Active Vibration Isolation Control System Decoupling Six Degrees of Freedom
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Solution Overview
Problem
Existing vibration isolation systems face instability due to co-located control paths, which lead to cross-couplings and additional calculations needed to compensate for these interactions, limiting their effectiveness in controlling all degrees of freedom independently.
Innovation Solution
A control system that processes position and orientation data from sensors and actuators into orthogonal matrices, allowing for independent control of six degrees of freedom without cross-coupling effects, using a novel approach to generate sensor and actuator control matrices that decouple control paths, thereby simplifying installation and reducing computational costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If co-located control paths are used with one sensor and one actuator per control path, then vibration isolation for relatively strong movements is achieved, but control paths influence each other leading to instability and requiring additional calculations to compensate for cross-couplings
Solution Approach 1:
The control system segments the control paths by assigning each sensor to a dedicated evaluation unit and each actuator to a dedicated control unit, creating six independent control loops for six degrees of freedom. This segmentation eliminates cross-couplings between control paths while maintaining the ability to handle strong movements, resolving the contradiction between control stability and device complexity
Solution Approach 2:
The system transitions from a traditional single-loop control architecture to a multi-dimensional control structure where six independent control loops operate in parallel, each handling a specific degree of freedom. This dimensional expansion allows independent control of each axis without mutual interference, achieving both stability and reduced complexity
2Measurement precision
If additional calculations are performed to compensate for cross-couplings in control paths, then control accuracy is improved, but computational complexity and processing time increase
Solution Approach 1:
The invention extracts and eliminates the source of cross-couplings by creating independent control paths for each degree of freedom. Instead of adding complex compensation calculations to handle coupled control paths, the system removes the coupling itself through dedicated sensor-actuator pairs and independent evaluation/control units, achieving control accuracy without increased computational complexity
3Device complexity
If digital signal processing is used with high computational power, then control algorithm complexity can be increased, but signal transit time increases due to analog/digital conversion and sampling rate limitations
Solution Approach 1:
The control system segments signal processing into six independent parallel paths, each handling a specific degree of freedom. This segmentation allows simultaneous processing of multiple sensor signals without sequential delays, reducing overall signal transit time while maintaining the capability for complex control algorithms in each independent path
Data Source
AI summary
The invention relates to a control system for active vibration isolation of a supported payload with a control device that comprises a processing unit (41) for processing position data and orientation data of all available sensors to supply a sensor control matrix, as well as for subsequent calculation of axis input signals in orthogonal degrees of freedom from the sensor signals and the sensor control matrix, a downstream control-path cascade block (42) for processing axis input signals into axis output signals in orthogonal degrees of freedom, and a downstream processing unit (43) for processing position data and orientation data of all available actuators for vibration suppression into an actuator control matrix, as well as for subsequent calculation of actuator control signals from the axis output signals and the actuator control matrix.