气动隔振器及八作动器隔振平台控制问题研究
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摘要
在卫星的寿命周期内,发射过程中的振动环境最为恶劣。采用六自由度隔振平台作为运载火箭和卫星的连接装置,能够隔离火箭传递到卫星的振动载荷,改善卫星发射过程的动力学环境。为保证可靠性和提高承载能力,本文采用气动八作动器主-被动一体化隔振平台实现卫星的六自由隔振。论文研究了气动隔振器及其构成的八作动器隔振平台的控制问题,重点研究了八作动器隔振平台的解耦控制方法。
首先建立了气动主-被动一体化隔振器的动力学模型,分析了隔振器采用负载加速度反馈、相对位移反馈、气腔压力反馈以及基座加速度前馈控制时的控制性能,并通过实验进行了验证。然后将自适应滤波算法应用于气动隔振器的主动控制,通过实验对滤波x-LMS算法的两种控制器结构——自适应横向滤波器与自适应梳状滤波器进行了对比分析,讨论了影响振动控制效果的主要因素。实验结果显示,对简谐激励,两种滤波器的控制效果基本相同;但对含有多个谐波成分的周期激励,采用自适应梳状滤波器能得到更好的振动抑制效果。通
过在自适应滤波器中引入偏置权,还可以抑制负载的低频干扰。采用牛顿-欧拉法建立了多动器并联六自由度隔振平台的动力学模型,分析了平台的通道耦合属性。分析结果表明,当各作动器的结构参数相同时,平台的通道耦合属性取决于平台构型和有效载荷的安装方式,作动器本身的动力学特性对平台的通道耦合属性没有影响。设计了几种六自由度隔振平台构型。对于这些构型,当有效载荷满足一定的安装条件时,平台的反馈通道具有一类解耦特征,其解耦控制比较容易实现。通过对这些构型的对比分析,本文的隔振平台选用一种对称的八作动器构型。文中还分析了该八作动器隔振平台的刚度矩阵与构型参数的关系,为平台的刚度设计提供了依据。
论文系统研究了八作动器隔振平台的解耦控制问题。当有效载荷质心位于平台纵轴的延长线上、且载荷的质量矩阵为对角阵时,平台的动力学方程可分解为两个独立的单输入单输出通道和两个两输入两输出子系统。而在任意负载条件下,平台的六个输入输出通道间均存在交叉耦合影响。文中给出了一种解耦算法,这种算法即能用于第一种负载条件下平台二阶子系统的解耦,又可推广到任意负载条件下平台的解耦控制。然后分别采用比例控制和自适应滤波算法设计了平台的解耦控制器,对平台进行了仿真分析。
此外,分析了负载柔性、作动器的质量和转动惯量以及弹簧分布质量对平台隔振性能的影响。仿真分析结果显示,八作动器隔振平台顶端放置柔性卫星时,平台通道间的耦合增强了,但是平台各主通道的振动仍然是主要的,采用所提出的解耦控制方法仍然能够很好地抑制平台振动。建立了考虑作动器质量和转动惯量情况下平台的动力学模型。分析结果表明,当平台八个作动器的结构参数相同时,作动器的质量和转动惯量对平台的通道耦合属性没有影响。由于转动惯量的作用,平台传递率曲线的高频段略有抬高,平台的高频隔振性能变差。作动器中弹簧分布质量的影响是使平台传递率曲线出现高频谐振峰。
最后,通过实验验证了采用气动主-被动一体化隔振器的八作动器隔振平台的主、被动隔振性能。分别采用比例控制和自适应滤波算法设计了平台的解耦控制器,并在纵向和横向两种激振方式下对平台进行了主动控制实验。实验结果显示,在低频段,两种主动控制方法都能取得很好的振动抑制效果;在高频段,平台表现为被动隔振特性。这样,应用此平台可以实现六自由度主-被动一体化隔振。
During the launch stage, the launch vehicle (LV) provides the most severe dynamic loads that a satellite ever suffers in its whole mission life. Using a six degree of freedom (DOF) vibration isolation platform as the attachment fitting of the LV to the satellite is an effective way to attenuate the vibration transmission, thus improve the dynamic environment of the satellite. In this dissertation, to ensure the reliability and enhance the carrying capability, a six-DOF vibration isolation platform with eight pneumatic actuators is employed to realize the whole satellite vibration isolation (WSVI). The decoupling control problem of the octo-actuator vibration isolation platform (OVIP) is systemically studied.
