At present, because of the precise instrument to the work environment demand is higher and higher, while the existing vibration control effect is not obvious, which has very poor results for the low frequency vibration. Therefore, this thesis combined with the domestic and foreign studies of magnetorheological elastomers. It then used magnetorheological elastomers vibration device which was researched and product by our research group to control the vibration of working platform bearing precision instrument, in order to solve the problem of vibration control of precision platform.In this paper, the major aim is the selection of control current of MRE vibration device and the development of the intelligent controller. The following work is done:(1) Sketching the research status of MRE vibration device and its corresponding controller, and also the exist problems;(2) Semi-active control scheme of the precise platform system is researched, then according to the design of MRE vibration device to calculate the precise platform dynamics model. Finally, according to the maximum current value output from controller can calculate the maximum force;(3) Aiming at the problem of precise selection of control current of MRES vibration device, this paper puts forward and designs the fuzzy fractional order PID controller to choose the control current. Firstly, according to the particle swarm algorithm, the fractional order PID of the five variables were optimized to get the optimal value, and then using the fuzzy control algorithm to real-time adjustment five key volume among fractional order PID in order to achieve better control performance. Finally SIMULINK toolbox in MATLAB is used to simulating dynamically for the structure of precise platform. The results show that the control algorithm can suppress the vertical vibration of the platform;(4) Based on STM32F407(ARM Cortex-M4) for the core of the intelligent controller and keil for the development environment of software, this paper designs the control system based on acceleration feedback and introduces in detail the core of the control system hardware circuit, the extent hardware circuit of current output and relevant software design. The hardware circuit is consist of the microcomputer interface circuit, acceleration acquisition circuit, data display circuit, low-pass filter circuit and voltage-controlled current circuit,and through the static test to verify the accuracy of current output from the intelligent controller;(5) Through the practical dynamic experiment, the actual control effect of intelligent controller is tested. The results show that the controller can easily run the proposed fuzzy Fractional Order PID control algorithm and control the output of current according to the real-time change of external acceleration, and verify that the external hardware circuit can output corresponding accurate current according to the PWM wave.