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CN113093535A - Eight-leg hyperstatic vibration isolation platform with orthogonal configuration and fault-tolerant control method - Google Patents

Eight-leg hyperstatic vibration isolation platform with orthogonal configuration and fault-tolerant control method Download PDF

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CN113093535A
CN113093535A CN202110299270.7A CN202110299270A CN113093535A CN 113093535 A CN113093535 A CN 113093535A CN 202110299270 A CN202110299270 A CN 202110299270A CN 113093535 A CN113093535 A CN 113093535A
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刘磊
马超
李青
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Northwestern Polytechnical University
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Abstract

The invention relates to an eight-leg hyperstatic vibration isolation platform with an orthogonal configuration and a fault-tolerant control method, and belongs to the field of active vibration isolation control of optical loads of space stations. The invention carries out preliminary research on the reliability design problem of the eight-leg hyperstatic platform, and the designed orthogonal decoupling configuration releases the coupling influence from the structure, thereby facilitating the design of the controller. The failure condition of the actuator is researched, the failure mode is analyzed, and a reconstruction model is built. The reliability of the vibration isolation platform when the actuator fails can be improved by the researched fault-tolerant control method.

Description

Eight-leg hyperstatic vibration isolation platform with orthogonal configuration and fault-tolerant control method
Technical Field
The invention belongs to the field of active vibration isolation control of optical loads of space stations, and particularly relates to an eight-leg hyperstatic vibration isolation platform with an orthogonal configuration and a fault-tolerant control method.
Background
At present, scientific experiments are developed on a space station, the space station is required to have an extremely high micro-vibration environment, and the micro-vibration level of the mu g magnitude is required particularly for the scientific experiments of photoelectric equipment which is extremely sensitive to vibration. However, due to the existence of various disturbance sources such as astronauts, fans, refrigerators and the like, the micro-vibration environment problem of the space station is prominent.
The optical instrument of the space station is sensitive to low-frequency vibration, the traditional passive vibration isolation is to add a rigid element and a damping element between a vibration source and a controlled object, mechanical energy of relative movement of two ends of the damping element is converted into energy in other forms for consumption or storage, and the rigid element is utilized to transfer resonance frequency to an excitation low-energy frequency band so as to isolate high-frequency disturbance, reduce response of the controlled object under the action of external excitation and achieve the purpose of vibration reduction. However, the traditional passive vibration isolation mainly isolates the high-frequency vibration of the controlled object, and the low-frequency micro-vibration is not obviously inhibited. Therefore, it remains a challenge to isolate low frequency vibrations of spacecraft using purely passive vibration isolation techniques. Therefore, with the application of high-precision equipment in the aerospace field, the traditional passive vibration isolation method cannot meet the requirements. In order to suppress the micro-vibration in the low frequency region, many researchers have been dedicated to research the hyperstatic active vibration isolation platform, so as to meet the performance requirements of the hyperstatic micro-vibration environment.
Disclosure of Invention
Technical problem to be solved
The invention provides an eight-leg hyperstatic vibration isolation platform with an orthogonal configuration and a fault-tolerant control method, aiming at solving the problem that the vibration isolation performance is affected by the failure of an actuator of a vibration isolation platform, and particularly inhibiting low-frequency vibration.
Technical scheme
An eight-leg hyperstatic vibration isolation platform with an orthogonal structure is characterized by comprising a lower platform, an upper platform and 8 voice coil actuators; the lower platform is fixedly connected to the space station, and the upper platform is suspended on the lower platform through 8 voice coil actuators; the other 4 lateral voice coil actuators are arranged on the upper platform and are arranged along an XOY plane at an included angle of 90 degrees; all the voice coil actuator magnet parts are arranged on the upper platform, 4 lateral voice coil actuator coil parts are connected with the lower platform through triangular blocks, and 4 vertical actuator coil parts are directly connected with the lower platform; each voice coil actuator is provided with a spring in a matching way, and the spring is arranged between the upper platform and the lower platform for constraint and limit; 1 accelerometer of coaxial arrangement on every voice coil actuator, the acceleration information of real-time measurement upper mounting plate load, 8 landing legs that voice coil actuator and spring are constituteed carry out active passive vibration isolation control to realize the super quiet environment of upper mounting plate.
