The multi-body system modelling of the Gough–Stewart platform for vibration control
The multi-body system modelling of the Gough–Stewart platform for vibration control
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DOI：
10.1016/s0022-460x(03)00283-9
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发表时间：
2004-04
影响因子：
4.7
通讯作者：
Y. Cheng;Gexue Ren;Shiliang Dai
中科院分区：
文献类型：
--
作者：
Y. Cheng;Gexue Ren;Shiliang Dai
针对柔性支承结构的振动控制问题，研究了Gough-Stewart平台的动力学和控制方法。问题出在一个大型射电望远镜上，其中的天文设备安装在一个平台上，由Gough-Stewart平台稳定，而该机构的基础平台本身是由一个沿柔性电缆移动的振动缆车承载的。由于基础平台没有固定在地面上，稳定平台运动产生的反作用力会对基础平台产生摄动，从而诱发整个系统的振动。为了研究振动控制的可行性，采用牛顿-欧拉方法将Stewart并联机构建模为具有弹性约束基础平台的多体系统，并提出了基于两个平台位置预测的PD控制律。利用模拟的风激励进行了控制仿真。通过比较稳定平台的均方根响应来评价控制效果。
This paper studies the dynamics and control of the Gough–Stewart platform for vibration control of a flexible supporting structure. The problem arises from a large radio telescope in which the astronomical equipment is mounted on a platform to be stabilized by a Gough–Stewart platform, while the base platform of the mechanism itself is carried by a vibrating cable-car that moves along flexible cables. As the base platform is not fixed on the ground, the reaction force caused by the motion of the stabilized platform will lead to perturbation on the base platform, and will induce vibration of the whole system. To study the feasibility for vibration control, this paper models the Stewart parallel mechanism as a multi-body systems with an elastically restrained base platform by the Newton–Euler method and proposes a PD control law based on the position prediction of the two platforms. Control simulations are carried out with the simulated wind excitations. The control effects are evaluated by comparing the root-mean-square responses of the stabilized platform.