摘要
多维减振和低频大振幅减振是救护担架研制的难点。文章基于一种并联四自由度救护担架,提出一种控制算法,变振动位移控制为振动加速度控制,主动控制担架运动来反向抵消振动运动,实现其两移两转方向上的低频大振幅减振控制。该算法避免测量绝对位移,仅需测量加速度和担架相对车厢的相对位移,降低了测量难度和控制复杂度,且建立了基于系统减振能力和连续工作能力的评价指标,并运用遗传算法实现了控制系统参数自整定。文中应用该算法进行主动减振仿真分析,最后在真实样机上实验,实验结果表明救护担架可以很好地实现多维低频大振幅减振。
Multi-dim vibration reduction and low frequency and large amplitude vibration reduction are the difficulties in the development of rescue stretcher. Based on a kind of 4-DOF parallel rescue stretcher, the paper puts forward a control algorithm which changes vibration displacement control to vibration acceleration control and actively controls stretcher motion to counteract vibration motion, thus accomplishing low frequency and large amplitude vibration reduction in two directions of both transposition and rotation. Instead of measuring absolute displacement, the algorithm only measures acceleration and the relative displacement of the stretcher relative to the carriage, which reduces measurement difficulty and control complexity. It also sets up evaluation index based on systematic vibration reduction ability and continuous working ability and applies genetic algorithm to realize controlling parameter self-tuning. In this paper, the algorithm is applied in proceeding active vibration reduction simulation analysis, and finally it is tested on the prototype. The experimental results show that the rescue stretcher can soundly achieve multi-dim, low frequency and large amplitude vibration reduction.
出处
《机械设计与研究》
CSCD
北大核心
2017年第2期25-29,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(51175323
61004047)
国家973计划资助课题(2013CB035501
2013CB035504)
关键词
并联
主动减振
加速度控制
遗传算法
多维减振
低频大振幅
parallel
active vibration reduction
acceleration control
genetic algorithm
multi-dim vibration reduction
low frequency and large amplitude
