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1、哈尔滨工业大学工学硕士学位论文 - I - 摘 要 在轨运行时，航天器内的精密仪器和设备处于微重力条件下，其对微小低频振动十分敏感。为了保护航天器上的仪器和设备，提高其工作精度，需要设计隔振平台，抑制微小低频振动对精密设备的影响。其中，音圈电机优点明显，如体积小、结构简单、重量轻、高加速度和速度、推力均匀、响应快、精度高等，对于隔振设计来说比较合适。本文以承载能力大、刚度高的Stewart平台为被动基础结构，音圈电机为作动器，进行主动隔振系统的设计。 分析了微重力环境产生的原因和对动力学分析的影响，以及音圈电机的工作原理，建立其数学模型，并且给出电机形式选择的依据。在基础结构的选取上，采用各杆
2、之间耦合影响很小的“立方”构型的Stewart平台，提出对各通道进行单输入单输出（SISO）控制的思想，简化了控制系统的设计。在单杆的各个参数及控制力作用位置对隔振效果影响分析的基础上，分析隔振原理并设计其结构。 选取位移传递率作为优化分析目标，设计了一种理论上位移传递率为零的隔振系统。在对位移传递率分析的过程中确定各个反馈控制量的增益系数，并对该主动控制系统进行稳定性分析，在选定的参数下其具有无条件稳定的特点。采用Simulink进行仿真分析，结果显示该隔振系统对多种信号均有良好的隔振效果。 基于控制器的不同反馈量对隔振效果的影响分析，采用PID控制的方法，设计了“前馈反馈”复合控制器。在满
3、足控制要求的前提下，将PID控制器简化为P控制器，这样简化了控制系统的设计。前馈、反馈环节分别采用激励信号和受控对象的绝对位移作为控制信号。仿真结果可以看到，所设计的控制器只需要不高的控制电压和不大的控制力，就可以达到理想的隔振效果。 设计Stewart平台基础结构的尺寸参数，采用ADAMSMatlab/Simulink联合仿真方法对设计的Stewart主动隔振平台进行分析。在ADAMS中完成机械模型的建立，调用其中的Controls模块建立数据交换通道，并在Simulink中分别搭建六个主动杆的SISO控制系统。仿真结果显示，在典型信号激励下所设计Stewart主动隔振平台对精密仪器的主要振
4、动来源方向竖直方向具有相当好的隔振效果，同时也有效隔离了来自水平方向的振动，并且所设计的主动隔振平台对控制电压和驱动力的需求很好地满足了低能耗的要求。 关键词：主动隔振；Stewart；音圈电机；微重力；PID复合控制 哈尔滨工业大学工学硕士学位论文 - II - Abstract When the spacecraft is in orbit, precise instruments and equipments are in micro-gravity environment, small low-frequency vibration influence on them is parti
5、cularly significantly. In order to protect the instruments and equipments in the spacecraft and to improve their precision, its necessary to design vibration isolation platform to suppress of small low-frequency o f vibration. The structure of voice coil motor is simple, and is s ma ll in size, ligh
6、t in weight, and has high acceleration and speed, uniform thrust, fast response and high precision advantages, so it is ver y suitable for the iso la tio n design. In this paper, active vibration isolation system is designed based on Stewart platform, which has strong bearing capacity and high stiff
7、ness, using vo ic e coil motor(VCM) as actuators. Firstly the causes of micro-gravity its influence on kinetic analysis is analyzed, then the working principle of the VCM is introduced and its theory model is established, and the basis of the voice coil motor selection is given. Stewart platform of
8、cubic is chosen because of little coupling and that SISO control can simplify the control system. The principle and structure of the active rod is designed based on the vibration isolation effect of single-pole parameters and the point of the control force. Using displacement transfer rate as the go
9、al of optimization target, a control system is designed in this part, the displacement transfer rate o f whic h is equal to zero in theory. Then the stability of the active control system is analyzed and the system is unconditionally stable. Simulink simulation results show that the active control s
10、ystem has good vibration isolation effects. By using PID control principle, a feedforward-feedback compound control system is designed in this ar tic le, whic h is o n the bas is o f the impac t o f vibra tio n iso la tio n effect of different feedback parameters. Under the premise of the control sy
11、stem to meet the control targets, the PID controller is replaced by a simple P controller to simplify the control system design. The feedforward control signal is the excitation signals and the absolute displacement of the controlled object is used as feedback control signal. The simulation results
12、show that the designed controller achieves vibration isolation effect to use a low control voltage and a small control force. The parameters of the cubic Stewart platform infrastructure are chosen and the Stewart active vibration isolation platform is analyzed using co-simulation of ADAMS-Matlab/Sim
13、ulink. F irs t ly mec ha nis tic mode l in ADAMS is established, then SISO control system of six active poles is created and calls the ADAMS Controls module to establish a channel of data exchange. Using the excitation of typical signals, the 哈尔滨工业大学工学硕士学位论文 - III - designed Stewart active vibration
14、 isolation platform for precision instruments has a pretty good vibration isolation effect of the vibration intensity in vertical direction, which is the main direction of vibration source. The vibration isolation platform also has good isolation effects on the vibration from the horizontal directio
15、n. At last, the demand of the control voltage and driving force is analyzed in the paper and the results show that the system can satisfy the low power consumption requirements. Keywords：active vibration isolatio n, stewart, voice coil motor, microgra vity, pid- hybrid control 哈尔滨工业大学工学硕士学位论文 - IV - 目 录 摘 要 . I Abstract . II 第1章 绪论 . 1 1.1 课题背景及研究意义 .
