Purpose

A precise identification and control method for the 6D micro-vibration exciting system is proposed in this paper. The controlled object is a Stewart configuration platform, which can provide six degree-of-freedom (6DOF) micro-vibration excitation excited by six actuating legs.

Methods

In view of the amplitude nonlinearity in this kind of exciting system, a nonlinearly iterative identification method is introduced to establish an inverse model to decouple the system in different levels of magnitude. For the decoupled system, a multi-input multiple-output (MIMO) adaptive disturbance cancellation (ADC) control method is proposed for the time domain control of the exciting system. Furthermore, the feedforward control loop is added to MIMO ADC control method to improve the rapidity and stability of the control system.

Results

Experiments show that the nonlinearly iterative identification method can greatly improve the decoupling accuracy of the system, and then improve the accuracy of sinusoidal vibration control.

Conclusion

The precise identification and control method can achieve sinusoidal vibration control of high precision in the control frequency band up to 300 Hz.

中文翻译：

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一种6维微振激振系统的精确识别与控制方法

目的

提出了一种6维微振动激振系统的精确识别与控制方法。受控对象为Stewart配置平台，可提供由六个驱动腿激发的六自由度（6DOF）微振动激励。

方法

针对这类激励系统的幅值非线性，引入非线性迭代辨识方法，建立反模型，对系统进行不同幅度的解耦。针对解耦系统，提出了一种多输入多输出(MIMO)自适应扰动消除(ADC)控制方法对励磁系统进行时域控制。此外，在MIMO ADC控制方法中加入了前馈控制回路，提高了控制系统的快速性和稳定性。

结果

实验表明，非线性迭代辨识方法可以大大提高系统的解耦精度，进而提高正弦振动控制的精度。

结论

精确的辨识与控制方法可在高达300Hz的控制频带内实现高精度的正弦振动控制。