八作动器隔振平台的通道耦合分析及解耦控制

分析一种对称结构的八作动器隔振平台的通道耦合特性。分析表明由于结构对称，当有效载荷质心位于平台纵轴的延长线上，且有效载荷的惯性主轴与平台对称轴平行时，平台可分解成两个独立的单自由度系统和两个2阶耦合子系统。利用矩阵同时对角化方法对平台的2阶耦合子系统进一步解耦，仿真结果显示解耦控制能够衰减被动隔振的谐振峰，改进平台的隔振性能。

Decoupling Analysis and Decoupling Control of Vibration Isolation Platform with Eight Actuators

In this paper,the dynamic behavior of a symmetric vibration isolation platform with eight actuators is analyzed.This platform displays a much simple dynamic behavior when the payload's principal axes of inertia parallel with the platform's axes of symmetry and the payload's center of mass is at the extension line of the platform's central axis.Dynamics of the platform can be decomposed into two independent single-input single-output channels and two two-input two-output subsystems.Then the two-input two-output subsystems are decoupled further by simultaneous diagonalization.Results of simulation show that decoupling control can achieve an obvious improvement on the vibration attenuation and has a satisfied performance.