Firstly, the dynamic model of an integrated active and passive pneumatic isolator is established. Performances of the isolator using both the feedback control, where the feedback signals include the payload’s acceleration, the relative displacement and the chamber’s pressure, and the feedforward control with the base’s acceleration are theoretically investigated and experimentally validated. Then the adaptive filter algorithm is employed to control the isolator. An adaptive transversal filter and an adaptive comb filter using the filtered-X LMS algorithm are respectively implemented on the isolator, and major factors that influence the vibration suppression effect are discussed. Experimental results show that the two kinds of filters have the same performance for sinusoidal excitement, while, for multiple-harmonic excitement, the adaptive comb filter has better performance. Low-frequency disturbances of the payload can also be suppressed by using a bias weight in the filter.
The dynamic model of a general six-DOF platform with several parallel actuators is established with the Newton-Euler method. Based on this model, the dynamic behavior of the platform is investigated. Analysis result shows that if all actuators are identical in structure, the coupling properties of the platform’s feedback channels depend on the configuration of the platform and the arrangement of the payload. Dynamics of the actuator have no influence on the coupling properties. Then several configurations of the six-DOF platform are designed. For a vibration isolation platform with one of these configurations, if the payload satisfies some conditions, the feedback channels of the platform will possess a decoupling feature, so its decoupling control is relatively easy to implement. By comparing these configurations, a symmetric octo-actuator configuration is selected for the WSVI platform studied in this dissertation. The relationship between the stiffness matrix and the configuration parameters of the OVIP is also studied, and a guide line for the stiffness design of the platform is proposed.
Following the selection of the platform’s configuration, the decoupling control method of the OVIP is systemically studied. Dynamic analysis indicates that when the payload’s center of mass is at the extension line of the platform’s central axis and the payload’s mass matrix is diagonal, the dynamic equation of the platform can be decomposed into two independent single-input single-output channels and two independent two-input two-output subsystems. A decoupling control algorithm, which can further decouple the second-order subsystems, is developed. When the payload is arbitrarily placed, the six input and output channels of the platform are coupled with one another. In this case, the algorithm can also be generalized to realize the decoupling of the platform’s feedback channels. Base on the decoupling algorithm, a proportional controller and an adaptive filter controller are respectively designed and verified by numerical simulation.
Effects of other factors, such as the payload’s flexibility, the actuator’s mass and moment of inertia as well as the distributed mass of the mechanical spring, on the performance of the platform are also studied. The flexibility of a satellite will reinforce the coupling among different channels, but the main channels of the platform are still dominant, thus the decoupling control method can also fairly well restrain the vibration of the platform. The dynamic model of the OVIP considering mass and moment of inertia of the actuator is developed. Analyses show that if all actuators have the same structure, its mass and moment of inertia have no effect on the coupling properties of the platform, nevertheless, due to the actuator’s moment of inertia, the high-frequency transmissibility of the platform is slightly amplified. As a result of the distributed mass of the mechanical spring, some high-frequency resonances appear on the vibration transmissibility curves of the platform.
Finally, experiments are carried out to verify the performance of the OVIP. The decoupling proportional controller and the decoupling adaptive filter controller are separately implemented on the platform. Experimental results show that in the low-frequency range, the two kinds of controllers can both effectively attenuate the vibration of the platform, while, in the high-frequency range, the platform displays the passive performance. Therefore, with the integrated active and passive pneumatic isolator as the actuator, the OVIP can realize the six-DOF integrated active and passive vibration isolation.