The technical scheme of the invention is further that: the coordinates of the intersection points of the 8 voice coil actuators and the upper platform are respectively as follows:
Figure BDA0002985564260000021
the coordinates of the intersection points of the 8 voice coil actuators and the lower platform are respectively as follows:
Figure BDA0002985564260000022
wherein, the unit is m, and the central point of the following platform is the origin of coordinates.
A fault-tolerant control method implemented by an ultra-static vibration isolation platform is characterized by comprising the following steps: firstly, judging whether the actuator has a fault or not according to the measured value of the acceleration sensor and the control voltage of the voice coil actuator;
when the vibration isolation platform works normally, a Jacobian matrix can be obtained by utilizing the coordinates of the supporting legs; substituting the Jacobian matrix into equation (3) yields Mp，
Figure BDA0002985564260000031
The vibration isolation platform is a diagonal matrix, so that six degrees of freedom of the vibration isolation platform are decoupled, and each degree of freedom can be controlled respectively to meet the vibration isolation requirement; controlling the acceleration values of the vibration isolation upper platform in six freedom degree directions respectively through 6 paths of control signals of the controller, so that the acceleration in each freedom degree direction reaches a target value 0; the 6 paths of control signals pass through a formula (4) to obtain control signals of 8 actuators so as to drive the actuators; acceleration values measured by 8 acceleration sensors can be calculated through a formula (4) to obtain acceleration values of the upper platform in six freedom degree directions, and the acceleration values are fed back to the controller; controlling the vibration isolation platform according to a formula (3) by adjusting a parameter K of the 6 control signalspi，KIi，KDiThe deviation between the target acceleration value and the feedback acceleration value is controlled, and 8 voice coil actuators are driven to carry out active vibration isolation control on the vibration isolation platformPreparing;
the formula (3):
Figure BDA0002985564260000032
in the formula, MpThe inertia matrix is F is the output force vector of the supporting leg, and C is the damping matrix of the actuator; k is an actuator rigidity matrix; j. the design is a squarepAnd JbJacobian matrixes of the upper platform and the lower platform respectively; x is the number ofpAnd xbGeneralized coordinates of an upper platform and a lower platform respectively; deltaxpAnd δ xbThe generalized coordinate variation of the upper platform and the generalized coordinate variation of the lower platform are respectively;
the formula (4):
Figure BDA0002985564260000033
in the formula (I), the compound is shown in the specification,
Figure BDA0002985564260000034
is the speed, omega of the upper platform in three directions of XYZpThe speed of the upper platform in the X, Y and Z directions is determined;
when a certain actuator has a fault, reconstructing a dynamic model of the vibration isolation platform according to the position of the fault actuator, namely reconstructing a primitive Jacobian matrix J in a formula (7)p1Of [ i ] th corresponding to the position of the failed actuator1,i2,…,im]Setting all row elements to zero, substituting the row elements into a formula (6), and obtaining a reconstruction matrix (6) under the condition of actuator failure; acceleration values measured by 8 acceleration sensors can be calculated by a formula (4) according to the acceleration values in six freedom degrees of the upper platform after the actuator fails, and are fed back to the controller; the Jacobian matrix J in the formula (7)p1Substitution of J into equation (4)pObtaining a new formula (4) ', and obtaining the control signal of the actuator without fault through the 6-path control signal by the formula (4)', so as to drive the actuator without fault; controlling the vibration isolation platform according to a formula (6) by adjusting 6 pathsControl signal parameter Kpi，KIi，KDiControlling the deviation of the target acceleration value and the feedback acceleration value, and driving an actuator which does not have a fault to carry out active vibration isolation control on the vibration isolation platform, so that the acceleration values of the vibration isolation upper platform in six freedom degree directions reach the target value;
the formula (7):
Figure BDA0002985564260000041
the formula (6):
Figure BDA0002985564260000042
the technical scheme of the invention is further that: an actuator failure determination method includes: when the control voltages of the 8 voice coil actuators are normal and the measured value of one acceleration sensor drifts or is zero all the time, the voice coil actuator coaxial with the acceleration sensor can be judged to have a fault.
