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Sensor-Fusion-Based Simultaneous Positioning and Vibration Suppression Method for a Three-Degrees-of-Freedom Isolator.
Micromachines 2024 March 17
For vibration isolation systems, vibration suppression and platform positioning are both important. Since absolute velocity feedback causes difficulty in achieving positioning while suppressing vibration, an H∞ control strategy based on sensor fusion feedback is proposed in this paper. The signals of inertial and displacement sensors are fused through a pair of complementary filters. Thus, active control based on the fusion signal could concurrently achieve vibration and position control since it is a displacement signal. In addition, the obtained fusion signals have a lower noise level. In this way, simultaneous positioning and vibration suppression can be established using the sensor fusion strategy. On this basis, in order to obtain an optimal H∞ controller, system damping can be maximized by using the performance weight function to attenuate noise; the system bandwidth is determined by the uncertainty weight function, which can avoid the effect of high-frequency modes of the system. The effectiveness of the proposed strategy is verified by comparing it with the conventional absolute velocity feedback strategy on a 3-DOF isolator.
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