Active optimal control for multi-dim vibration damping device based on parallel mechanism

Abstract. The optimal control strategy is introduced to improve the motion accuracy of planar 3-DOF parallel mechanism. The optimal control of error performance of mechanism is achieved by structuring and quantizing the quadratic form index of the error performance, and taking into account both the system response and energy control in state space, so we study the problem which can be boil down to solve two-point boundary value problem of differential equation. The simulation results show that the actual motion of mechanism keep the better tracking accuracy with the global motion while dynamics parameters is changing, and the controller is ease to accomplishment in the industrial due to the simply structure and the stable change of control energy.

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Vibration damping in gantry crane systems: Finite horizon optimal control approach

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) ◽

10.1109/etfa.2019.8869111 ◽

2019 ◽

Cited By ~ 1

Author(s):

Martin Goubej ◽

Vaclav Helma

Keyword(s):

Optimal Control ◽

Vibration Damping ◽

Finite Horizon ◽

Gantry Crane ◽

Control Approach ◽

Optimal Control Approach

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Grey relation analysis of natural frequency and semi-active robust optimal control of a multi-dimensional isolator based on parallel mechanism and magneto-rheological damper

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/09544062211059069 ◽

2022 ◽

pp. 095440622110590

Author(s):

Xiang Gao ◽

Junchuan Niu ◽

Ruihao Jia

Keyword(s):

Optimal Control ◽

Natural Frequency ◽

Parallel Mechanism ◽

Control Algorithm ◽

Passive Control ◽

Grey Relation Analysis ◽

Robust Optimal Control ◽

Relation Analysis ◽

Magneto Rheological ◽

Grey Relation

For isolating multi-dimensional vibrations experienced by precise facilities carried on a vehicle, a novel isolator is proposed based on 2-RPC/2-SPC parallel mechanism with magneto-rheological dampers. Kinematics and dynamics of the isolator are analyzed by geometrics and the Lagrange method. Grey relation analysis approach is conducted to determine the contributions of geometric parameters on natural frequency conveniently. Through analysis, the first order natural frequency of the isolator is affected by the length of the fixed platform most significantly. Due to manufacturing and assembling errors which could not be avoided in the isolator, robust optimal control algorithm is conducted to ensure control effect and robustness of the isolator at the same time. The gain of robust optimal control algorithm is obtained by deducing and solving linear matrix inequality. Compared to passive control, velocity root mean square values of robust optimal semi-active control decreased obviously in horizontal, longitudinal, vertical, and roll directions.

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Modal Analysis and Design of Six Dimensional Vibration Damping Device Based on Hexapod Platform

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.33.128 ◽

2010 ◽

Vol 33 ◽

pp. 128-131

Author(s):

Wei Zhu ◽

De Jun Kong ◽

Ai Ping Hu

Keyword(s):

Modal Analysis ◽

Parallel Mechanism ◽

Jacobian Matrix ◽

Simulation Analysis ◽

Vibration Damping ◽

Dynamics Model ◽

Analysis And Design ◽

Vibration Model ◽

Adams Software

A six dimensional vibration damping device is introduced which is composed of Hexapod parallel mechanism and six controllable damp units fixed on driving pairs. Firstly, the structure of the system is designed according to theory of the Hexapod mechanism. Then, Jacobian matrix and dynamics model are discussed successively. Lastly, a six dimensional vibration model is found by using ADAMS software. Through theory and simulation analysis, it has been approved that the system can be used to control six dimensional vibrations.

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