Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation
Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation
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DOI：
10.3390/en8088001
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发表时间：
2015-08-01
期刊：
影响因子：
3.2
通讯作者：
Huang, Wenhu
中科院分区：
文献类型：
--
作者：
Chi, Weichao;Cao, Dengqing;Huang, Wenhu
介绍了一种基于音圈电机(VCM)的Stewart主动隔振平台的设计和实验研究。卫星携带的高精度有效载荷总是需要一个极其稳定的环境才能正常工作。在振源与精密载荷之间安装隔振装置是一种有效的消振方法。设计了一种主动阻尼式Stewart平台，实现了六自由度卫星传给载荷的振动隔离。首先，利用牛顿-欧拉法分别在任务空间和关节空间建立了Stewart平台的运动学和动力学方程。其次，针对具有参数不确定性、噪声和传感器误差的线性化系统，利用H-控制理论设计了一种鲁棒控制器。最后，对带有VCM驱动器的Stewart平台支撑的有效载荷的振动进行了实验研究。通过比较主动控制系统、被动控制系统和无阻尼系统的幅频特性，验证了该隔振系统的可行性和有效性。
This paper presents the design and experimental study of a voice coil motor (VCM)-based Stewart platform used for active vibration isolation. The high precision payloads carried on the satellites always require an extremely stable environment to work properly. Installing a vibration isolation device between the vibration sources and precision payloads is an efficient method for dissipating vibration energy. A Stewart platform with active damping is designed to isolate the vibration transferring from the satellite to the payloads in six degrees-of-freedom. First, the kinematics and dynamical equations of a Stewart platform with spherical joints at both the base and top of each leg are established with Newton-Euler Method in task space and joint space. Second, the H Control Theory is employed to design a robust controller for the linearized system with parameter uncertainty, noise and sensor errors. Finally, an experimentation study on the vibration of the payload supported by a Stewart platform with VCM actuator is conducted. The feasibility and effectiveness of the vibration isolation system are verified by comparing the amplitude-frequency characteristics of the active control system with that of the passive control system and the system without damping.