A parallel platform vibration suppression method based on frequency division
By employing frequency division and feedback control methods, vibration suppression is achieved on the parallel platform of space optical payloads, solving the problem of unstable vibration suppression effects in existing technologies and realizing full-band vibration suppression and improved system robustness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- INST OF OPTICS & ELECTRONICS CHINESE ACAD OF SCI
- Filing Date
- 2026-03-30
- Publication Date
- 2026-06-16
AI Technical Summary
Existing active vibration isolation algorithms based on resonance cancellation rely heavily on accurate modeling, and their suppression effect decreases when the environment changes. Furthermore, high-dimensional adaptive/robust algorithms have a large computational load, while spacecraft have limited computing resources. Canopy control has insufficient suppression capability in the mid-to-high frequency band, and a dedicated control loop needs to be added to improve the vibration suppression capability across the entire frequency band.
By employing a frequency segmentation method, the resonant frequency range of the open-loop system is determined through linear acceleration scanning. Bandpass filters and controllers for low-frequency, mid-frequency, and high-frequency bands are designed. The motion of the platform is synthesized using linear accelerometers. Feedback control signals are applied to the motor drive signals. Combined with low-pass filters, unmodeled dynamics and noise in the high-frequency band are processed to achieve vibration suppression in different frequency bands.
It effectively suppressed vibrations in different frequency bands, improved the overall vibration isolation performance of the system, enhanced the pointing stability and imaging quality of the optical payload, and reduced the dependence on computing power and modeling.
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Figure CN122216291A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of space optical tracking technology, specifically relating to a method for suppressing vibration of a parallel platform based on frequency segmentation. Background Technology
[0002] The requirements for pointing accuracy and stability of space optical payloads (high-resolution cameras, space telescopes, etc.) are becoming increasingly stringent. During on-orbit operation, the micro-vibrations generated by moving parts such as flywheels and refrigerators on spacecraft are transmitted to the optical payloads through the connecting structures, resulting in line-of-sight jitter and a decrease in image quality. This has become a key bottleneck restricting the improvement of system performance.
[0003] Flexible parallel platforms, as a type of high-precision parallel mechanism, are widely used in aerospace and other fields due to their advantages such as high load capacity and structural stability. However, while flexible platforms can effectively isolate high-frequency vibrations by lowering the system's fundamental frequency, they also excite a large number of mid-to-low-frequency structural resonance peaks. Once these resonance peaks coincide with the disturbance frequency, they will significantly amplify the jitter of the optical load in the critical mid-to-low frequency band, severely impairing its pointing stability and imaging quality. To improve the system's vibration suppression capability, an active vibration isolation algorithm is introduced, employing sensors, actuators, and control algorithms to actively cancel or attenuate harmful mid-to-low-frequency resonance peaks, thereby achieving excellent pointing stability and imaging quality across the entire frequency band.
[0004] However, existing active vibration isolation algorithms based on resonance cancellation (such as adaptive control and modal control) still have significant limitations: fixed-parameter cancellation methods heavily rely on accurate modeling; once the resonant frequency drifts due to environmental influences, the suppression effect decreases significantly or even fails. Modal control and robust control also require high accuracy of the system's dynamic model. High-dimensional adaptive / robust algorithms involve large computational loads, while spacecraft onboard computers face strict constraints in terms of computing power, power consumption, and reliability, making vibration suppression still heavily reliant on computational power and modeling. In contrast, skyhook control can effectively improve low-frequency equivalent damping, but its broadband suppression capability is insufficient in the mid-to-high frequencies due to phase lag, measurement noise, and decreased high-frequency sensor accuracy. Mid-to-high frequencies typically rely more on passive vibration isolation. To compensate for this deficiency, dedicated control loops (such as acceleration / force feedback) for the mid-to-high frequency bands need to be added to further improve the equivalent damping in these bands, thereby enhancing the full-band vibration suppression capability, strengthening system robustness, and ensuring high pointing stability and imaging quality. Summary of the Invention
[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:
[0006] A vibration suppression method for parallel platforms based on frequency segmentation includes:
[0007] Step 1: Perform a frequency scan with linear acceleration as the output on the open-loop system of the four-legged motion platform used for vibration isolation and pointing of space optical loads to determine the resonant frequency range of the system. Then, fit the measured mathematical model of the open-loop system of the four-legged motion platform used for vibration isolation and pointing of space optical loads to obtain the expression of the mathematical model of the open-loop system.