首先建立了气动主-被动一体化隔振器的动力学模型,分析了隔振器采用负载加速度反馈、相对位移反馈、气腔压力反馈以及基座加速度前馈控制时的控制性能,并通过实验进行了验证。然后将自适应滤波算法应用于气动隔振器的主动控制,通过实验对滤波x-LMS算法的两种控制器结构——自适应横向滤波器与自适应梳状滤波器进行了对比分析,讨论了影响振动控制效果的主要因素。实验结果显示,对简谐激励,两种滤波器的控制效果基本相同;但对含有多个谐波成分的周期激励,采用自适应梳状滤波器能得到更好的振动抑制效果。通
过在自适应滤波器中引入偏置权,还可以抑制负载的低频干扰。采用牛顿-欧拉法建立了多动器并联六自由度隔振平台的动力学模型,分析了平台的通道耦合属性。分析结果表明,当各作动器的结构参数相同时,平台的通道耦合属性取决于平台构型和有效载荷的安装方式,作动器本身的动力学特性对平台的通道耦合属性没有影响。设计了几种六自由度隔振平台构型。对于这些构型,当有效载荷满足一定的安装条件时,平台的反馈通道具有一类解耦特征,其解耦控制比较容易实现。通过对这些构型的对比分析,本文的隔振平台选用一种对称的八作动器构型。文中还分析了该八作动器隔振平台的刚度矩阵与构型参数的关系,为平台的刚度设计提供了依据。
论文系统研究了八作动器隔振平台的解耦控制问题。当有效载荷质心位于平台纵轴的延长线上、且载荷的质量矩阵为对角阵时,平台的动力学方程可分解为两个独立的单输入单输出通道和两个两输入两输出子系统。而在任意负载条件下,平台的六个输入输出通道间均存在交叉耦合影响。文中给出了一种解耦算法,这种算法即能用于第一种负载条件下平台二阶子系统的解耦,又可推广到任意负载条件下平台的解耦控制。然后分别采用比例控制和自适应滤波算法设计了平台的解耦控制器,对平台进行了仿真分析。
此外,分析了负载柔性、作动器的质量和转动惯量以及弹簧分布质量对平台隔振性能的影响。仿真分析结果显示,八作动器隔振平台顶端放置柔性卫星时,平台通道间的耦合增强了,但是平台各主通道的振动仍然是主要的,采用所提出的解耦控制方法仍然能够很好地抑制平台振动。建立了考虑作动器质量和转动惯量情况下平台的动力学模型。分析结果表明,当平台八个作动器的结构参数相同时,作动器的质量和转动惯量对平台的通道耦合属性没有影响。由于转动惯量的作用,平台传递率曲线的高频段略有抬高,平台的高频隔振性能变差。作动器中弹簧分布质量的影响是使平台传递率曲线出现高频谐振峰。
最后,通过实验验证了采用气动主-被动一体化隔振器的八作动器隔振平台的主、被动隔振性能。分别采用比例控制和自适应滤波算法设计了平台的解耦控制器,并在纵向和横向两种激振方式下对平台进行了主动控制实验。实验结果显示,在低频段,两种主动控制方法都能取得很好的振动抑制效果;在高频段,平台表现为被动隔振特性。这样,应用此平台可以实现六自由度主-被动一体化隔振。
During the launch stage, the launch vehicle (LV) provides the most severe dynamic loads that a satellite ever suffers in its whole mission life. Using a six degree of freedom (DOF) vibration isolation platform as the attachment fitting of the LV to the satellite is an effective way to attenuate the vibration transmission, thus improve the dynamic environment of the satellite. In this dissertation, to ensure the reliability and enhance the carrying capability, a six-DOF vibration isolation platform with eight pneumatic actuators is employed to realize the whole satellite vibration isolation (WSVI). The decoupling control problem of the octo-actuator vibration isolation platform (OVIP) is systemically studied.
Firstly, the dynamic model of an integrated active and passive pneumatic isolator is established. Performances of the isolator using both the feedback control, where the feedback signals include the payload’s acceleration, the relative displacement and the chamber’s pressure, and the feedforward control with the base’s acceleration are theoretically investigated and experimentally validated. Then the adaptive filter algorithm is employed to control the isolator. An adaptive transversal filter and an adaptive comb filter using the filtered-X LMS algorithm are respectively implemented on the isolator, and major factors that influence the vibration suppression effect are discussed. Experimental results show that the two kinds of filters have the same performance for sinusoidal excitement, while, for multiple-harmonic excitement, the adaptive comb filter has better performance. Low-frequency disturbances of the payload can also be suppressed by using a bias weight in the filter.
