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On vibration control with Stewart parallel mechanism
Gexue, R; Qiuhai, L; Ning, H; Rendong, N; Bo, P
Source PublicationMECHATRONICS
AbstractThis paper studies the feasibility to stabilize a platform with the Stewart parallel mechanism while itself is mounted on a vibrating structure excited by wind loads. This problem arises from a very large telescope in which the astronomical equipment is mounted on a platform to be stabilized by the Stewart parallel mechanism, while the base platform of the mechanism itself is carried by a vibrating cable-car that moves along flexible cables. First of all, the platform-stabilizing problem is described as a standard control problem and a control law for adjusting the six actuators of the mechanism is proposed in terms of the inertial displacement of the base platform in short duration. Secondly, the stability of the proposed control law is analyzed through the state equations in discrete time by solving the corresponding eigenvalue problem. The effects of the damping on the stability of the system are also discussed. Finally, in order to study the effectiveness of the control system, a mathematical model of the Stewart parallel mechanism is constructed for stability analysis and control simulation. The control effectiveness is illustrated with the controlled and uncontrolled responses of the stabilized platform. (C) 2002 Elsevier Ltd. All rights reserved.
KeywordStewart Platform Vibration Control Stability
Indexed BySCI
WOS IDWOS:000185868200001
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Cited Times:18[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.Tsing Hua Univ, Dept Engn, Beijing 100084, Peoples R China
2.Chinese Acad Sci, Beijing Astron Observ, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Gexue, R,Qiuhai, L,Ning, H,et al. On vibration control with Stewart parallel mechanism[J]. MECHATRONICS,2004,14(1):1-13.
APA Gexue, R,Qiuhai, L,Ning, H,Rendong, N,&Bo, P.(2004).On vibration control with Stewart parallel mechanism.MECHATRONICS,14(1),1-13.
MLA Gexue, R,et al."On vibration control with Stewart parallel mechanism".MECHATRONICS 14.1(2004):1-13.
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