010 - Synthesis of control algorithms for active vibration isolation system constructed on the basis of mechanism with parallel kinematics
Rybak L., Chichvarin A., Shatochin U.
Abstract
In this article we considered a mehatronics system with parallel kinematics for vibration isolation for technological objects. This system includes executive drive mechanism, sensors of kinematics parameters and digital regulator. We synthesized control algorithms used to optimum control in coordinates of a condition. We received matrix of factoring of feedback from the decision of discrete algebraic Riccati equation. We used methods of reduce the state dimension of the system and got rid of superfluous feedback. We made model sample of one-dimensional vibration isolation system? And checked on this model our algorithms of optimum control. The breadboard model includes electromechanical drive mechanism, A/D-D/C converter, the gauge of moving and accelerometers. The results of experimental researches confirming an overall performance of system at various influences on the part of the basis are resulted.
Citation
Rybak L.; Chichvarin A.; Shatochin U.: Synthesis of control algorithms for active vibration isolation system constructed on the basis of mechanism with parallel kinematics , CD-ROM Proceedings of the Thirtheenth International Congress on Sound and Vibration (ICSV13), July 2-6, 2006, Vienna, Austria, Eds.: Eberhardsteiner, J.; Mang, H.A.; Waubke, H., Publisher: Vienna University of Technology, Austria, ISBN: 3-9501554-5-7
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