The dynamic model of a general six-DOF platform with several parallel actuators is established with the Newton-Euler method. Based on this model, the dynamic behavior of the platform is investigated. Analysis result shows that if all actuators are identical in structure, the coupling properties of the platform’s feedback channels depend on the configuration of the platform and the arrangement of the payload. Dynamics of the actuator have no influence on the coupling properties. Then several configurations of the six-DOF platform are designed. For a vibration isolation platform with one of these configurations, if the payload satisfies some conditions, the feedback channels of the platform will possess a decoupling feature, so its decoupling control is relatively easy to implement. By comparing these configurations, a symmetric octo-actuator configuration is selected for the WSVI platform studied in this dissertation. The relationship between the stiffness matrix and the configuration parameters of the OVIP is also studied, and a guide line for the stiffness design of the platform is proposed.
Following the selection of the platform’s configuration, the decoupling control method of the OVIP is systemically studied. Dynamic analysis indicates that when the payload’s center of mass is at the extension line of the platform’s central axis and the payload’s mass matrix is diagonal, the dynamic equation of the platform can be decomposed into two independent single-input single-output channels and two independent two-input two-output subsystems. A decoupling control algorithm, which can further decouple the second-order subsystems, is developed. When the payload is arbitrarily placed, the six input and output channels of the platform are coupled with one another. In this case, the algorithm can also be generalized to realize the decoupling of the platform’s feedback channels. Base on the decoupling algorithm, a proportional controller and an adaptive filter controller are respectively designed and verified by numerical simulation.
Effects of other factors, such as the payload’s flexibility, the actuator’s mass and moment of inertia as well as the distributed mass of the mechanical spring, on the performance of the platform are also studied. The flexibility of a satellite will reinforce the coupling among different channels, but the main channels of the platform are still dominant, thus the decoupling control method can also fairly well restrain the vibration of the platform. The dynamic model of the OVIP considering mass and moment of inertia of the actuator is developed. Analyses show that if all actuators have the same structure, its mass and moment of inertia have no effect on the coupling properties of the platform, nevertheless, due to the actuator’s moment of inertia, the high-frequency transmissibility of the platform is slightly amplified. As a result of the distributed mass of the mechanical spring, some high-frequency resonances appear on the vibration transmissibility curves of the platform.
Finally, experiments are carried out to verify the performance of the OVIP. The decoupling proportional controller and the decoupling adaptive filter controller are separately implemented on the platform. Experimental results show that in the low-frequency range, the two kinds of controllers can both effectively attenuate the vibration of the platform, while, in the high-frequency range, the platform displays the passive performance. Therefore, with the integrated active and passive pneumatic isolator as the actuator, the OVIP can realize the six-DOF integrated active and passive vibration isolation.
