Hybrid pneumatic-magnetic isolator-actuator
View Patent ↗The invention disclosed is a compact and lightweight hybrid pneumatic-magnetic isolator-actuator capable of large force, substantial stroke and bandwidth actuation with near frictionless operation and vibration isolation with very low break frequency. Pneumatic and magnetic forces are applied to a single carriage comprised primarily of a coaxially arranged air piston and coil. The carriage is driven relative to a frame or housing including an internally mounted cylindrical piston sleeve and magnetic actuator body. A combination of air bearings and air bearing piston construction provide for frictionless motion of the carriage relative to the frame. The pneumatic piston provides the actuation force for both static loads and low frequency dynamic loads. An integrally mounted sensor and control unit determine the pressure error resulting at the pneumatic piston. The control unit utilizes the pressure error to drive a high bandwidth magnetic actuation capability in parallel with the pneumatic actuation capability. An air tank of prescribed volume may be connected to the pneumatic piston for effecting a desired air-spring stiffness upon the isolator-actuator.
1. A vibration isolation, position actuation device comprising:
a pneumatic actuator,
a pressure servo-valve,
a gas pressure supply,
a coil and magnet,
a state variable sensor, and
a control unit
wherein the pneumatic actuator is further comprised of a carriage and a housing wherein the carriage is constrained to move within the housing upon a gas film,
wherein the pressure servo-valve accepts an input command signal and modulates the gas pressure supply which is applied to the pneumatic actuator, wherein the state variable sensor measures a state variable of the pneumatic actuator resulting from the applied modulated gas pressure supply, wherein the control unit determines the error existing in the measured state variable relative to the command signal, and wherein the control unit modulates electrical current applied to the coil such that a magnetic force is effected between the coil and magnet, wherein the magnetic force is directly applied to the carriage of the pneumatic actuator by the magnet without intervening mechanical means, in such proportion to negate the measured error in the state variable of the pneumatic actuator.
2. The device of claim 1 further comprising an air tank connected to the pneumatic actuator such that the combined air volume of the pneumatic actuator and air tank provide an air volume yielding a prescribed air-spring stiffness.
3. The device of claim 1 wherein the control unit compares the amplified voltage from the pressure transducer to the input command signal to determine a force error measurement of the pneumatic actuator such that the control unit is then enabled to apply the force error measurement directly as an input current to the coil.
4. The device of claim 1 wherein the coil is attached to one of the carriage and housing and the magnet is attached to the other.
5. The device of claim 1 wherein the state variable sensor is a pressure transducer positioned to read the pressure applied to the pneumatic actuator and yield an amplified voltage equal to the force resulting from the pneumatic actuator.