Advantageous effects
The invention provides an eight-leg hyperstatic vibration isolation platform with an orthogonal structure, which is characterized in that firstly, a model is analyzed, and an orthogonal structure is adopted for eight support legs, so that decoupling of actuators is ensured, and the coupling effect among the actuators is reduced; meanwhile, the invention also provides a fault-tolerant control method, which analyzes the actuator fault principle, reconstructs the fault model and adjusts the controller, thereby realizing the fault-tolerant control of the vibration isolation platform. The invention can improve the stability and reliability of the vibration isolation platform when the actuator fails.
Drawings
FIG. 1 illustrates the mounting positions of various components of the vibration isolation platform;
FIG. 2 is an orthogonal configuration of the vibration isolation platform;
FIG. 3 is a flow chart of a vibration isolation platform fault tolerance control method;
FIG. 4 is a block diagram of a vibration isolation platform fault tolerant controller system;
1-upper platform, 2-acceleration sensor, 3-triangular block, 4, lateral voice coil actuator, 5-vertical voice coil actuator, 6-lower platform and 7-spring.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the invention carries out preliminary research on the reliability design problem of the eight-leg hyperstatic platform, and the designed orthogonal decoupling configuration releases the coupling influence from the structure, thereby facilitating the design of the controller. The failure condition of the actuator is researched, the failure mode is analyzed, and a reconstruction model is built.
Hyperstatic vibration isolation platform design
As shown in fig. 1, the hyperstatic vibration isolation platform comprises an upper platform, a lower platform, eight voice coil actuators and eight springs; the lower platform of the hyperstatic vibration isolation platform is fixedly connected to the space station, and the upper platform is suspended on the lower platform through eight voice coil actuators. Wherein four vertical actuators are symmetrically distributed at four corners along the Z-axis direction, and the other four lateral voice coil actuators are arranged on the upper platform and arranged at 90-degree included angles along the XOY plane. All eight voice coil loudspeaker voice coil actuators's magnet part all installs at the upper mounting plate, and eight side direction voice coil loudspeaker voice coil actuator coil parts are connected with lower platform through three hornblocks, and four vertical voice coil loudspeaker voice coil actuators's coil part lug connection are under the platform. Because the non-contact characteristic of voice coil actuator, in order to avoid possible collision, install between upper and lower platform with the spring next to every voice coil actuator, restrain spacingly to the spring can provide passive damping performance, effectively keeps apart high-frequency vibration. The eight acceleration sensors are coaxially arranged with the voice coil actuators, and the acceleration information of each voice coil actuator is measured in real time. Eight supporting legs consisting of the voice coil actuators and the springs are used for active and passive vibration isolation control, so that the hyperstatic environment of the upper platform is realized.
The position of eight voice coil loudspeaker voice coil actuators of vibration isolation platform is shown in figure 2, wherein 1, 2, 3, 4 are side direction voice coil loudspeaker voice coil actuators, 5, 6, 7, 8 are vertical voice coil loudspeaker voice coil actuators, 1 and 2 are along the XOY plane and are 90 contained angles installation, 3 and 4 are along the XOY plane and are 90 contained angles installation, 5, 6, 7, 8 are along Z axle direction at four angle department symmetric distributions.
Kinetic modeling
For ease of study, the voice coil actuator and spring were considered as legs for kinetic modeling. In the vibration isolation process, the supporting leg is also subjected to a certain damping effect, so that the equivalent model of the supporting leg can be expressed as follows:
Figure BDA0002985564260000061
in the formula: f. ofciThe active output force of the voice coil actuator can be obtained after simplification,
Figure BDA0002985564260000062
Δliis the extension of the active actuator;
Figure BDA0002985564260000063
for the actuator's velocity of motion, k, c are the actuator's stiffness and damping, respectively, and U is the actuator's voltage.
The output force vectors of the eight legs obtained through arrangement can be expressed as:
Figure BDA0002985564260000064
in the formula:
Cmis a matrix of actuator back electromotive force constants; c is an actuator damping matrix; k is an actuator rigidity matrix; j. the design is a squarepAnd JbJacobian matrixes of the upper platform and the lower platform respectively; x is the number ofpAnd xbGeneralized coordinates of an upper platform and a lower platform respectively; deltaxpAnd δ xbThe generalized coordinate variation of the upper platform and the lower platform respectively.
The dynamic model of the vibration isolation platform can be expressed as:
Figure BDA0002985564260000065
in the formula, MpAnd F is the output force vector of the leg.
As can be seen from equation (3)
Figure BDA0002985564260000066
xbThere is a large coupling between them, which presents a significant challenge to the performance of the controller. In order to facilitate the design of the controller, the configuration of the vibration isolation platform needs to be designed.
Orthogonal configuration design
The orthogonal configuration is designed to ensure that the effect of a single actuator failure on overall performance is the same. Meanwhile, the design can realize decoupling of a dynamic equation of the vibration isolation platform, reduce coupling between actuators to the maximum extent, facilitate design of a controller and improve reliability.
The relationship between the motion of the vibration isolated upper platform and the actuator velocity can be expressed by equation (4):
Figure BDA0002985564260000071
in the formula:
Figure BDA0002985564260000072
for the velocity vectors of the 8 actuators,
Figure BDA0002985564260000073
for the velocity of the upper stage in three XYZ directions, ωpThe speed of the upper platform around the X direction, the Y direction and the Z direction is shown. J. the design is a squarepIs Jacobian matrix, and has a relation with the layout form of the actuator, and the specific expression is shown as formula (5), wherein tauiA unit vector representing the ith actuator direction, rpiRepresenting the coordinates of the intersection of the ith actuator and the upper platform in the upper platform coordinate system.
Figure BDA0002985564260000074
To is coming toTo weaken the coupling of the vibration isolation platform, the Jacobian matrix J is requiredpAnd (5) designing. When it is satisfied with
Figure BDA0002985564260000075
Wherein KtAnd KrRespectively 3 × 3 diagonal arrays, then
Figure BDA0002985564260000076
Are diagonal matrices, then equation (5) becomes a decoupling equation and the layout of the platform actuators is orthogonal.
The coordinates of each actuator meeting the orthogonal configuration can be solved through the position relation of the voice coil actuators of the vibration isolation platform, and therefore a corresponding Jacobian matrix is obtained.
The coordinates (unit is m) of the intersection points of the 8 voice coil actuators and the upper platform are respectively
Figure BDA0002985564260000077
The coordinates (unit is m) of the intersection points of the 8 actuators and the lower platform are respectively
Figure BDA0002985564260000081
Jacobi matrix JpIs composed of
Figure BDA0002985564260000082
Figure BDA0002985564260000083
Fault tolerant control
Before fault-tolerant control, firstly, fault judgment is required:
and judging whether the actuator has a fault or not according to the measured value of the acceleration sensor and the control voltage of the voice coil actuator. When the control voltages of the 8 voice coil actuators are normal, the measured value of one acceleration sensor is obviously higher than that of other acceleration sensors (not in an order of magnitude) or is zero all the time, it can be judged that the voice coil actuator coaxial with the acceleration sensor fails, and then the failed actuator can be compensated through a fault-tolerant control method.
When one or more actuators of the vibration isolation platform have faults, the actuators cannot output active control force, but the rigidity and damping effect of the actuators still exist, and the passive vibration isolation effect still exists. Let the failure actuator number be [ i ]1,i2,…im]The model can be equivalently modified as:
Figure BDA0002985564260000091
wherein:
Figure BDA0002985564260000092
jacobian matrix J of the last term in equation (3) when the actuator failspThe change is carried out according to the following rule: when actuator No. i fails, JpThe ith row vector value in the matrix is 0, and a Jacobian matrix J is obtainedp1And obtaining a dynamic model (6) when the actuator fails. The influence of the failure mode of the vibration isolation platform actuator on the dynamic model is reflected on the Jacobian matrix. And reconstructing a Jacobian matrix of the vibration isolation platform through the characteristics of the failure mode, and further performing fault-tolerant control on the platform.
