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    188宝金博页面版: STATE CONTROLLER DESIGN OF THE ACTIVELY CONTROLLED DRIVER‘S…

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    内容提示： Number 2, Volume VII, July 2012 Kupka: State Controller Design of the Actively Controlled Driver‘s Seat 69 STATE CONTROLLER DESIGN OF THE ACTIVELY CONTROLLED DRIVER‘S SEAT Libor Kupka 1 Summary: In the paper the introduction studies of the state controller design of active vibration isolation system of the driver seat are presented. The driver seat with the air spring as the actuator is described as nonlinear lumped system with transportation delay. The linearization of this nonlinear dynamic syste...

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    Number 2, Volume VII, July 2012 Kupka: State Controller Design of the Actively Controlled Driver‘s Seat 69 STATE CONTROLLER DESIGN OF THE ACTIVELY CONTROLLED DRIVER‘S SEAT Libor Kupka 1 Summary: In the paper the introduction studies of the state controller design of active vibration isolation system of the driver seat are presented. The driver seat with the air spring as the actuator is described as nonlinear lumped system with transportation delay. The linearization of this nonlinear dynamic system is used for discrete linear state space controller design. The behavior of this controller with linear continuous estimator of nonlinear system has been verified in the laboratory. Key words: driver’s seat, active vibration isolation, state controller, estimator. INTRODUCTION Main contribution of the active vibration isolation system – also described in (1), 2 and 3) – is decreasing of vibrations transmissibility for low frequencies and also remaining the low transmissibility for high frequencies. In designed system is not used damper. Contrary of the commonly described systems (4, 5, 6, 7 and 8) in the designed system is used the electronically controlled servo-valve, which feeds the air into the bellows air spring, or discharges the air from the spring into the atmosphere. We present the nonlinear mathematical model with concentrated parameters of the driver’s seat with an air spring. The linearization of this model is main idea of state space linear controller design. The active vibration isolation is based on feedback principle. 1. MATHEMATICAL MODEL 1.1 Nonlinear model of the driver's seat Simple mechanical scheme of the considered driver’s seat is shown in fig. 1. Hydraulic damper is not used. Source: Author Fig. 1 – Scheme of vibration isolation system with scissor mechanism 1 Ing. Libor Kupka, Ph.D., University of Pardubice, Faculty of Electrical Engineering and Informatics, Department of Process Control, náměstí ?s. legií 565, 532 10 Pardubice, Tel.: +420 466 037 504, Fax: +420 466 036 241, E-mail: libor.kupka@upce.cz M z 2 z 1 z 2rp

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