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

PDF(1383 KB)

Journal of Vibration and Shock ›› 2017, Vol. 36 ›› Issue (5) : 208-213.

WANG Chaoxin1,2,LIU Xingtian3,ZHANG Zhiyi1,2

Author information +

History +

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.

Key words

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

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

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

References

[1] Liu C, Jing X, Daley S, et al. Recent advances in micro-vibration isolation[J]. Mechanical Systems and Signal Processing, 2015, 56: 55-80.
[2] Pu H, Luo X, Jiang W, et al. Modelling and control of hybrid vibration isolation system for high-precision equipment[C]//Control and Automation (ICCA), 2010 8th IEEE International Conference on. IEEE, 2010: 2152-2157.
[3] Thayer D, Campbell M, Vagners J, et al. Six-axis vibration isolation system using soft actuators and multiple sensors[J]. Journal of spacecraft and rockets, 2002, 39(2): 206-212.
[4] Geng Z J, Haynes L S. Six degree-of-freedom active vibration control using the Stewart platforms[J]. Control Systems Technology, IEEE Transactions on, 1994, 2(1): 45-53.
[5] Rahman Z H, Spanos J T, Laskin R A. Multiaxis vibration isolation, suppression, and steering system for space observational application[C]//Astronomical Telescopes & Instrumentation. International Society for Optics and Photonics, 1998: 73-81.
[6] Cobb R G, Sullivan J M, Das A, et al. Vibration isolation and suppression system for precision payloads in space[J]. Smart Materials and Structures, 1999, 8(6): 798.
[7] Hanieh A A, Preumont A, Loix N. Piezoelectric Stewart platform for general purpose active damping interface and precision control[J]. European space agency-publications-esa sp, 2001, 480: 331-334.
[8] Li C, Mao J. Active vibration control under the actuator with magnetic hysteresis loop[C]//Control and Automation, 2005. ICCA'05. International Conference on. IEEE, 2005, 2: 914-918.
[9] McInroy J E, Jafari F. Finding symmetric orthogonal Gough-Stewart platforms[J]. Robotics, IEEE Transactions on, 2006, 22(5): 880-889.
[10] Han P, Wang T, Wang D H. Modeling and control of a Stewart platform based six-axis hybrid vibration isolation system[C]//Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on. IEEE, 2008: 1613-1618.
[11] 徐鹏. 六自由度并联机构 Stewart 平台的动力学建模与仿真 [D]. 重庆: 重庆大学, 2005.
Xu Peng. Dynamic modeling and simulation of the stewart platform as one of 6-DOF parallel mechanism[D].Chongqing: Chongqing University, 2005.
[12] Zhang Z, Hu F, Wang J. On saturation suppression in adaptive vibration control[J]. Journal of Sound and Vibration, 2010, 329(9): 1209-1214.
[13] Hu F, Chen Y, Zhang Z, et al. Tonal vibration suppression with a model-free control method[J]. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 2012, 226(4): 360-370.
[14] Zhang Z Y, Hu F, Hua H X. Simulation and experiment on active vibration isolation with an adaptive method[J]. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 2010, 224(3): 225-238.