Design and Experimental Study of a VCM-Based Stewart Parallel Mechanism Used for Active Vibration Isolation

Energies

Weichao Chi¹  Dengqing Cao²  Dongwei Wang¹  Jie Tang¹  Yifan Nie¹  Wenhu Huang¹ 

[1] School of Astronautics, Harbin Institute of Technology, PO Box 137, Harbin 150001, China;

关键词: vibration isolation;    Stewart platform;    VCM actuator;    Newton-Euler Method;    H_∞ control;    sinusoidal sweeping analysis;   

DOI  :  10.3390/en8088001

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.