Self-Adaptive Fuzzy Control of Multi-dim Vibration Using Parallel Mechanism with MR Dampers

Abstract

This paper studies the feasibility to reduce 3-DOF (degree-of-freedom) vibration using 3-PRRP(4r) parallel mechanism with MR dampers. In this system, some equipment or instruments are mounted on a platform stabilized by the 3-PRRP(4r) parallel mechanism, while the base platform of the mechanism itself is fixed on oscillating table which can provide various vibration signals. A semi-active structure for the non-linear 3-DOF system is proposed with magnet-orheological fluid damper (MRFD) substituting the three actuators of the mechanism. Self-adaptive fuzzy control arithmetic is proposed to adjust the three MR dampers. For studying the effectiveness of the semi-active control system, an experimental prototype is manufactured including the MR damper. Experiment results are illustrated with the on controlled and off controlled responses of the stabilized platform. It shows the semi-active system is very effective to reducing multi-dim (multiple dimensions) vibration.