The vibration isolation platform adopts PID as a controller to carry out fault-tolerant control, and when the controller is designed, the acceleration values of six degrees of freedom of the upper platform are selected as control variables, and the variables are all measurable variables and serve as feedback variables of the controller.
When the vibration isolation platform works normally, the Jacobian matrix (5) can be obtained by utilizing the coordinates of the support legs. Substituting (5) into equation (3) yields Mp，
Figure BDA0002985564260000093
The vibration isolation platform is a diagonal matrix, so that the six degrees of freedom of the vibration isolation platform are decoupled, and each degree of freedom can be controlled respectively to meet the vibration isolation requirement. The acceleration values of the vibration isolation upper platform in six freedom degree directions are respectively controlled through 6 paths of control signals of the controller, so that the acceleration in each freedom degree direction reaches a target value 0. The control signals of 8 actuators are obtained by the 6 paths of control signals through a formula (4) so as to drive the actuators. The acceleration values measured by the 8 acceleration sensors can be calculated through a formula (4) to obtain the acceleration values of the upper platform in six freedom degrees, and the acceleration values are fed back to the controller. Controlling the vibration isolation platform according to a formula (3) by adjusting a parameter K of the 6 control signalspi，KIi，KDiAnd controlling the deviation of the target acceleration value and the feedback acceleration value, and driving 8 voice coil actuators to carry out active vibration isolation control on the vibration isolation platform.
When the vibration isolation platform judges that the actuator has a fault, the model is reconstructed according to the position of the actuator with the fault, namely the original Jacobian matrix J in the formula (7)p1Of [ i ] th corresponding to the position of the failed actuator1,i2,…,im]All row elements are set to zero and are substituted into the formula (6), and a reconstruction matrix (6) under the condition of actuator failure is obtained. The acceleration values measured by the 8 acceleration sensors can be calculated through a formula (4) to obtain the acceleration values of the upper platform in six freedom degrees after the actuator fails, and the acceleration values are fed back to the controller. The Jacobian matrix J in the formula (7)p1Substitution of J in formula (4)pAnd obtaining (4) ', and obtaining a control signal of the actuator without the fault through a formula (4)', wherein the control signal of the actuator without the fault is obtained through the 6 paths of control signals so as to drive the actuator without the fault. Controlling the vibration isolation platform according to a formula (6), and adjusting a parameter K of the 6 control signalspi，KIi，KDiAnd controlling the deviation of the target acceleration value and the feedback acceleration value, and driving the actuator which does not have a fault to carry out active vibration isolation control on the vibration isolation platform, so that the acceleration values of the vibration isolation upper platform in six freedom degree directions reach the target value. Fault-tolerant control process of vibration isolation platformWhich can be represented by figure 3. A vibration isolation platform controller system block diagram may be represented by fig. 4.

Claims (4)

