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    • 9. 发明授权
    • Apparatus for isolation of payloads with low transmissibility
    • 用于隔离具有低传输性的有效载荷的装置
    • US06805337B1
    • 2004-10-19
    • US09517434
    • 2000-03-02
    • Jahangir S. RastegarRonald RothchildFarshad Khorrami
    • Jahangir S. RastegarRonald RothchildFarshad Khorrami
    • F16M100
    • F16F3/00F16F1/422F16F15/00F16F2230/0052
    • A payload isolation system for isolating a payload from a base structure upon which the payload is supported. The payload isolation system includes: a motion constraint for maintaining a parallel relationship between the payload and the base structure; and a support for providing vertical and/or lateral support of the payload relative to the base structure such that the transmission of vertical and/or lateral vibration between the payload and the base structure are suppressed. The support means preferably exhibits nonlinear elastic characteristics in response to an effective weight of the payload. The non-linear elastic characteristics preferably include a substantially rigid characteristic at low and high levels of deformation and a compliant characteristic at intermediate levels of deformation. In yet another preferred implementation, the motion constraint means are mechanical linkages.
    • 一种有效载荷隔离系统,用于将有效载荷与基础结构隔离,在该基础结构上支持有效载荷。 有效负载隔离系统包括:用于维持有效负载和基本结构之间的并行关系的运动约束; 以及用于相对于基座结构提供有效载荷的垂直和/或侧向支撑的支撑件,从而抑制有效负载和基础结构之间的垂直和/或横向振动的传输。 支撑装置优选地响应于有效载荷的有效重量显示非线性弹性特性。 非线性弹性特性优选地包括在低和高变形水平下的基本上刚性的特性和在中等变形水平下的柔顺特性。 在另一优选实施方案中,运动约束装置是机械联动。
    • 10. 发明授权
    • Feedback control apparatus and method thereof for compensating for
changes in structural frequencies
    • 用于补偿结构频率变化的反馈控制装置及其方法
    • US5631824A
    • 1997-05-20
    • US249865
    • 1994-05-26
    • Farshad Khorrami
    • Farshad Khorrami
    • G05B11/42G05B11/01
    • G05B11/42
    • An apparatus for providing feedback control of a device having multi-degrees of freedom. The apparatus comprises a first input device for receiving control signals based upon desired reference inputs and first feedback signals from the device, a second input device for receiving second feedback signals from the device, and a processing device receiving the control signals from the first input device and the second feedback signals from the second input device for determining a compensating signal for supply to the device. The compensating signal compensating for changes in structural frequencies due to configuration changes of the device so as to enable the first feedback signals to be independent of variations of the structural frequencies.
    • 一种用于提供具有多自由度的装置的反馈控制的装置。 该装置包括用于基于期望的参考输入和来自该装置的第一反馈信号接收控制信号的第一输入装置,用于从装置接收第二反馈信号的第二输入装置,以及从第一输入装置接收控制信号的处理装置 以及来自第二输入装置的第二反馈信号,用于确定供给装置的补偿信号。 该补偿信号由于装置的配置变化而补偿结构频率的变化,以使得第一反馈信号能够独立于结构频率的变化。