《Robust Vibration Isolation of a 6-DOF System Using Modal》.pdf

2011 American Control Conference on OFarrell Street, San Francisco, CA, USA June 29 - July 01, 2011 Robust Vibration Isolation of a 6-DOF System Using Modal Decomposition and Sliding Surface Optimization Chenyang Ding, A.A.H. Damen, P.P.J. van den Bosch Abstract— For a high-performance 6-DOF Active Vibration is able to reduce or even remove the resonance peak but Isolation System (AVIS), the vibration isolation performance vibration isolation improvement at low frequencies is dif- (transmissibility) is the most important criterion and the ficult. The H∞ control [1] can be directly applied to solve disturbance rejection performance (compliance) has lower pri- ority. The strategy of combining modal decomposition and the Multi-Input-Multi-Output (MIMO) problem. It depends frequency-shaped sliding surface control is applied based on on the weighting filters design to optimize the closed-loop the measurement scheme of relative displacement and payload performance. But this design process is complicated and absolute acceleration. Modal decomposition decouples the six usually requires many iterations to complete. Besides, the H∞ modes and calculates the equivalent sensor noises for each controller usually has high order which limits its application. mode. The designed performances, transmissibility and sen- sitivities to the two sensor noises, depend solely on the sliding A strategy combining modal decomposition and the surface design. The sliding surface is optimized for each mode frequency-shaped sliding surface control based on the mea- with predefined constraints which are derived from common surement scheme of relative displacement and payload ab- industrial requiremen