Multidimensional Vibration Isolation Performance Of Redundant Six-DOF Parallel Isolation Platform

The vibration isolation platform can restrain all kinds of vibration shocks that the dynamic load equipment is subjected to during transportation and work,so that it can maintain the best service life and working accuracy.Aiming at the problems of light weight,less vibration isolation dimension and poor low frequency vibration isolation effect on vibration isolation platform for dynamic load equipment,this paper research on kinematics,dynamics,passive vibration isolation,active and passive hybrid vibration isolation of vibration isolation platform.The main research contents and results are as follows:(1)Design a six-DOF parallel vibration isolation platform with hydraulic redundancy and active and passive composite supports,and use the finite element software to analyze modal of the moving platform and strength of the spherical hinge.The kinematics analysis of the parallel vibration isolation platform is completed,the dynamic model of the active and passive hybrid vibration isolation of the parallel vibration isolation platform is established,and the appropriate platform configuration parameters are selected to study the parameterization process of the dynamic equations.(2)Based on the active and passive hybrid vibration isolation dynamic equations and considering the failure of hydraulic actuators,the passive vibration isolation Matlab/Simulink simulation model is built to study the passive vibration isolation performance of parallel vibration isolation platform under different vibration interference.The results show that the higher the interference frequency,the smaller the vibration transmission rate,the better the passive vibration isolation performance;when the interference frequency is near the natural frequency of the vibration isolation platform,the vibration interference will be amplified.The virtual prototype simulation model of the parallel vibration isolation platform is established using ADAMS software,and compared with the passive vibration numerical simulation.The results show that the maximum error of the passive vibration isolation rate is 3.04%,which proves consistency of vibration isolation performance.(3)According to the fuzzy control theory,the fuzzy PID controller is designed.Combined with the active and passive hybrid vibration isolation dynamic equations,the active and passive hybrid vibration isolation Matlab/Simulink simulation model is built to study the active and passive hybrid vibration isolation performance of parallel vibration isolation platform under different vibration interference.The results show that the active and passive hybrid vibration isolation performance of the parallel vibration isolation platform using fuzzy PID control is significantly better than that of passive vibration isolation,which expands the bandwidth of the vibration isolation frequency.(4)Using ADAMS and Matlab/Simulink software,the co-simulation model of fuzzy PID control system based on virtual prototype is established,and compared with the active and hybrid vibration isolation numerical simulation.The results show that the maximum error of the active and passive hybrid vibration isolation rate is 2.14%,which verifies dynamic model of active and passive hybrid vibration isolation and the performance of active and passive hybrid vibration isolation are accurate and effective.