引文
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46 D. Sciulli, S. F. Griffin. Hybrid Launch Isolation System. Part of the SPIE Conference on Industrial and Commercial Applications of Smart Structures Technologies, Newport Beach, California. 1999, 3674: 352~359
47 L. K. Liu, L. Liang, G. T. Zheng, W. H. Huang. Dynamic Design of Octo-Strut Platform for Launch Stage Whole-Spacecraft Vibration Isolation. Journal of Spacecraft and Rocket. 2005, 42(4): 654~662
48刘丽坤.八作动器隔振平台及整星隔振研究.哈尔滨工业大学博士学位论文. 2005
49王战.整星隔振平台的优化设计和设计过程研究.哈尔滨工业大学硕士学位论文. 2005
50 L. He, G. T. Zheng. Effect of Viscous Heating in Fluid Damper on the Vibration Isolation Performance. Mechanical Systems and Signal Processing. 2007, 21(8): 3060~3071
51何玲.流体阻尼器特性及其对整星隔振性能影响的研究.哈尔滨工业大学博士学位论文. 2007
52 Stewart. A Platform with Six Degree of Freedom. Proc. Inst. Mech. Eng., 1965, 180(15): 371~386
53 K. H. Hunt. Kinematic Geometry of Mechanisms. Oxford: Claredon Press,1978
54陈学生,陈在礼,孔民秀.并联机器人研究的进展与现状.机器人. 2002, 24(5): 464~470
55 E. F. Fichter. A Stewart Platform-Based Manipulator: General Theory and Practical Construction. Int J of Rob Res. 1986, 5(2): 157~182
56 J. P. Merlet. Force-Feedback Control of Parallel Manipulators. IEEE International Conference on Robotics and Automation. 1988: 1484~1489
57 K. Sugimoto. Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra. Journal of Mechanisms, Transmissions, and Automation in Design. 1987, 109(1): 3~7
58 W. Do, D. Yang. Inverse Dynamic Analysis and Simulation of a Platform Type of Robot. Journal of Robotic Systems. 1988, 5(3): 209~227
59 Z. Geng, L. S. Haynes, J. D. Lee. On the Dynamic Model and Kinematics Analysis of a Class of Stewart Platform. Journal of Robotics and Autonomous Systems. 1992, (9):237~254
60 G. Lebret, K. Liu, F. L. Lewis. Dynamic Analysis and Control of a Stewart Platform Manipulator. Journal of Robotic Systems. 1993, 10(5): 629~655
61 B. Dasgupta, T. S. Mruthyunjaya. Closed-Form Dynamic Equations of the General Stewart Platform through the Newton-Euler Approach. Mech. Mach. Theory. 1998, 33(7):993~1012
62 Z. Ji. Study of the Effect of Leg Inertia in Stewart Platforms. IEEE International Conference on Robotics and Automation, Atlanta. 1993: 121~126
63黄真,孔令富,方跃法.并联机器人机构学理论及控制.机械工业出版社, 1997
64王洪瑞.液压6-DOF并联机器人操作手运动和力控制的研究.河北大学出版社, 2001
65 M. A. Nahon, J. Angeles. Force Optimization in Redundantly-Actuated Closed Kinimatic Chains. IEEE International Conference on Robotics and Automation. 1989: 951~956
66 K. J. Reckdahl. Dynamics and Control of Mechanical Systems Containing Closed Kinematic Chains. Stanford University, PhD Thesis, 1996
67蔡胜利,白师贤.冗余驱动的平面并联操作手的输入力优化.北京工业大学学报. 1997, 23(2): 37~40
68蔡胜利,白师贤.冗余驱动的并联机器人性能分析.机械科学与技术. 1996, 15(2): 235~238
69 Z. J. Geng, L. S. Hayes. Six Degree-of-Freedom Active Vibration Control Using the Stewart Platforms. IEEE Transactions on Control Systems Technology. 1994, 2(1): 45~53
70 D. Thayer, J. Vagners, A. Flotow. Six-axis Vibration Isolation System Using Soft Actuators and Multiple Sensors. Journal of Spacecraft and Rockets. 2002, 39(2): 206~212
71 J. E. McInroy. Dynamic Modeling of Flexure Jointed Hexapods for Control Purpose. IEEE International Conference on Control Applications, Hawaii. 1999: 508~513
72 J. E. McInroy. Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes. IEEE Transactions on Mechatronics. 2002, 7(1): 95~99
73 J. E. McInroy, J. C. Hamann. Design and Control of Flexure Jointed Hexapods. IEEE Transactions on Robotics and Automation. 2000, 16(4): 372~381
74 J. E. McInroy, J. C. Hamann. Control of Flexure Jointed Hexapods. Proceedings of 38th Conference on Decision & Control, Phoenix, Arizona. 1999: 3863~3868
