北京航空航天大学学报 ›› 2010, Vol. 36 ›› Issue (6): 671-675.

• 论文 • 上一篇    下一篇

大行程Hexapod平台及其隔振实验

  

  1. (北京航空航天大学 宇航学院, 北京 100191)
  • 收稿日期:2009-04-15 出版日期:2010-06-30 发布日期:2010-07-02
  • 作者简介:崔龙 (1980-),男,辽宁沈阳人,博士生,long_cui@sohu.com.
  • 基金资助:

    国家863基金资助项目

Large-stroke Hexapod platform and its vibration isolation test

  • Received:2009-04-15 Online:2010-06-30 Published:2010-07-02

摘要:

为提高车载、机载光学设备在低频大振幅扰动环境中的观测精度,研制了具有6自由度振动隔离能力的大行程主动隔振平台.平台主动元件采用直线电机,并针对隔振任务设计了无间隙万向节结构.隔振平台采用6UPS并联机构Hexapod构型,具有30 kg承载能力,上平面可进行±30 mm平动和±8°转动.Hexapod平台控制方法采用PID(Proportion-Integral-Derivative)定位控制和X滤波自适应逆振动控制结合的方法.对Hexapod平台进行3~20 Hz垂直方向正弦振动隔离实验结果显示,平台对基座振动的振幅隔离幅度高于90%,对5~20 Hz频段随机振动隔离实验结果显示,隔振前后上平面振幅峰峰值下降78%.

Abstract:

In order to improve observation precision of vehicular and airborne optical equipment, large-stroke 6 degree freedom active vibration isolation platform was designed. The actuator of Hexapod platform adopted linear motor, and to use in vibration isolation mission, gapless gimbal joint was designed. The platform adopted 6-UPS Stewart configuration, had 30 kg carrying capacity, and upper mounting plate had 30 mm translational and 8 rotational movement capability. Platform control system combined proportion integral-derivative (PID) control and filtered-X adaptive inverse control method, PID controller applied  positioning control and filtered-X adaptive inverse controller applied  vibration control. 3~20 Hz sinusoidal vibration isolation experiment result shows that the Hexapod platform vibration isolation ability is higher than 90%, 5~20 Hz frequency range random vibration isolation experiment result shows that the upper plate vibration amplitude peak-peak value is reduced by 78%.

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