Synthesis and Implementation of Vibration Suppression by 6 DOF Active Platform

Petr Svatoš, Zbyněk Šika, Pavel Steinbauer, Jan Zavřel, Tomáš Vampola, Michael Valášek

Abstract


The paper deals with the design of the mathematical model of active platform with six degrees of freedom. For the purpose of micro-positioning and vibration suppression, the controller synthesis for active platform with piezoactuators is presented via robust H∞ control method implemented in HIFOO, which ensures the fixed-order controller. The finite element method model of this active platform is reduced and transferred into a suitable state-space model form with analysis of the choice of sensors for real application and performance improvement. Main targets are design of platform model, synthesis of controller with fixed order, and experimental validation of control strategy.

Keywords


Fixed-order Controller Design; HIFOO; H∞ control; FEM modelling; Dynamic Model; Modal Analysis

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ISSN 1801-1217 (Print)
ISSN 1805-9422 (Online)
Published by the Czech Technical University in Prague, Faculty of Mechanical Engineering