Dynamic modeling and robust nonlinear control of a six-DOF active micro-vibration isolation manipulator with parameter uncertainties
Dynamic modeling and robust nonlinear control of a six-DOF active micro-vibration isolation manipulator with parameter uncertainties
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DOI：
10.1016/j.mechmachtheory.2015.06.008
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发表时间：
2015-10-01
影响因子：
5.2
通讯作者：
Zhao, Rui
中科院分区：
文献类型：
--
作者：
Wu, Ying;Yu, Kaiping;Zhao, Rui
Stewart平台的动力学模型和振动控制是复杂的，对隔振具有重要意义，特别是在底座激励的情况下。然而，在文献中，并没有给出完整、准确的解决方案。利用Kane方法建立了六球棱镜-球面(SPS)Stewart平台基座激励下的非线性动力学模型。特别的是，动态模型可用于控制算法的设计，以抑制基座励磁。为了简化模型，对非线性系数的阶数进行了估计。结合实际情况，研究了刚度、阻尼力和质心位置的不确定性。提出了一种改进的鲁棒非线性控制器，它由线性控制部分、非线性部分和励磁补偿部分组成，以满足低频下的这两个要求。通过理论证明和数值模拟，验证了状态向量的一致最终边界。结果表明，该控制器具有良好的可调性，并能隔离较大范围的外部干扰。(C)2015爱思唯尔有限公司。保留所有权利。
Dynamic model and vibration control of the Stewart platform are sophisticate and significant for vibration isolation especially the case with the base excitation. However, in the literature, no complete and accurate solution is presented. In this paper, a novel nonlinear dynamic model of six-spherical-prismatic-spherical (SPS) Stewart platform with the base excitation has been derived via Kane's method. Peculiarly, the dynamic model can be utilized for control algorithm designation to attenuate the base excitation. The order of the nonlinear coefficients has been evaluated to simplify the model. The uncertainties of stiffness, damping and mass center location have been studied based on the practical situation. An improved robust nonlinear controller, which is composed of the linear control part, nonlinear part and excitation compliment part, has been proposed to satisfy the two requirements at low frequency. The uniformly ultimate boundary of the state vector has been verified by theoretical proof accompanied with numerical simulation. It is concluded that the controller is of fine adjustability and can isolate a wide range of external disturbance. (C) 2015 Elsevier Ltd. All rights reserved.