[0008] Step 2: Use two linear accelerometers to obtain the acceleration in different directions of the upper platform, and synthesize the linear acceleration that reflects the motion of the upper platform.
[0009] Step 3: Complete the design and optimization of bandpass filters and controllers corresponding to resonances in different frequency bands; based on the idea of improving system damping through ceiling control, derive the ideal low-frequency and mid-frequency band controller expressions;
[0010] Step 4: Based on the linear acceleration in Step 2, implement feedback control in the low-frequency and mid-frequency bands: first pass the linear acceleration through bandpass filters in the low-frequency and mid-frequency bands respectively, then pass it through the designed low-frequency and mid-frequency band controllers respectively to obtain their respective feedback control quantities, and apply the feedback control quantities to the motor drive signal;
[0011] Step 5: Use a low-pass filter to process the unmodeled dynamics and noise in the high-frequency band of the open-loop system, effectively suppressing high-frequency vibrations without affecting the low-frequency phase characteristics of the open-loop system.
[0012] The present invention has the following beneficial effects:
[0013] This invention provides a vibration suppression method for a parallel platform based on frequency segmentation. First, a frequency scan with linear acceleration as the output is performed on the open-loop system to determine the system's resonant frequency range. The system's mathematical model is then fitted to obtain its mathematical expression. Based on the vibration distribution, the system's frequency range is divided into low, medium, and high frequency bands. Second, the measurement signals from two linear accelerometers are combined to obtain the linear acceleration of the load platform, and the linear velocity is obtained by integrating the linear acceleration. Subsequently, controllers are designed sequentially for each resonant frequency band, and each controller can be optimized and adjusted according to actual needs. Finally, active vibration isolation is achieved by controlling the low, medium, and high frequency bands sequentially. By optimizing the feedback control gain and filter parameters, effective suppression of vibrations in different frequency bands is achieved, thereby improving the overall vibration isolation performance of the system. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the structure of a four-legged motion platform for integrated vibration isolation and pointing of space optical loads provided in an embodiment of the present invention, wherein 1-upper platform, 2-lower platform, 3-drive leg, 4-absolute grating displacement sensor, 5-linear accelerometer, 6-load, 7-telescopic adjustment device, 8-flexible rope, and 9-spring.
[0015] Figure 2 The system frequency response diagram provided in the embodiments of the present invention;
[0016] Figure 3 The control structure block diagram of the vibration suppression method for parallel platforms based on frequency segmentation provided in the embodiments of the present invention is shown. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.
[0018] like Figure 1 As shown, the four-legged motion platform for the integrated vibration isolation and pointing of space optical payloads consists of a four-legged parallel structure motion platform and two linear accelerometers 5 located on the edge of the upper platform 1 of the four-legged parallel structure motion platform.
[0019] The four-legged parallel structure motion platform of this invention is suitable for space environments and simulates a weightless state in ground tests using a suspension device. The suspension device consists of a spring 9, four flexible ropes 8, and four telescopic adjustment devices 7. The telescopic adjustment devices 7 are used to adjust the suspension force to achieve gravitational balance and simulate a weightless test environment. The spring 9 is located at the top and connected to the fixed end. Each flexible rope 8 is equipped with a telescopic adjustment device 7; one end of each flexible rope 8 is connected to the spring 9, and the other end is connected to the edge of the upper platform 1 of the four-legged parallel structure motion platform. The position of each flexible rope 8 corresponds to the position of each driving leg 3, located at the connection point between each driving leg 3 and the upper platform 1.
[0020] The four-legged parallel motion platform includes an upper platform 1 and a lower platform 2. The upper platform 1 and lower platform 2 are coaxially connected by four identical drive legs 3. The four drive legs 3 are symmetrically distributed at 90° intervals along the same circumference (the central angle between adjacent legs is 90°), and the axis of each drive leg 3 forms an angle of 5-10°, preferably 7°, relative to the central axis of the upper platform 1 and lower platform 2. Legs 1 and 3 are positioned opposite each other to form a first group, used to control the pitch motion of the upper platform 1; legs 2 and 4 are positioned opposite each other to form a second group, used to control the yaw motion of the upper platform 1. Two accelerometers are mounted directly above either the first or second group of drive legs. In addition, each of the four drive legs 3 is equipped with an absolute grating displacement sensor 4 to measure the displacement of each drive leg 3. A load 6 is provided on the upper surface of the upper platform 1.