75 Y. X. Chen, J. E. McInroy. Decoupled Control of Flexure-Jointed Hexapods Using Estimated Joint-Space Mass-Inertia Matrix. IEEE Transactions on Control Systems Technology. 2004, 12(3): 413~421
76 Y. X. Chen, J. E. McInroy. Identification and Decoupled Control of Flexure Jointed Hexapods. IEEE International Conference on Robotics and Automation, San Francisco. 2000: 1936~1941
77 Y. Yong, J. E. McInroy, F. Jafari. Generating Classes of Locally Orthogonal Gough-Stewart Platforms. IEEE Transactions on Robotics. 2005, 21(5): 812~820
78 J. E. McInroy, F. Jafari. Finding Symmetric Orthogonal Gough-Stewart Platforms. IEEE Transactions on Robotics. 2006, 22(5): 880~889
79 F. Jafari, J. E. McInroy. Orthogonal Gough-Stewart Platforms for Micromanipulation. IEEE Transactions on Robotics and Automation. 2003, 19(4): 595~603
80 Z. J. Guo, J. E. McInroy, F. Jafari. Realization of MicromanipulatingGough-Stewart Platforms with Desired Dynamics. IEEE International Conference on Robotics and Automation. 2006: 655~660
81 J. Sullivan, Z. Rahman, R. Cobb. Closed-Loop Performance of a Vibration Isolation and Suppression System. Proceedings of the American Control Conference, New Mexico. 1997: 3974~3978
82 R. Cobb, J. Sullivan, A. Das. Vibration Isolation and Suppression System for Precision Payloads in Space. Smart Materials and Structures. 1999, 8(6): 798~812
83 J. E. McInroy, J. F. O’Brien, G. W. Neat. Precise, Fault-Tolerant Pointing Using a Stewart Platform. IEEE/ASME Transactions on Mechatronics. 1999, 4(1): 91~95
84 J. E. McInroy, G. W. Neat, J. F. O’Brien. A Robotic Approach to Fault-Tolerant, Precision Pointing. IEEE Robotics & Automation Magazine. 1999, 6(4): 24~31
85 B. Widrow, S. D. Stearn. Adaptive Signal Processing. Prentice Hall, 1985
86 S. M. Kuo, D. R. Morgan. Active Noise Control: A Tutorial Review. Proceedings of the IEEE. 1999, 87(6): 943~973
87 S. J. Elliott, P. A. Nelson. The Application of Adaptive Filtering to the Active Control of Sound and Vibration. ISVR, Univ. Southampton, U.K., Tech. Rep. 136, 1985
88 D. R. Morgan. An Analysis of Multiple Correlation Cancellation Loops with a Filter in the Auxiliary Path. IEEE Trans. Acoust., Speech, Signal Processing. 1980, 28: 454~467
89 S. D. Sommerfeldt. Adaptive Vibration Control of Vibration Isolation Mounts, Using an LMS-based Control Algorithm. Pennsylvania State University, PhD Thesis, 1989
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91刘志刚.柴油机振动自适应有源隔离技术研究.哈尔滨工程大学博士学位论文. 2000
92李玩幽,杨铁军,张洪田等.基于修改自适应算法(MLMS)的主动吸振模拟试验研究.船舶工程. 2000, (4): 29~32
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30 K. G. Ahn, H. J. Pahk, M. Y. Jung, et al. A Hybrid-Type Active Vibration Isolation System Using Neural Networks. Journal of Sound and Vibration. 1996, 192(4): 793~805
31 J. Spanos, Z. Rahman, G. Blackwood, A Soft 6-axis Active Vibration Isolator. Proceedings of the American Control Conference, Washington. 1995: 412~416
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35 P. S. Wilke, C. D. Johnson, P. Grosserode. Whole-Spacecraft Vibration Isolation for Broadband Attenuation. Aerospace Conference Proceeding, IEEE. 2000, 4: 315~321
36赵会光,马兴瑞,冯纪生.整星隔振技术若干问题的探讨.航天器工程. 2001, 10(3):30~37
37 C. D. Johnson, P. S. Wilke. Protecting Satellite from the Dynamics of the Launch Environment. CSA Papers. 2003: 1~14
38 K. K. Denoyer, C. D. Johnson. Recent Achievements in Vibration Isolation Systems for Space Launch and On-Orbit Application. CSA Papers. 2001: 1~10
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40 C. D. Johnson, P. S. Wilke, P. J. Grosserode. Whole-Spacecraft Vibration Isolation System for the GTO/Taurus Mission. SPIE Proceedings. 1999, 3672: 175~185