1.一种具有正交构型的八支腿超静隔振平台，其特征在于包括下平台、上平台、8个音圈作动器；所述的下平台固连在空间站上，所述的上平台通过8个音圈作动器悬浮在下平台上；其中4个垂向音圈作动器沿Z轴方向在四个角处对称分布，另外4个侧向音圈作动器安装在上平台，沿XOY平面呈90°夹角安装；所有音圈作动器磁铁部分安装在上平台，4个侧向音圈作动器线圈部分通过三角块与下平台连接，4个垂向作动器线圈部分直接连接在下平台；每个音圈作动器配合安装一个弹簧，所述的弹簧安装在上下平台之间，进行约束限位；每个音圈作动器上同轴安装个1个加速度计，实时测量上平台载荷的加速度信息，音圈作动器和弹簧组成的8根支腿进行主被动隔振控制，以实现上平台的超静环境。1. an eight-leg ultra-static vibration isolation platform with orthogonal configuration is characterized in that comprising lower platform, upper platform, 8 voice coil actuators; Described lower platform is fixedly connected on the space station, and the described lower platform is The upper platform is suspended on the lower platform through 8 voice coil actuators; 4 vertical voice coil actuators are symmetrically distributed at the four corners along the Z-axis direction, and the other 4 lateral voice coil actuators are installed in The upper platform is installed at a 90° angle along the XOY plane; all the magnet parts of the voice coil actuator are installed on the upper platform, and the coil parts of the four lateral voice coil actuators are connected to the lower platform through triangular blocks, and the four vertical The coil part of the actuator is directly connected to the lower platform; each voice coil actuator is fitted with a spring, and the spring is installed between the upper and lower platforms to limit the position; each voice coil actuator is coaxially installed with a 1 An accelerometer is used to measure the acceleration information of the upper platform load in real time, and the 8 outriggers composed of the voice coil actuator and the spring are used for active and passive vibration isolation control to realize the ultra-quiet environment of the upper platform. 2.根据权利要求1所述的一种具有正交构型的八支腿超静隔振平台，其特征在于所述的8个音圈作动器与上平台交点坐标分别为：2. a kind of ultra-static vibration isolation platform with eight legs with orthogonal configuration according to claim 1, it is characterized in that described 8 voice coil actuators and upper platform intersection coordinates are respectively:
Figure FDA0002985564250000011
Figure FDA0002985564250000011
 8个音圈作动器与下平台交点坐标分别为：The coordinates of the intersection points of the 8 voice coil actuators and the lower platform are:
Figure FDA0002985564250000012
Figure FDA0002985564250000012
 其中，单位为m，以下平台的中心点为坐标原点。Among them, the unit is m, and the center point of the following platform is the coordinate origin. 3.一种对权利要求1所述的超静隔振平台实施的容错控制方法，其特征在于：首先通过加速度传感器的测量值以及音圈作动器的控制电压判断作动器是否发生故障；3. a fault-tolerant control method implemented to the ultra-static vibration isolation platform according to claim 1, is characterized in that: at first judge whether the actuator breaks down by the measured value of the acceleration sensor and the control voltage of the voice coil actuator; 当隔振平台正常工作时，利用支腿的坐标可以得到雅克比矩阵；将雅克比矩阵带入公式(3)中，可得Mp，
Figure FDA0002985564250000021
都为对角矩阵，从而使隔振平台六个自由度之间解耦，可以分别对每个自由度进行控制来实现隔振要求；通过控制器的6路控制信号分别对隔振上平台六个自由度方向的加速度值进行控制，从而使每个自由度方向的加速度均达到目标值0；6路控制信号经过公式(4)得到8个作动器的控制信号从而对作动器进行驱动；8个加速度传感器测量得到的加速度值经过公式(4)可以计算出上平台六个自由度方向的加速度值，并反馈给控制器；根据公式(3)对隔振平台进行控制，通过调节6路控制信号参数Kpi，KIi，KDi的值，将目标加速度值与反馈加速度值的偏差进行控制，驱动8个音圈作动器对隔振平台进行主动隔振控制；When the vibration isolation platform works normally, the Jacobian matrix can be obtained by using the coordinates of the outriggers; the Jacobian matrix can be brought into formula (3) to obtain M p ,
Figure FDA0002985564250000021
All are diagonal matrices, so that the six degrees of freedom of the vibration isolation platform can be decoupled, and each degree of freedom can be controlled separately to achieve the vibration isolation requirements; The acceleration values in the directions of each degree of freedom are controlled, so that the acceleration in each degree of freedom direction reaches the target value of 0; the control signals of 6 channels of control signals are obtained through formula (4) to obtain the control signals of 8 actuators to drive the actuators. ; The acceleration values measured by the 8 acceleration sensors can calculate the acceleration values in the six degrees of freedom directions of the upper platform through formula (4), and feed it back to the controller; according to formula (3), the vibration isolation platform is controlled, and by adjusting 6 The value of the channel control signal parameters K pi , K Ii , K Di , the deviation of the target acceleration value and the feedback acceleration value is controlled, and 8 voice coil actuators are driven to perform active vibration isolation control on the vibration isolation platform; 所述的公式(3)：Said formula (3):
