Precision vibration-isolation system with floor feedforward assistance
Apparatus and methods to reduce unwanted motion in precision instruments are described. An active vibration-isolation system may include a feedback loop that senses motion of an intermediate mass. In noisy environments, where the feedback loop would otherwise fail or provide inadequate isolation, feedforward control can be implemented to sense floor vibrations and reduce motion of the intermediate mass that would otherwise be induced by the floor vibrations. The feedforward control can reduce motion of the intermediate mass to a level that allows the feedback loop to operate satisfactorily.
1. An active vibration-isolation system comprising:
an intermediate mass;
a feedback motion sensor having a first sensitivity and arranged to sense motion of the intermediate mass;
a feedforward motion sensor having a second sensitivity that is less than the first sensitivity and configured to sense motion of a base;
an actuator arranged to drive the intermediate mass relative to the base, wherein the base is arranged to support at least the actuator and the intermediate mass; and
a control circuit or processor configured to process signals from the feedback motion sensor and the feedforward motion sensor and output a drive signal to drive the actuator to reduce unwanted vibrational motion of the intermediate mass.
2. The active vibration-isolation system of claim 1 , wherein without application of a signal from the feedforward motion sensor to the control circuit or processor, vibrational levels at an installation site of the active the vibration-isolation system saturate signals from the feedback motion sensor when the active vibration-isolation system is in operation.
3. The active vibration-isolation system of claim 1 , wherein the control circuit or processor is arranged to:
process a signal from the feedback motion sensor in parallel with a signal from the feedforward motion sensor; and
sum the processed signals from the feedback motion sensor and the feedforward motion sensor to produce the drive signal.
4. The active vibration-isolation system of claim 3 , wherein the control circuit or processor comprises a first signal path that receives a signal from the feedback motion sensor, the first signal path including:
a first signal filter;
a first phase adjuster; and
a first amplifier.
5. The active vibration-isolation system of claim 4 , further comprising an analog-to-digital converter in the first signal path, wherein the first signal filter, the first phase adjuster, and the first amplifier are implemented as software that executes on the processor.
6. The active vibration-isolation system of claim 4 , wherein the control circuit or processor comprises a second signal path that receives a signal from the feedforward motion sensor, the second signal path including:
a second signal filter;
a second phase adjuster; and
a second amplifier.
7. The active vibration-isolation system of claim 1 , further comprising an isolation assembly that includes:
the actuator; and
an offload spring arranged to support at least the intermediate mass and coupled between the base and the intermediate mass.
8. The active vibration-isolation system of claim 7 , wherein the isolation assembly further comprises:
the intermediate mass; and
a level adjuster.
9. The active vibration-isolation system of claim 8 , wherein the isolation assembly further comprises:
a payload support;
a payload support spring coupled between the payload support and the intermediate mass; and
a damper coupled in parallel with the payload support spring between the payload support and the intermediate mass.
10. The active vibration-isolation system of claim 7 , wherein the offload spring is sized to support approximately all of the weight of a payload that acts on the isolation assembly at an installation site, such that the actuator supports essentially no weight of the payload.
11. The active vibration-isolation system of claim 1 , wherein the actuator is a voice coil motor.
12. The active vibration-isolation system of claim 1 , further comprising:
a first isolation assembly that includes the actuator and the control circuit or processor;
a second isolation assembly that includes:
a second actuator arranged to drive a second intermediate mass relative to the base; and
a second control circuit or processor configured to process second signals from a second feedback motion sensor and the feedforward motion sensor and output a second drive signal to drive the second actuator to reduce unwanted vibrational motion of the second intermediate mass.
13. A method of providing vibration isolation for a payload at an installation site, the method comprising:
determining that vibrational levels at the installation site saturate first signals received from one or more feedback motion sensors mounted on an intermediate mass of an active vibration-isolation system, wherein the active vibration-isolation system comprises:
an actuator arranged to drive the intermediate mass relative to a base; and
a control circuit configured to receive second signals from the one or more feedback motion sensors and output one or more drive signals to drive the actuator;
providing third signals from one or more feedforward motion sensors mounted on the base to the control circuit;
processing the third signals from the one or more feedforward motion sensors with the control circuit; and
in response to the processed third signals from the one or more feedforward motion sensors, driving the actuator to reduce motion of the intermediate mass induced by motion of the base such that the second signals received from the one or more feedback motion sensors do not saturate.
14. The method of claim 13 , wherein the one or more feedforward motion sensors saturate at first vibrational levels that are higher than second vibrational levels at which the one or more feedback motion sensors saturate.
15. The method of claim 13 , further comprising supporting approximately all weight of the intermediate mass and a weight of the payload acting on the intermediate mass with an offload spring that is coupled in parallel with the actuator between the intermediate mass and the base.
16. The method of claim 15 , wherein the actuator and intermediate mass are part of a first isolation assembly that supports a portion of the weight of the payload and the active vibration-isolation system includes additional isolation assemblies that assist in supporting the weight of the payload.
17. The method of claim 13 , wherein vibration isolation is provided in more than one direction.
18. The method of claim 13 , wherein the one or more feedback motion sensors include at least one preamplifier.
19. The method of claim 13 , wherein the one or more feedforward motion sensors include at least one preamplifier.
20. The active vibration-isolation system of claim 1 , wherein the feedback motion sensor includes a preamplifier.
21. The active vibration-isolation system of claim 1 , wherein the feedforward motion sensor includes a preamplifier.
22. The active vibration-isolation system of claim 1 , wherein the actuator is a piezoelectric actuator.
23. The active vibration-isolation system of claim 1 , further comprising the base.