Modeling and control of a Stewart platform based six-axis hybrid vibration isolation system
Modeling and control of a Stewart platform based six-axis hybrid vibration isolation system
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DOI：
10.1109/wcica.2008.4593160
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发表时间：
2008-06
期刊：
影响因子：
--
通讯作者：
P. Han;T. Wang;D.H. Wang
中科院分区：
文献类型：
--
作者：
P. Han;T. Wang;D.H. Wang
本文研究了一种基于立方Stewart平台的六轴混合隔振系统，基于牛顿-欧拉法建立了同时考虑下平台位移激励和上平台载荷力激励的六轴混合隔振平台动力学模型。基于本文所建立的动力学模型，提出并分析了力反馈控制原理，以隔离下平台的位移振动。根据所建立的动力学模型和控制方法，对所研制的六自由度混合隔振平台的隔振特性进行了频域数值仿真。
In this paper, a 6-axis hybrid vibration isolation system based on a cubic configuration of Stewart platform is explored and the dynamic model of the developed 6-axis hybrid vibration isolation platform, in which both the displacement excitations on the lower platform and the force excitations due to payloads on the upper platform are simultaneously considered, is established based on the Newton-Euler approach. Based on the dynamic model introduced in this paper, a force feedback control principle to isolate the displacement vibrations on the lower platform is proposed and analyzed. According to the developed dynamic model and control method, the numerical simulation results on the vibration isolation characteristics of the developed six-DOF hybrid vibration isolation platform in frequency domain are presented.