[0021] A four-legged motion platform integrating vibration isolation and pointing for space optical payloads achieves extension and retraction of the drive legs 3 and completes the attitude adjustment of the upper platform 1 by adjusting the drive current of the voice coil motors inside each drive leg 3. Simultaneously, a linear accelerometer 5 installed at the load end edge of the upper platform 1 is used to measure the acceleration signal of the upper platform 1 in real time. This acceleration signal is then applied to the drive signal by different controllers to implement a frequency-segmented parallel platform vibration suppression method. The implementation steps are as follows:
[0022] Step 1: Perform a frequency scan with linear acceleration as the output on the open-loop system of the four-legged motion platform used for vibration isolation and pointing of space optical payloads to determine the resonant frequency range of the system. Then, fit the measured mathematical model of the open-loop system of the four-legged motion platform used for vibration isolation and pointing of space optical payloads to obtain the expression of the mathematical model of the open-loop system.
[0023] The system frequency response diagram obtained by performing a frequency scan with linear acceleration as the output for the open-loop system of a four-legged motion platform used for vibration isolation and pointing of space optical payloads is shown below. Figure 2 As shown, the system exhibits multiple resonant peaks and anti-resonance within the frequency sweep range, based on Figure 2 The distribution of the mid-resonance peak and anti-resonance along the frequency axis divides the system frequency range into low-frequency, mid-frequency, and high-frequency bands. The low-frequency band includes the first main resonant peak; the mid-frequency band contains multiple resonant-anti-resonant pairs; and the high-frequency band, located after the mid-frequency band, exhibits increasingly dense modes and is affected by unmodeled dynamics and measurement noise. Corresponding filters and controllers will be designed for each of these three frequency bands.
[0024] Step 2: Use two linear accelerometers 5 to obtain the acceleration in different directions of the upper platform 1, and synthesize the linear acceleration that reflects the motion of the upper platform 1.
[0025] Step 3: Complete the design and optimization of bandpass filters and controllers corresponding to resonances in different frequency bands. Based on the idea of improving system damping through skyhook control, derive the ideal low-frequency and mid-frequency band controller expressions.
[0026] Step 4: Based on the linear acceleration obtained in Step 2, implement feedback control in the low-frequency and mid-frequency bands: First, pass the linear acceleration through bandpass filters in the low-frequency and mid-frequency bands, then pass it through the designed low-frequency and mid-frequency band controllers to obtain their respective feedback control values, and then apply the feedback control values to the motor drive signal.
[0027] Step 5: In order to suppress the resonance of the controlled object in the high-frequency band, a low-pass filter is used to process the unmodeled dynamics and noise in the high-frequency band of the open-loop system, effectively suppressing the high-frequency vibration without affecting the phase characteristics of the low-frequency band in the open-loop system.
[0028] like Figure 3 As shown, the frequency-segmented parallel platform vibration suppression method of the present invention includes a low-frequency feedback branch, a mid-frequency feedback branch, and a high-frequency suppression branch. The linear acceleration signal enters the low-frequency feedback branch and the mid-frequency feedback branch respectively, and passes through corresponding bandpass filters designed for low-frequency resonance. and bandpass filters designed for mid-frequency resonance After processing, the data is then input into the low-frequency band controller. and mid-band controller The feedback control quantity for the corresponding frequency band is obtained and superimposed on the motor drive signal to achieve resonance suppression in the low-frequency and mid-frequency bands; simultaneously, a high-frequency low-pass filter is set. With system transfer function The series processing of high-frequency bands is used to suppress the influence of unmodeled high-frequency dynamics and measurement noise on the system, achieving high-frequency vibration suppression without significantly affecting the phase characteristics of the mid- and low-frequency bands.
