六自由度主被动一体隔振平台传感器/作动器的优化配置

基金项目:

武器装备十一五预先研究资助项目(51312040405)

军械工程学院原始创新基金资助科研项目(YSCX0904)资助

Placement Optimization of Sensors/Actuators for the 6-DOF Active-passive Vibration Isolation Platform

摘要: 针对六自由度平台研究了振动主动控制中传感器/作动器的优化配置问题。首先通过惯性物理坐标到传感器坐标变换给出了传感器/作动器的位置矩阵,结合位置矩阵给出了布置传感器/作动器应满足的约束条件;然后建立了基于传感器坐标的状态空间模型,根据状态空间模型,建立了以能观、能控矩阵范数最大为基础的目标函数,将优化配置归结为一个有约束的非线性优化问题;最后采用Matlab遗传算法工具箱求得了传感器/作动器配置的最优解。
- 隔振平台 /
- 优化 /
- 遗传算法工具箱
Abstract: Aiming at the 6-DOF active-passive vibration isolation platform,it is studied how to dispose sensors/ actuators on the optimization placement.At first,through coordinate transformation from inertial physical frame to sensor reference frame,the position matrixes of sensors/actuators are given out,and the constrained conditions are provided,which should satisfy the position matrixes.Then,the state space model is set up based on the sensor reference frame,and the objective function is build up with most observability and controllability matrix norm.The problem can be expressed as a nonlinear optimization problem with constraints.Finally,the optimum solution of sensors/actuators collocation is received using the Matlab genetic algorithm toolbox.
- vibration isolation platform /
- optimization /
- genetic algorithm toolbox

[1]	罗煜峰. 基于Maflab的六自由度隔振系统计算[J].机械与电子,2007,(08):73-75.
[2]	陈修祥,马履中. 车载设备多维振动控制装置的设计及模态研究[J].自然科学进展,2007,(04):551-555.
[3]	朱伟,马履中. 基于三平移并联机构的三维减振平台建模与仿真[J].农业机械学报,2008,(01):142-146.
[4]	Nakamura Y. Development of active 6-DOF micro vibration control system using giant magnet astrictive actuator[A].SPIE-lntemational So-ciety for Optical Engineering,1999.229-240.
[5]	Thomson T,Dahleh M D. Theory of Vibration with Applica-tions(Fifth Edition)[M].北京:清华大学出版社,2005.
[6]	张春良. 微制造平台振动主动控制研究[D].杭州:浙江大学,2003.
[7]	刘金琨. 先进PID控制及其Matlab仿真[M].北京:电子工业出版社,2003.
[8]	王小平,曹立明. 遗传算法一理论、应用与软件实现[M].西安:西安交通大学出版社,2002.