Improvement of dual chamber pneumatic vibration isolators by using input-output linearization and Time Delay Control

Existing controls for the dual chamber pneumatic vibration isolator (DC-PVI) have the following problems: (1) unable to suppress both seismic vibration and direct disturbance (or payload disturbance) simultaneously; (2) complex and of high-order. In this paper, we have applied input-output linearization to the DC-PVI to derive a reduced-order model that enables the followings: (i) a reduced-order control design; (ii) simultaneous suppression with an accelerometer only. We have employed Time Delay Control (TDC), well-known for its simplicity and robustness to uncertainties and disturbance. Based on the reduced-order model and its corresponding TDC design, an active control scheme has been derived that requires only an accelerometer for its sensor. This scheme was experimented with a DC-PVI, which successfully suppresses seismic vibration and direct disturbance both separately and simultaneously. Faced with seismic vibration, the transmissibility of the DC-PVI with TDC has virtually no resonance peak at low frequency; under direct disturbance, the DC-PVI with TDC achieves a 65 percent reduction in settling time of that without TDC.

[1]  Kenji Kawashima,et al.  Realization of virtual sub chamber on active controlled pneumatic isolation table with pressure differentiator , 2007 .

[2]  Wen-Hong Zhu,et al.  On active acceleration control of vibration isolation systems , 2006, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[3]  Kwang-Joon Kim,et al.  Modeling of nonlinear complex stiffness of dual-chamber pneumatic spring for precision vibration isolations , 2007 .

[4]  Colin G. Gordon.  Generic vibration criteria for vibration-sensitive equipment , 1999, Optics + Photonics.

[5]  Pyung Hun Chang,et al.  A Systematic Method for Gain Selection of Robust PID Control for Nonlinear Plants of Second-Order Controller Canonical Form , 2009, IEEE Trans. Control. Syst. Technol..

[6]  Kamal Youcef-Toumi,et al.  A Time Delay Controller for Systems with Unknown Dynamics , 1988, 1988 American Control Conference.

[7]  Kwang-Joon Kim,et al.  A method of transmissibility design for dual-chamber pneumatic vibration isolator , 2009 .

[8]  Yun-Ho Shin,et al.  Effective suppression of pneumatic vibration isolators by using input-output linearization and time delay control , 2010 .

[9]  Yun-Ho Shin,et al.  Performance enhancement of pneumatic vibration isolation tables in low frequency range by time delay control , 2009 .

[10]  Mf Marcel Heertjes,et al.  Nonlinear Dynamics and Control of a Pneumatic Vibration Isolator , 2006 .

[11]  Y. K. Thong,et al.  Dependence of inertial measurements of distance on accelerometer noise , 2002 .

[12]  K. Youcef-Toumi,et al.  Input/Output Linearization using Time Delay Control , 1991, 1991 American Control Conference.

[13]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[14]  A. Savitzky,et al.  Smoothing and Differentiation of Data by Simplified Least Squares Procedures. , 1964 .

[15]  Ming Chang Shih,et al.  Design and Adaptive Control of a Pneumatic Vibration Isolator , 2002 .

[16]  Chintae Choi,et al.  Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control , 2009, IEEE Transactions on Industrial Electronics.

[17]  Maolin Jin,et al.  Robust Compliant Motion Control of Robot With Nonlinear Friction Using Time-Delay Estimation , 2008, IEEE Transactions on Industrial Electronics.

[18]  T.C.S. Hsia,et al.  A new technique for robust control of servo systems , 1989 .

[19]  K. Youcef-Toumi,et al.  Analysis of Linear Time Invariant Systems with Time Delay , 1992, 1992 American Control Conference.

[20]  Kenji Kawashima,et al.  Active control of a pneumatic isolation table using model following control and a pressure differentiator , 2007 .

[21]  Bruce H. Wilson,et al.  An improved model of a pneumatic vibration isolator : Theory and experiment , 1998 .

[22]  Ming-Chang Shih,et al.  Modeling and Robust Active Control of a Pneumatic Vibration Isolator , 2007 .