[0029] Step 6: To verify the effectiveness of this method in vibration suppression across different frequency bands, an experiment was conducted using frequency response scanning with linear acceleration and displacement as outputs. Specifically, this experiment involved performing a frequency scan with linear acceleration and displacement as outputs on an open-loop system of a four-legged motion platform integrating vibration isolation and pointing for space optical loads, incorporating a frequency-segmented parallel platform vibration suppression method. The goal was to check whether the controlled resonance peak was effectively suppressed (at least by 10 dB; the low-frequency band should ideally be flattened; the mid-frequency band should effectively improve damping within a certain range; the high-frequency band should have minimal impact on the mid-to-low frequency bands while ensuring high-frequency suppression by the low-pass filter (it should not cause phase lag in the mid-to-low frequencies). Furthermore, it was determined whether the set parameters made the system unstable.
[0030] Further, step 1 includes: performing a frequency scan of the open-loop system with linear acceleration as the output to determine the resonant frequency range of the system, and fitting the mathematical model of the open-loop system to obtain the mathematical model of the open-loop system. The expression:
[0031] ;
[0032] The ellipsis in the formula indicates that there are more resonances and anti-resonances in higher frequency ranges outside the frequency sweep range. This invention focuses on the analysis of the model fitted by the frequency sweep result (i.e., the formula before the ellipsis).
[0033] in, This is the resonant frequency of the main resonant peak in the low-frequency band. This is the anti-resonance frequency of the main anti-resonance peak in the mid-frequency band. This is the resonant frequency of the main resonant peak in the mid-frequency range. This is the center frequency of the first anti-resonance in the high-frequency band. This is the center frequency of the first resonance in the high-frequency band; Here are the damping ratios corresponding to each resonant and anti-resonant element. For the Laplace operator.
[0034] Based on the vibration distribution, the system frequency range is divided into three bands: low, medium, and high.
[0035] Step 2 includes: assigning the number as ( Two linear accelerometers 5 are symmetrically mounted on the load end edge of the upper platform 1 of the four-legged parallel structure, with their sensing axes parallel and opposite in direction. The measured signals are combined and processed to obtain the linear acceleration of the load platform. :
[0036] ;
[0037] in, , These are the measurements from two linear accelerometers 5.
[0038] Step 3 includes: a bandpass filter designed for low-frequency resonance (i.e., Figure 3 of Its linear acceleration To prevent integral drift, the system's low-frequency transfer function is adjusted. The ideal equivalent is:
[0039] ;
[0040] Therefore, a controller for the low-frequency band is designed by referring to the ceiling control design. :
[0041] ;
[0042] in, The low-frequency skyhook controls the feedback gain. It is a release factor.
[0043] Furthermore, a bandpass filter designed for mid-frequency resonance (i.e. Figure 3 of This includes a key resonant-anti-resonant peak-valley structure that covers the outer loop bandwidth directly limiting the location, and will change the system's frequency band transfer function. The ideal equivalent is:
[0044] ;
[0045] Therefore, a controller for the mid-frequency range is designed by referencing the idea of improving the system's equivalent damping ratio through ceiling control. :
[0046] ;
[0047] in, This is for mid-frequency band control feedback gain.
[0048] Step 4 includes: first, linear acceleration The signals are processed by bandpass filters designed for low-frequency resonance and bandpass filters designed for mid-frequency resonance, respectively. Then, the signals are processed by the designed low-frequency and mid-frequency controllers to obtain their respective feedback control values. The feedback control values are then applied to the motor drive signal to complete the system closed loop.
[0049] Low-frequency transfer function of the closed-loop system for:
[0050] ;
[0051] Frequency band transfer function of the closed-loop system for:
[0052] ;
[0053] The closed-loop design improves the equivalent damping ratio in the low and mid-frequency bands, effectively suppressing resonance in a four-legged motion platform used for vibration isolation and pointing of space optical payloads across a wide frequency range.
[0054] Step 5 includes: designing a controller for the high-frequency band to suppress high-frequency resonance in the platform without affecting the low-frequency band of the system; the controller for the high-frequency band. for:
[0055] ;
[0056] in, This is the cutoff frequency of the high-frequency low-pass filter.
