Design Of Active Vibration Reduction Platform For Valuable And Fragile Goods Transportation

When transporting valuable and fragile goods,in order to prevent the goods from being damaged,packing/foam filling and other measures are generally adopted.When there are a large number of goods to be transported,the heavy packaging increases the volume of the transported goods and reduces the number of goods to be transported within the same space,so increasing the cost of single piece transportation.Besides aerospace,industrial,military and other fields of high precision device is required to vibration in the process of transportation,ordinary package/foam filling passive vibration mode can not meet the requirements,active vibration reduction is an inevitable development trend,active vibration isolation platform is mainly by eliminating the transportation process of the vibration of a certain frequency to achieve the purpose of protect the precious fragile.In this design,the vibration signal of a certain frequency is weakened and eliminated by combining active and passive vibration reduction.The design includes structure design and simulation,hardware circuit design,vibration control software and so on.Some passive damping elements are added in this design to reduce the high-frequency vibration signal,so that the final vibration damping platform has a wide frequency band.For the vibration of different frequency bands,the corresponding vibration damping module is designed in this paper.Vibration simulation of each module is carried out through vibration analysis software.Finally,the modules are connected in series to form a platform with active/passive vibration damping function.The motion compensation module is used in the design of the vibration damping structure in the low frequency band.Generally speaking,the vibration amplitude in the low frequency band is large,so the motor is used as the actuator.This module has four degrees of freedom,including one translational degree of freedom and three rotational degrees of freedom.As for the highfrequency vibration signal,this design uses piezoelectric ceramics as the actuator,and the high-frequency vibration damping module can achieve the active vibration damping on three translation degrees of freedom.STM32F103RE is used as the central processing unit in the electronic control hardware part of the platform.According to the control requirements of different structures,the motor drive module of the Three-dimensional rotating platform,the optocoupler isolation control module of the stepping motor,piezoelectric ceramic drive module are added separately.The control algorithm of the software adopts the PID control algorithm.In the low-frequency vibration control stage,the attitude of fragile goods is obtained by sampling the MPU6050 sensor,and the motor is controlled to make its attitude stable within a certain range.In addition,the acceleration sampled by the acceleration sensor is integrated twice to obtain the displacement in the vertical direction of the goods.By controlling the motion of the one dimensional screw slide table,the goods is stabilized in a certain range in the vertical direction.When there is a high frequency vibration signal,piezoelectric ceramics are used as the actuator to produce the vibration signal with the same frequency and opposite phase,which will offset with the vibration signal to achieve the purpose of active vibration reduction.The control mode of the piezoelectric ceramics is 0-100 v analog voltage,and the operating distance of the piezoelectric ceramics is controlled by amplifying the voltage of 0-3.3v output of the main control DAC by 30 times through the external boost circuit.Finally,an overall physical platform for active vibration reduction is built,and the feasibility of the platform is verified by experiments.