Research on the controller of an active vibration isolation unit for underwater crushing operations

• DOI: 10.1038/s41598-025-89564-2
• Publication Date: 2025-02-11T18:27:43Z
• Authors: Lijun Wang; Hui Wei; Shitong Jiang; Zeyong Zhao; Xinxin Wang; Jianyong Zhang; Ruixue Cheng; Liyang Shang; Bin Miao
• Keywords: Two-stage vibration isolation system; Science; Q; R; Medicine; Model predictive control; Fuzzy control; Active control; Underwater cleaning robot

Abstract Since passive vibration isolation is used to solve the vibration problem of the underwater crushing device is difficult to isolate the low-frequency vibration effectively, and most of the active control methods usually focus on cutting down the vibration of finite modes, which has limitations, this paper proposes a composite adaptive control strategy combining the model predictive control and fuzzy control, and designs a set of active vibration isolation system based on Fuzzy-MPC. Firstly, a mathematical model of the vibration isolation device is constructed based on the vibration isolation principle with the underwater crushing device as the vibration isolation object. Then the active vibration isolation model is discretized to be adapted to the digital simulation, and the design of the MPC controller is optimized by combining the fuzzy control. Finally, the control system of the vibration isolation device is simulated and modeled using the Simulink simulation tool, and by comparing the passive vibration isolation device without control, the active vibration isolation device with other control techniques applied and the active vibration isolation device with Fuzzy-MPC applied, it is found that the control strategy proposed in this paper has a superiority for non-smooth excitation in the project, thus verifying the design of Fuzzy-MPC controller. MPC controller.