naa a22 4500 510822142 CHVBK 20180411083538.0 cr unu---uuuuu 180411e20130601xx s 000 0 eng 10.1007/s12541-013-0121-z doi (NATIONALLICENCE)springer-10.1007/s12541-013-0121-z A nonlinear control of an QZS isolator with flexures based on a lyapunov function [Elektronische Daten] [Pham Trung, Kyoung-Rock Kim, Hyeong-Joon Ahn] This paper presents an active control method for a quasi-zero stiffness (QZS) isolator using flexures based on a Lyapunov function. First, shown is a dynamic model of an active QZS isolator having indirect horizontal actuation. In the model, the control force is applied along the horizontal direction to compensate for vertical vibrations. Next, a nonlinear control algorithm for the active isolator is developed based on a Lyapunov function. Simulation of the active isolator model which consists of passive QZS isolators, sensors and actuator dynamic models is done to study the effects of control tuning gain on the system performances. In order to verify the active isolation performances, developed is an experimental model including an active QZS isolator, an exciter device and various sensors. Finally, experiments for such as impulse disturbance rejection and transmissibility are performed and the results show that the indirect horizontal actuation by the active QZS isolator using flexure attenuates impulse disturbance as well as isolates the base vibration effectively. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Active QZS vertical isolator nationallicence Horizontal indirect actuation nationallicence Nonlinear control nationallicence Lyapunov function nationallicence A 1-3 : Coefficients of nonlinear model of notched flexure nationallicence a 1-3 : Control gains nationallicence B 1-3 : Coefficients of Lyapunov functions nationallicence C,c : Dimensional and non-dimensional damping coefficient of the isolator system nationallicence f : Non-dimensional vertical restoring force of the flexures nationallicence F ch , f ch : Dimensional and non-dimensional control force produced by the horizontal actuator nationallicence f cv : Non-dimensional control force produced by the horizontal actuator nationallicence f mg : Non-dimensional weight of the payload nationallicence G s : The transfer function of a sensor nationallicence k h , k v : Non-dimensional stiffness of horizontal and vertical spring nationallicence K l , k l : Dimensional and non-dimensional linear stiffness of the isolator nationallicence K n , k n : Dimensional and non-dimensional nonlinear stiffness of the isolator nationallicence L , $$\dot L$$ : The Lyapunov function and its derivative nationallicence L a , L b : Length of the notched and thick parts of the flexure nationallicence M, m : Dimensional and non-dimensional supported mass nationallicence M B : Base mass nationallicence n : Flexure shape ratio (L b /L a ) nationallicence g : Number of flexures nationallicence p : Non-dimensional compression force nationallicence p 0 : Non-dimensional initial compression force nationallicence s : The number of flexures in one lateral side of the isolator nationallicence T 1, T 2 : Coefficients for flexure stiffness nationallicence x l : Non-dimensional horizontal parasitic motion of flexure at right end of flexure nationallicence y : Non-dimensional vertical coordinate nationallicence y 0 : Non-dimensional initial deflection of vertical spring for gravity compensation nationallicence Y B : Base excitation nationallicence Y m , y m : Dimensional and non-dimensional vertical displacement of payload mass nationallicence z 1, z 2 : System states for Lyapunov function nationallicence W(t), w(t) : Dimensional and non-dimensional external disturbance force nationallicence ω c : Cut-off frequency of the sensor nationallicence ξ : Damping ratio of the sensor model nationallicence Trung Pham Graduate School, Department of Mechanical Engineering, Soongsil University, 511 Sangdo-dong, Dongjak-gu, 156-743, Seoul, South Korea aut Kim Kyoung-Rock Graduate School, Department of Mechanical Engineering, Soongsil University, 511 Sangdo-dong, Dongjak-gu, 156-743, Seoul, South Korea aut Ahn Hyeong-Joon Department of Mechanical Engineering, Soongsil University, 511 Sangdo-dong, Dongjak-gu, 156-743, Seoul, South Korea aut International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/6(2013-06-01), 919-924 2234-7593 14:6<919 2013 14 12541 https://doi.org/10.1007/s12541-013-0121-z text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0121-z text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Trung Pham Graduate School, Department of Mechanical Engineering, Soongsil University, 511 Sangdo-dong, Dongjak-gu, 156-743, Seoul, South Korea aut NATIONALLICENCE 700 1- Kim Kyoung-Rock Graduate School, Department of Mechanical Engineering, Soongsil University, 511 Sangdo-dong, Dongjak-gu, 156-743, Seoul, South Korea aut NATIONALLICENCE 700 1- Ahn Hyeong-Joon Department of Mechanical Engineering, Soongsil University, 511 Sangdo-dong, Dongjak-gu, 156-743, Seoul, South Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/6(2013-06-01), 919-924 2234-7593 14:6<919 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer