Self-tuning MIMO disturbance feedforward control for active hard-mounted vibration isolators

M.A. Beijen, M.F. Heertjes, J.W. van Dijk, W.B.J. Hakvoort

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11 Citaten (Scopus)
346 Downloads (Pure)

Samenvatting

This paper proposes a multi-input multi-output (MIMO) disturbance feedforward controller to improve the rejection of floor vibrations in active vibration isolation systems for high-precision machinery. To minimize loss of performance due to model uncertainties, the feedforward controller is implemented as a self-tuning generalized FIR filter. This filter contains a priori knowledge of the poles, such that relatively few parameters have to be estimated which makes the algorithm computationally efficient. The zeros of the filter are estimated using the filtered-error least mean squares (FeLMS) algorithm. Residual noise shaping is used to reduce bias. Conditions on convergence speed, stability, bias, and the effects of sensor noise on the self-tuning algorithm are discussed in detail. The combined control strategy is validated on a 6-DOF Stewart platform, which serves as a multi-axis and hard-mounted vibration isolation system, and shows significant improvement in the rejection of floor vibrations.

Originele taal-2Engels
Pagina's (van-tot)90-103
Aantal pagina's14
TijdschriftControl Engineering Practice
Volume72
DOI's
StatusGepubliceerd - 1 mrt 2018

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