Study on Semi-active Control of Multi-dim Damping Platform Based on Parallel Mechanism and MR Damper

2007, Volume 9, Issue 11

Abstract

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Strategic Study of CAE >> 2007, Volume 9, Issue 11

Study on Semi-active Control of Multi-dim Damping Platform Based on Parallel Mechanism and MR Damper

Intelligent Machinery & Robot Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China

Funding project：国家自然科学基金资助项目（50375067）；高等学校博士学科专项科研基金资助课题（20050299002）；江苏大学高级人才启动基金项目（05JDG015） Received: 2006-10-16 Revised: 2006-12-29

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Abstract

MR damper is analyzed on its mechanical characteristic, and is applied in multi-dimension damping in this paper. A kind of three-translation parallel mechanism is used as main mechanism of multi-dim damping, whose position and dynamics formula are deduced. The input signal of controller is from the result of equation of kinematics, and LQR is used as the semi-active control arithmetic. Considering complexity of the dynamics equation in dynamic process, a way is used in control progress when the mechanism is in a steady state through which the entire flat roof is limited adjacent to an equilibrium position. The result of emulation confirms that the controller is effective.

Keywords

parallel mechanism ; multi-dim damping ; MR damper ; semi-active control

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References

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