41 C. D. Johnson, P. S. Wilke, K. R. Darling. Multi-axis Whole-Spacecraft Vibration Isolation for Small Launch Vehicles. SPIE Conference on Smart Structures and Materials, Newport Beach, CA. 2001, 4331: 151~161
42 P. S. Wilke, C. D. Johnson. Payload Isolation System for Launch Vehicles. Proceedings of SPIE. Smart Structures and Materials–Passive Damping and Isolation. 1997:20~30
43 D. Sciulli, K. K. Denoyer, E. R. Fosness. Program Development of Whole-Spacecraft Launch Isolation Systems at the U.S. Air Force Research Laboratory. 50th International Astronautical Congress, Amsterdam. 1999:1~6
44 D. L. Edberg, B. Bruce, G. James, et al. Passive and Active Launch Vibration Studies in the LVIS Program. Proceedings of SPIE-The International Society for Optical Engineering. 1998, 3327: 411~422
45 K. Farshad, R. Jahangir, R. E. Scott. A Three Degrees-of-Freedom Adaptive-Passive Isolator for Launch Vehicle Payloads. Proceeding of SPIE. 2000, 164~175
46 D. Sciulli, S. F. Griffin. Hybrid Launch Isolation System. Part of the SPIE Conference on Industrial and Commercial Applications of Smart Structures Technologies, Newport Beach, California. 1999, 3674: 352~359
47 L. K. Liu, L. Liang, G. T. Zheng, W. H. Huang. Dynamic Design of Octo-Strut Platform for Launch Stage Whole-Spacecraft Vibration Isolation. Journal of Spacecraft and Rocket. 2005, 42(4): 654~662
48刘丽坤.八作动器隔振平台及整星隔振研究.哈尔滨工业大学博士学位论文. 2005
49王战.整星隔振平台的优化设计和设计过程研究.哈尔滨工业大学硕士学位论文. 2005
50 L. He, G. T. Zheng. Effect of Viscous Heating in Fluid Damper on the Vibration Isolation Performance. Mechanical Systems and Signal Processing. 2007, 21(8): 3060~3071
51何玲.流体阻尼器特性及其对整星隔振性能影响的研究.哈尔滨工业大学博士学位论文. 2007
52 Stewart. A Platform with Six Degree of Freedom. Proc. Inst. Mech. Eng., 1965, 180(15): 371~386
53 K. H. Hunt. Kinematic Geometry of Mechanisms. Oxford: Claredon Press,1978
54陈学生,陈在礼,孔民秀.并联机器人研究的进展与现状.机器人. 2002, 24(5): 464~470
55 E. F. Fichter. A Stewart Platform-Based Manipulator: General Theory and Practical Construction. Int J of Rob Res. 1986, 5(2): 157~182
56 J. P. Merlet. Force-Feedback Control of Parallel Manipulators. IEEE International Conference on Robotics and Automation. 1988: 1484~1489
57 K. Sugimoto. Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra. Journal of Mechanisms, Transmissions, and Automation in Design. 1987, 109(1): 3~7
58 W. Do, D. Yang. Inverse Dynamic Analysis and Simulation of a Platform Type of Robot. Journal of Robotic Systems. 1988, 5(3): 209~227
59 Z. Geng, L. S. Haynes, J. D. Lee. On the Dynamic Model and Kinematics Analysis of a Class of Stewart Platform. Journal of Robotics and Autonomous Systems. 1992, (9):237~254
60 G. Lebret, K. Liu, F. L. Lewis. Dynamic Analysis and Control of a Stewart Platform Manipulator. Journal of Robotic Systems. 1993, 10(5): 629~655
61 B. Dasgupta, T. S. Mruthyunjaya. Closed-Form Dynamic Equations of the General Stewart Platform through the Newton-Euler Approach. Mech. Mach. Theory. 1998, 33(7):993~1012
62 Z. Ji. Study of the Effect of Leg Inertia in Stewart Platforms. IEEE International Conference on Robotics and Automation, Atlanta. 1993: 121~126
63黄真,孔令富,方跃法.并联机器人机构学理论及控制.机械工业出版社, 1997
64王洪瑞.液压6-DOF并联机器人操作手运动和力控制的研究.河北大学出版社, 2001
65 M. A. Nahon, J. Angeles. Force Optimization in Redundantly-Actuated Closed Kinimatic Chains. IEEE International Conference on Robotics and Automation. 1989: 951~956
66 K. J. Reckdahl. Dynamics and Control of Mechanical Systems Containing Closed Kinematic Chains. Stanford University, PhD Thesis, 1996
67蔡胜利,白师贤.冗余驱动的平面并联操作手的输入力优化.北京工业大学学报. 1997, 23(2): 37~40