Figure FDA0002985564250000022
Figure FDA0002985564250000022
 式中，Mp为惯性矩阵，F为支腿的输出力矢量，C为作动器阻尼矩阵；K为作动器刚度矩阵；Jp和Jb分别是上平台和下平台的雅克比矩阵；xp和xb分别是上平台和下平台的广义坐标；δxp和δxb分别是上平台和下平台的广义坐标变化量；In the formula, M p is the inertia matrix, F is the output force vector of the outrigger, C is the actuator damping matrix; K is the actuator stiffness matrix; J p and J b are the Jacobian matrices of the upper platform and the lower platform, respectively ; x p and x b are the generalized coordinates of the upper and lower platforms, respectively; δx p and δx b are the generalized coordinate changes of the upper and lower platforms, respectively; 所述的公式(4)：Said formula (4):
Figure FDA0002985564250000023
Figure FDA0002985564250000023
 式中，
Figure FDA0002985564250000024
为上平台XYZ三个方向的速度、ωp为上平台绕X、绕Y、绕Z三个方向的速度；In the formula,
Figure FDA0002985564250000024
is the speed of the upper platform in the three directions of XYZ, ω p is the speed of the upper platform around the X, Y, and Z directions; 当某个作动器出现故障时，根据故障作动器的位置，将隔振平台的动力学模型进行重构，即将公式(7)中原来雅克比矩阵Jp1中与故障作动器位置相应的第[i1,i2,…,im]行元素全部置零，带入公式(6)，得到作动器故障情况下重构矩阵(6)；8个加速度传感器测量得到的加速度值经过公式(4)可以计算出作动器故障后上平台六个自由度方向的加速度值，并反馈给控制器；将公式(7)中雅克比矩阵Jp1带入公式(4)中替换Jp中得到新的公式(4)’，6路控制信号经过公式(4)’得到没有发生故障作动器的控制信号从而对未发生故障的作动器进行驱动；根据公式(6)对隔振平台进行控制，通过调节6路控制信号参数Kpi，KIi，KDi的值，将目标加速度值与反馈加速度值的偏差进行控制，驱动未发生故障作动器对隔振平台进行主动隔振控制，使隔振上平台六个自由度方向的加速度值达到目标值；When a certain actuator fails, the dynamic model of the vibration isolation platform is reconstructed according to the position of the faulty actuator, that is, the original Jacobian matrix J p1 in formula (7) corresponds to the position of the faulty actuator The elements in the [i 1 , i 2 ,...,im ] row are all set to zero, and the formula (6) is entered to obtain the reconstruction matrix (6) in the case of actuator failure; the acceleration values measured by the 8 acceleration sensors After the actuator fails, the acceleration values in the six degrees of freedom directions of the upper platform can be calculated by formula (4) and fed back to the controller; the Jacobian matrix J p1 in formula (7) is brought into formula (4) to replace J The new formula (4)' is obtained from p , and the control signals of the 6-way control signals are obtained through formula (4)' to obtain the control signal of the non-faulty actuator to drive the non-faulty actuator; according to formula (6), the interval The vibration isolation platform is controlled by adjusting the values of the 6-way control signal parameters K pi , K Ii , K Di , and the deviation between the target acceleration value and the feedback acceleration value is controlled, and the failure-free actuator is driven to actively isolate the vibration isolation platform. Vibration control, so that the acceleration value in the six degrees of freedom direction of the vibration isolation upper platform reaches the target value; 所述的公式(7)：Said formula (7):
Figure FDA0002985564250000031
Figure FDA0002985564250000031
 所述的公式(6)：Said formula (6):
Figure FDA0002985564250000032
Figure FDA0002985564250000032
 4.根据权利要求3所述的容错控制方法，其特征在于作动器故障判定方法：当8个音圈作动器的控制电压均正常，某个加速度传感器的测量值出现漂移或始终为零，则可以判定与该加速度传感器同轴的音圈作动器发生故障。4. The fault-tolerant control method according to claim 3, characterized in that the actuator fault determination method: when the control voltages of the 8 voice coil actuators are all normal, the measured value of a certain acceleration sensor drifts or is always zero , it can be determined that the voice coil actuator coaxial with the acceleration sensor is faulty.
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