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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Tracking Control of a Maglev Vibration Isolation System Based on a High-Precision Relative Position and Attitude Model
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Tracking Control of a Maglev Vibration Isolation System Based on a High-Precision Relative Position and Attitude Model

机译：基于高精度相对位置和姿态模型的磁悬浮隔振系统的跟踪控制

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摘要

The maglev vibration isolation system exhibits excellent micro-vibration isolation performance (0.01 Hz to 100 Hz band) in the space environment. However, a collision between the base and the floating platform may occur in an ultra-low frequency range (≤0.01 Hz). To avoid collision, the relative position and attitude between the base and the floating platform needs to be accurately tracked and controlled. In this study, a novel measurement method with four groups of two-dimensional position-sensitive detectors equipped with four laser light sources was proposed. A high-precision relative position and attitude measurement model was established based on the geometric relationship of space coordinates. A proportional-differential (PD) fixed-point control algorithm was adopted to realize tracking control. The control performance of the system was evaluated through simulation. Experiments were also carried out to verify the stability of the system and the precision of the control algorithm. A maglev vibration isolation system prototype was constructed and a test system was established. The proposed relative position and attitude measurement model was verified and the six degrees of freedom relative position and attitude response of the system was tested. Based on the measurement model, the tracking control of the system was proven to have high precision.
机译：磁悬浮振动隔离系统在太空环境中具有出色的微振动隔离性能（0.01 Hz至100 Hz频带）。但是，基座和浮动平台之间的碰撞可能会在超低频范围（≤0.01Hz）内发生。为了避免碰撞，需要准确跟踪和控制底座和浮动平台之间的相对位置和姿态。在这项研究中，提出了一种新的测量方法，该方法采用四组配备四个激光光源的二维位置敏感检测器。基于空间坐标的几何关系，建立了高精度的相对位置姿态测量模型。采用比例微分（PD）定点控制算法实现跟踪控制。通过仿真评估了系统的控制性能。还进行了实验，以验证系统的稳定性和控制算法的精度。构造了磁悬浮隔振系统原型，并建立了测试系统。验证了所提出的相对位置和姿态测量模型，并测试了系统的六个自由度相对位置和姿态响应。基于测量模型，证明了系统的跟踪控制具有较高的精度。

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