Title :
Active Vibration Isolation of 6-RSS Parallel Mechanism Using Integrated Force Feedback Controllor
Author :
Kunquan, Li ; Rui, Wen
Author_Institution :
Henan Eng. Inst., Zhengzhou, China
Abstract :
This paper studies the design and control problems of a class multiple DOF vibration isolation systems. For the controller design, the dynamics model of 6-RSS parallel mechanism can be represented in state-space form. Based on the model of the mechanism, two different kinds of feedback control strategies are applied and compared for the active vibration control of the 6-RSS parallel mechanism. One is active vibration damping, which can enhance the structural damping of the control system and thus damp out the vibration faster, which is dissipative control and Integrated Force Feedback control. The other group is the model-based feedback control, which can keep a control variable to a desired value in spite of the presence of disturbances, which is the linear quadratic Gaussian (LQG-based) controllers. The performance of the different kinds of controllers is compared by simulation result.
Keywords :
control system synthesis; damping; force feedback; linear quadratic Gaussian control; vibration control; 6-RSS parallel mechanism; active vibration control; active vibration isolation; controller design; dynamics model; integrated force feedback controller; linear quadratic Gaussian controllers; model-based feedback control; structural damping; Actuators; Damping; Equations; Mathematical model; Sensors; Vibration control; Vibrations; 6-RSS Parallel Mechanism; Active Vibration Isolation; Dynamics Model; Integrated Force Feedback;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.80