[0057] Step 6 includes acquiring linear acceleration and linear velocity data, sequentially applying low, medium, and high frequency control to the controlled object, and observing the vibration suppression effect by sweeping frequencies with linear acceleration and displacement signals as outputs respectively, to determine the vibration suppression effect and whether there is mutual interference between different frequency bands. If the vibration suppression effect is not significant, the feedback coefficients of linear velocity and linear acceleration are adjusted sequentially according to the resonant frequency band: the linear velocity feedback signal is input for the low-frequency band, and the adjustment coefficient is optimized. and The mid-frequency input line acceleration feedback signal is used, and the adjustment coefficient is optimized. In the high-frequency band, adjust the order of the low-pass filter to ensure vibration suppression. If the different frequency bands interfere with each other, adjust the bandwidth of the band-pass filter and the cutoff frequency of the low-pass filter sequentially according to the resonant frequency band. The feedback control coefficients were adjusted appropriately, ensuring that the addition of a low-pass filter in the high-frequency band did not cause significant phase lag in the mid-to-low frequency bands, thus laying the groundwork for subsequent tracking control. By iteratively adjusting the gain of the feedback channel controller and the filter parameters after frequency segmentation, the overall vibration isolation performance of the system was improved.
[0058] The above description is merely an embodiment of the present invention and does not limit the scope of the invention. Any equivalent structural or procedural transformations made based on the description and drawings of this invention, or direct or indirect applications in other related system fields, are similarly included within the protection scope of this invention. Contents not described in detail in this specification are prior art known to those skilled in the art.
Claims
1. A method for suppressing vibration of a parallel platform based on frequency segmentation, characterized in that, include: Step 1: Perform a frequency scan with linear acceleration as the output on the open-loop system of the four-legged motion platform used for vibration isolation and pointing of space optical loads to determine the resonant frequency range of the system. Then, fit the measured mathematical model of the open-loop system of the four-legged motion platform used for vibration isolation and pointing of space optical loads to obtain the expression of the mathematical model of the open-loop system. Step 2: Use two linear accelerometers to obtain the acceleration of the upper platform of the four-legged parallel structure motion platform in different directions, and synthesize the linear acceleration reflecting the motion of the upper platform. The four-legged motion platform for integrated vibration isolation and pointing of space optical loads includes a four-legged parallel structure motion platform, which includes an upper platform and a lower platform coaxially connected by four identical drive legs. Step 3: Complete the design and optimization of bandpass filters and controllers corresponding to resonances in different frequency bands; based on the idea of improving system damping through ceiling control, derive the ideal low-frequency and mid-frequency band controller expressions; Step 4: Based on the linear acceleration in Step 2, implement feedback control in the low-frequency and mid-frequency bands: first pass the linear acceleration through bandpass filters in the low-frequency and mid-frequency bands respectively, then pass it through the designed low-frequency and mid-frequency band controllers respectively to obtain their respective feedback control quantities, and apply the feedback control quantities to the motor drive signal; Step 5: Use a low-pass filter to process the unmodeled dynamics and noise in the high-frequency band of the open-loop system, effectively suppressing high-frequency vibrations without affecting the low-frequency phase characteristics of the open-loop system.
2. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 1, characterized in that, It also includes: Step 6, conducting an experiment to scan the frequency characteristics with linear acceleration and displacement as outputs, in order to determine the vibration suppression effect.
3. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 1, characterized in that, In step 1, the four-legged motion platform for the integrated vibration isolation and pointing of space optical loads includes: a four-legged parallel structure motion platform and two linear accelerometers located on the upper platform edge of the four-legged parallel structure motion platform. The four driving legs of the four-legged parallel structure motion platform are symmetrically distributed at 90° along the same circumference, and the axis of each driving leg is inclined at an angle of 5°-10° relative to the central axis of the upper and lower platforms. The first and third outriggers are positioned opposite each other to form the first group, which is used to control the pitch motion of the upper platform; the second and fourth outriggers are positioned opposite each other to form the second group, which is used to control the yaw motion of the upper platform; two accelerometers are installed directly above either the first or second group of drive outriggers.
4. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 3, characterized in that, In step 1, the four-legged parallel structure motion platform simulates a weightless state in the ground test using a suspension device. The suspension device includes a spring, four flexible ropes, and four telescopic adjustment devices. The telescopic adjustment devices are used to adjust the suspension force to achieve gravity balance and simulate a weightless test environment. The spring is located at the top and connected to the fixed end. Each flexible rope is equipped with a telescopic adjustment device. One end of each flexible rope is connected to the spring, and the other end is connected to the edge of the upper platform of the four-legged parallel structure motion platform. The position of each flexible rope corresponds to the position of each driving leg and is located at the connection between each driving leg and the upper platform.
5. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 1, characterized in that, Step 1 includes: performing a frequency scan of the open-loop system with linear acceleration as the output to determine the system's resonant frequency range, and fitting the system's mathematical model to obtain the system's mathematical model. : ； in, This is the resonant frequency of the main resonant peak in the low-frequency band. This is the anti-resonance frequency of the main anti-resonance peak in the mid-frequency band. This is the resonant frequency of the main resonant peak in the mid-frequency range. This is the center frequency of the first anti-resonance in the high-frequency band. This is the center frequency of the first resonance in the high-frequency band; Here are the damping ratios corresponding to each resonant and anti-resonant element. For the Laplace operator; Based on the vibration distribution, the system frequency range is divided into three bands: low, medium, and high.
6. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 5, characterized in that, Step 2 includes: assigning the number as Two linear accelerometers are symmetrically mounted on the load end edge of the upper platform of the four-legged parallel structure, with their sensing axes parallel and opposite in direction. The linear acceleration of the load platform is obtained by combining and processing the measured signals. : ； in, , These are the measurements from two linear accelerometers.
7. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 6, characterized in that, Step 3 includes: The bandpass filter corresponding to low-frequency resonance affects linear acceleration. Frequency selection processing is performed to adjust the system's low-frequency transfer function. The ideal equivalent is: ； A controller for the low-frequency band is designed based on the ceiling control principle. : ； in, The low-frequency skyhook controls the feedback gain. As a release factor; The bandpass filter corresponding to the mid-frequency resonance includes a key resonant-anti-resonant peak-valley structure that covers the outer loop bandwidth directly limiting the location, thus changing the mid-frequency transfer function of the system. The ideal equivalent is: ； A controller for the mid-frequency range is designed based on the idea of improving the system's equivalent damping ratio by referencing ceiling control. : ； in, This is for mid-frequency band control feedback gain.
8. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 7, characterized in that, Step 4 includes: first, linear acceleration The signals are processed by bandpass filters designed for low-frequency resonance and bandpass filters designed for mid-frequency resonance, respectively. Then, the signals are processed by the designed low-frequency and mid-frequency controllers to obtain their respective feedback control values. The feedback control values are then applied to the motor drive signal to complete the system closed loop. Low-frequency transfer function of the closed-loop system for: ； Frequency band transfer function of the closed-loop system for: 。 9. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 8, characterized in that, Step 5 includes: Design a controller for the high-frequency band to suppress high-frequency resonance in the platform without affecting the low-frequency band of the system; controller for the high-frequency band for: ； in, This is the cutoff frequency of the high-frequency low-pass filter.
10. The vibration suppression method for parallel platforms based on frequency segmentation according to claim 9, characterized in that, Step 6 includes: acquiring linear acceleration and linear velocity data; sequentially applying low, medium, and high frequency control to the controlled object; observing the vibration suppression effect by sweeping frequencies with linear acceleration and displacement signals as outputs respectively; determining the vibration suppression effect and whether there is mutual influence between different frequency bands; if the vibration suppression effect is not obvious, adjusting the feedback coefficients of linear velocity and linear acceleration sequentially according to the resonant frequency band: inputting the linear velocity feedback signal in the low-frequency band and optimizing the adjustment coefficient. and The mid-frequency input line acceleration feedback signal is used, and the adjustment coefficient is optimized. Adjust the order and cutoff frequency of the low-pass filter in the high-frequency band. If the different frequency bands interfere with each other, then adjust the bandwidth of the bandpass filter and the cutoff frequency of the low-pass filter sequentially according to the resonant frequency band. The feedback control coefficients are adjusted appropriately, and it is ensured that adding a low-pass filter to the high-frequency band does not cause a large phase lag in the mid-low frequency band.