Dynamic modeling and control for a three-dimensional vibration isolation system with a 3-RPC parallel mechanism

Based on vibration characteristics of vehicles, a three-dimensional vibration isolation system as a vehicular device was proposed and a semi-active fuzzy optimal control model was established. Then, the performance of the system was validated with tests. It was shown that this system realizes the spatial three-dimensional vibration isolation through replacing the actuator of its 3-RPC parallel mechanism with a subsystem consisting of a magnetorheological(MR) damper and a spring; the out put control force of the MR damper is obtained using H_∞ state feedback control strategy and the MR damper working principle; the input current of the MR damper is calculated with the fuzzy model. In order to validate the performance of the system, a three-dimensional vibration isolation test platform was developed, and vibration tests with sinusoidal and random excitations were conducted. Finally, the measurement results of vibration accelerations verified the effectiveness of the vibration isolation system and its control strategy.