A.H.D. Sorkhabi (Iran) and S.M. Hashemi (Germany)
Vibration Isolation, Electrohydraulic Actuator, Genetic Algorithm, Adaptive Control.
Active vibration isolation is a good alternative for traditional passive isolation. Electrohydraulic systems which are known as an actuator with high power and fast response is chosen in this paper as the source of actuation force. Most of the studies in the field of active isolation systems assume that an ideal force actuator will be provided accurately. In reality, there is an interaction between the hydraulic actuator and external dynamic systems; thus actuator dynamics is considered in this study. Nonlinear model of the electrohydraulic actuator is obtained and linearized near the valve spool null position. Since there is a wide variety of a parametric uncertainty in the linearized model, a model reference adaptive control approach is implemented. An ideal mathematical reference model which is selected via genetic algorithm optimization represents a desired response. Adaptation laws that provide the tracking between outputs of reference model and active isolation system are designed using Lyapunov’s direct method. This control approach is shown to be effective in the presence of disturbances and uncertainties by simulation.
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