Active Composite Control of Disturbance Compensation for Vibration Isolation System with Uncertainty
Abstract
:1. Introduction
2. System Description and Control Strategy
2.1. Problem Formulation
2.2. System Dynamics Modeling with Uncertainty
2.3. Composite Control Strategy
3. Composite Controller Design
3.1. Feedforward Control Loop
3.2. Feedback Control Loop
3.2.1. Kalman Filter Design
3.2.2. LQR Controller Design
3.3. Stability Analysis
3.3.1. Kalman Filter
3.3.2. LQR Controller
4. Vibration Isolation of System with Uncertainty
4.1. Influence of System Uncertainty on Feedforward
4.2. Tolerance Analysis of Kalman Filter
4.3. Performance Analysis of Proposed Composite Controller
5. Experiments
5.1. Experiments Setup
5.2. System Identification
5.3. Kalman Filtering Effect
5.4. Vibration Isolation Performance
6. Conclusions
- The feedforward controller designed with the known model can effectively obtain a lower and wider vibration isolation band.
- The Kalman filter can effectively filter the output signal, and can accurately and effectively estimate the state (velocity) of the uncertain system.
- Using more accurate estimated state feedback can achieve a better vibration isolation effect, and does not affect the performance of the feedforward controller.
- The proposed ACC can not only reduce the influence of system uncertainty on the control effect, but also effectively suppress the influence of noise on the system.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Zhu, Z.; Xiao, Y.; Zhou, M.; Li, Y.; Yu, D. Active Composite Control of Disturbance Compensation for Vibration Isolation System with Uncertainty. Actuators 2024, 13, 334. https://doi.org/10.3390/act13090334
Zhu Z, Xiao Y, Zhou M, Li Y, Yu D. Active Composite Control of Disturbance Compensation for Vibration Isolation System with Uncertainty. Actuators. 2024; 13(9):334. https://doi.org/10.3390/act13090334
Chicago/Turabian StyleZhu, Zhijun, Yong Xiao, Minrui Zhou, Yongqiang Li, and Dianlong Yu. 2024. "Active Composite Control of Disturbance Compensation for Vibration Isolation System with Uncertainty" Actuators 13, no. 9: 334. https://doi.org/10.3390/act13090334