Decoupling Control Strategy Of Redundant Parallel Hybrid Vibration Isolation Platform

The vibration isolation platform can greatly reduce the risk of damage to the dynamic load equipment caused by external vibration disturbance,and provide the most stable and reliable working environment for the dynamic load equipment.Aiming at the problems in the field of vibration isolation of dynamic load equipment at present,such as less vibration isolation dimension,low bearing capacity,serious movement coupling and narrow vibration isolation bandwidth.This paper takes the redundant six-DOF parallel vibration isolation platform as the research object.The main research contents are as follows:(1)A hydraulic redundant six-DOF parallel vibration isolation platform with active and passive composite vibration isolation supports is designed.The simulation analysis and checking calculation of its key parts such as moving platform and composite supports are carried out.(2)The kinematics dynamics analysis of the platform is completed.According to the dynamics of multi-body system,set up the dynamic coupling model of active and passive vibration isolation platform.The parameterization process of the dynamic equation is completed.(3)Based on the dynamic coupling model,the matrix diagonalization decoupling control strategy is proposed,and the numerical simulation model of the platform passive vibration isolation is established by Simulink software.The load response and passive vibration isolation performance of the platform under different vibration disturbance conditions are studied.The results show that the passive vibration isolation performance is improved with the increase of disturbance frequency,and the movement coupling characteristics of the platform are also verified.The virtual prototype model is established on ADAMS software,and the passive vibration isolation performance is studied.The results show that the maximum error under the two simulation environments is 2.02%,which verifies the effectiveness of passive vibration isolation performance and the correctness of dynamic model.(4)Based on the matrix diagonalization decoupling control strategy,the numerical simulation model of active and passive hybrid vibration isolation is built by using Simulink.The decoupling effect and active and passive hybrid vibration isolation performance of the platform are studied.The performance of active and passive hybrid vibration isolation based on the decoupling control is superior to the pure passive vibration isolation,and this vibration isolation method expands the effective vibration isolation bandwidth and reduces the movement coupling degree of platform.Combined with the Fuzzy PI control theory,the numerical simulation model of active and passive hybrid vibration isolation based on Fuzzy PI decoupling control is built.The active and passive hybrid isolation performance and the decoupling effect of the platform are studied.The performance of active and passive hybrid vibration isolation based on Fuzzy PI decoupling control is obviously better than the former two vibration isolation methods,and this vibration isolation method significantly improves the vibration isolation performance and decoupling effect of platform.The co-simulation model of Fuzzy PI decoupling control based on virtual prototype is built by ADAMS and MATLAB/Simulink software.The decoupling effect and the active and passive hybrid isolation performance of the platform are studied.The results under different simulation environments are compared.The results of the active and passive hybrid vibration isolation rate show that the maximum error of is 0.25%,which proves the effectiveness of hybrid vibration isolation performance of the platform.And the maximum error of coupling acceleration decay rate is 1.17%,which proves the effectiveness of Fuzzy PI decoupling control strategy.