基于立方体STEWART的微振动主动控制分析与实验

王超新1,2 刘兴天3 张志谊1,2

振动与冲击 ›› 2017, Vol. 36 ›› Issue (5) : 208-213.

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PDF(1383 KB)
振动与冲击 ›› 2017, Vol. 36 ›› Issue (5) : 208-213.
论文

基于立方体STEWART的微振动主动控制分析与实验

  • 王超新1,2  刘兴天3  张志谊1,2
作者信息 +

Micro-vibration active control for a Stewart platform with a cubic configuration

  • WANG Chaoxin1,2,LIU Xingtian3,ZHANG Zhiyi1,2
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文章历史 +

摘要

本文采用立方体结构隔振平台,它具有各向同性以及轴向运动解耦等特点。对立方体Stewart平台分别进行运动学和动力学分析,获得杆长与平台姿态的雅克比矩阵,揭示平台振动传递特性。采用压电叠堆为主动控制单元,设计立方体Stewart主动隔振平台,并通过实验测定平台主动杆在5 Hz-120 Hz频带内的输出特性,通过实测数据修正理论分析得到的雅克比矩阵。结合Fx-LMS主动控制算法,对基础干扰进行主动抑制,实验结果表明,在5 Hz-120 Hz范围内,对于单频干扰,平台可实现30 dB抑制效果。

Abstract

A Stewart platform with a cubic configuration was developed having uniformity of stiffness and a control capability in all directions,and a simplified mechanical design.Its kinematic and dynamic analyses were conducted to obtain Jacobian matrix relating the extension of the piezo actuator to 6-DOF of the top plate and to reveal its characteristics of vibration transmissibility.Taking a piezoelectric stack as an active control element,the platform was designed.Tests were performed to measure the output characteristics of the active bar of the platform within the frequency band of 5 Hz to 120 Hz and Jacobian matrix obtained with theoretical analysis was modified with test data.Fx-LMS algorithm was adopted to actively suppress the foundation disturbances.The results showed that within the range of 5 Hz to 120 Hz,the platform is able to achieve 30 dB attenuation effect under a single frequency disturbance.

关键词

微振动 / 立方体Stewart平台 / 主动隔振 / 雅克比矩阵 / Fx-LMS

Key words

micro-vibration / Stewart platform with a cubic configuration / active isolation / Jacobian matrix / Fx-LMS

引用本文

导出引用
王超新1,2 刘兴天3 张志谊1,2. 基于立方体STEWART的微振动主动控制分析与实验[J]. 振动与冲击, 2017, 36(5): 208-213
WANG Chaoxin1,2,LIU Xingtian3,ZHANG Zhiyi1,2. Micro-vibration active control for a Stewart platform with a cubic configuration[J]. Journal of Vibration and Shock, 2017, 36(5): 208-213

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