68蔡胜利,白师贤.冗余驱动的并联机器人性能分析.机械科学与技术. 1996, 15(2): 235~238
69 Z. J. Geng, L. S. Hayes. Six Degree-of-Freedom Active Vibration Control Using the Stewart Platforms. IEEE Transactions on Control Systems Technology. 1994, 2(1): 45~53
70 D. Thayer, J. Vagners, A. Flotow. Six-axis Vibration Isolation System Using Soft Actuators and Multiple Sensors. Journal of Spacecraft and Rockets. 2002, 39(2): 206~212
71 J. E. McInroy. Dynamic Modeling of Flexure Jointed Hexapods for Control Purpose. IEEE International Conference on Control Applications, Hawaii. 1999: 508~513
72 J. E. McInroy. Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes. IEEE Transactions on Mechatronics. 2002, 7(1): 95~99
73 J. E. McInroy, J. C. Hamann. Design and Control of Flexure Jointed Hexapods. IEEE Transactions on Robotics and Automation. 2000, 16(4): 372~381
74 J. E. McInroy, J. C. Hamann. Control of Flexure Jointed Hexapods. Proceedings of 38th Conference on Decision & Control, Phoenix, Arizona. 1999: 3863~3868
75 Y. X. Chen, J. E. McInroy. Decoupled Control of Flexure-Jointed Hexapods Using Estimated Joint-Space Mass-Inertia Matrix. IEEE Transactions on Control Systems Technology. 2004, 12(3): 413~421
76 Y. X. Chen, J. E. McInroy. Identification and Decoupled Control of Flexure Jointed Hexapods. IEEE International Conference on Robotics and Automation, San Francisco. 2000: 1936~1941
77 Y. Yong, J. E. McInroy, F. Jafari. Generating Classes of Locally Orthogonal Gough-Stewart Platforms. IEEE Transactions on Robotics. 2005, 21(5): 812~820
78 J. E. McInroy, F. Jafari. Finding Symmetric Orthogonal Gough-Stewart Platforms. IEEE Transactions on Robotics. 2006, 22(5): 880~889
79 F. Jafari, J. E. McInroy. Orthogonal Gough-Stewart Platforms for Micromanipulation. IEEE Transactions on Robotics and Automation. 2003, 19(4): 595~603
80 Z. J. Guo, J. E. McInroy, F. Jafari. Realization of MicromanipulatingGough-Stewart Platforms with Desired Dynamics. IEEE International Conference on Robotics and Automation. 2006: 655~660
81 J. Sullivan, Z. Rahman, R. Cobb. Closed-Loop Performance of a Vibration Isolation and Suppression System. Proceedings of the American Control Conference, New Mexico. 1997: 3974~3978
82 R. Cobb, J. Sullivan, A. Das. Vibration Isolation and Suppression System for Precision Payloads in Space. Smart Materials and Structures. 1999, 8(6): 798~812
83 J. E. McInroy, J. F. O’Brien, G. W. Neat. Precise, Fault-Tolerant Pointing Using a Stewart Platform. IEEE/ASME Transactions on Mechatronics. 1999, 4(1): 91~95
84 J. E. McInroy, G. W. Neat, J. F. O’Brien. A Robotic Approach to Fault-Tolerant, Precision Pointing. IEEE Robotics & Automation Magazine. 1999, 6(4): 24~31
85 B. Widrow, S. D. Stearn. Adaptive Signal Processing. Prentice Hall, 1985
86 S. M. Kuo, D. R. Morgan. Active Noise Control: A Tutorial Review. Proceedings of the IEEE. 1999, 87(6): 943~973
87 S. J. Elliott, P. A. Nelson. The Application of Adaptive Filtering to the Active Control of Sound and Vibration. ISVR, Univ. Southampton, U.K., Tech. Rep. 136, 1985
88 D. R. Morgan. An Analysis of Multiple Correlation Cancellation Loops with a Filter in the Auxiliary Path. IEEE Trans. Acoust., Speech, Signal Processing. 1980, 28: 454~467
89 S. D. Sommerfeldt. Adaptive Vibration Control of Vibration Isolation Mounts, Using an LMS-based Control Algorithm. Pennsylvania State University, PhD Thesis, 1989
90 S. D. Sommerfeldt, J. Ticky. Adaptive Control of a Two-stage Vibration Isolation Mount. J. Acoust. Soc. Amer.. 1990, 88: 938~944
91刘志刚.柴油机振动自适应有源隔离技术研究.哈尔滨工程大学博士学位论文. 2000
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