Practical tuning guide to mixed feedback and feedforward control of soft-mounted vibration isolators

Abstract: This paper proposes a practical tuning guide for mixed feedback and feedforward control design of active soft-mounted vibration isolators. A model is derived based on measured frequency response function data obtained from an industrial vibration isolator. Using this model, feedback and feedforward controllers are designed and evaluated. The mixed-sensor feedback controller uses a combination of relative position feedback and absolute acceleration feedback. By mixing the sensor signals, amplification of sensor noise is minimized. It is shown that feedback control can greatly enhance the disturbance rejection properties of disturbances that act directly on the payload of the machine. In addition, a feedforward controller is designed that improves the rejection of indirect disturbances on the machine, i.e. disturbances that are transmitted via the vibration isolator.

[1]  André Preumont,et al.  Vibration Control of Active Structures: An Introduction , 2018 .

[2]  Herman Soemers,et al.  Sensor fusion for active vibration isolation in precision equipment , 2012 .

[3]  Chenyang Ding,et al.  Stabilization and vibration isolation of a contactless Electromagnetic Isolator: A Frequency-Shaped Sliding Surface Control approach , 2010, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[4]  Marcel François Heertjes,et al.  Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators , 2015, 2015 American Control Conference (ACC).

[5]  Dean Karnopp,et al.  Comparative Study of Optimization Techniques for Shock and Vibration Isolation , 1969 .

[6]  Christophe Collette,et al.  Sensor fusion methods for high performance active vibration isolation systems , 2015 .

[7]  Michel Verhaegen,et al.  Robustness of the Filtered-X LMS Algorithm— Part I: Necessary Conditions for Convergence and the Asymptotic Pseudospectrum of Toeplitz Matrices , 2007, IEEE Transactions on Signal Processing.

[8]  MF Marcel Heertjes,et al.  Self-tuning feedforward control for active vibration isolation of precision machines , 2014 .

[9]  Ioan Doré Landau,et al.  Adaptive feedforward compensation algorithms for active vibration control with mechanical coupling , 2011, Autom..

[10]  T. van der Poel,et al.  Improving the vibration isolation performance of hard mounts for precision equipment , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.

[11]  Jean-Jacques E. Slotine,et al.  Robust vibration isolation via frequency-shaped sliding control and modal decomposition , 2005 .