非接触式定位隔振平台机电联合仿真分析

为了研究工作于空间微重力环境的非接触式定位隔振平台的工作性能，利用机电联合仿真方法对平台的6自由度定位和微振动隔振功能进行仿真分析. 介绍所设计非接触式定位隔振平台的工作原理，其中平台的激励单元、位置测量单元和加速度测量单元分别利用非接触式二轴作动器、二维位置敏感探测器和单轴加速度计根据空间对称布置方案构成，并基于位置和加速度反馈设计平台控制器. 利用ADAMS和MATLAB/Simulink，分别建立平台的机械系统仿真模型和基于位置与加速度反馈的闭环控制系统仿真模型，获得平台的机电一体化联合仿真模型. 利用所建立的联合仿真模型，对平台的定位和隔振性能进行仿真分析. 结果显示，在小范围定位模式下，所设计平台的6自由度位移和角位移控制误差分别小于10 μm和2×10^-5 rad；在隔振模式下，平台在6自由度方向对0.01~1 Hz正弦直接振动干扰的抑制效率为39~73 dB，对1~100 Hz正弦直接干扰的抑制效率为19~73 dB，在隔振控制过程中浮台与基台的相对位移小于1 mm.

Electromechanical co-simulation analysis for contactless positioning and vibration isolation platform

The electromechanical co-simulation method was used to simulate and analyze the 6-DOF (degrees of freedom) positioning and micro-vibration isolation functions of the platform in order to analyze the working performances of a contactless positioning and vibration isolation platform which works at space microgravity environment. The working principle of the contactless positioning and vibration isolation platform was introduced. The exciting unit, position measuring unit and acceleration measuring unit of the platform were made up by contactless biaxial actuators, biaxial position sensitive detectors and uniaxial accelerometers according to space symmetry layout scheme. The controller of the platform was designed based on position and acceleration feedback. Then the mechanical system simulation model and the closed-loop control system simulation model based on position and acceleration feedback was established by ADAMS and MATLAB/Simulink, respectively, which together set up the electromechanical co-simulation model of the platform. The positioning and vibration isolation performances of the platform were simulated by the co-simulation model. Results show that the 6-DOF displacement and angular displacement control errors of the platform are less than 10 μm and 2×10^-5 rad respectively under small range positioning mode. The suppression efficiencies of the platform for 6-DOF direct sinusoidal disturbances with frequency range of 0.01-1 Hz and 1-100 Hz are 39-73 dB and 19-73 dB, respectively. The relative displacements between the floater and the stator are less than 1 mm during vibration isolation control process under vibration isolation mode.