西南交通大学学报(英文版)2008，Vol.16Issue(2)：150-159,10.
Stability Study of Cable-Suspended Stewart Platform
Stability Study of Cable-Suspended Stewart Platform
GAO Yan-kun 1CHENG Yuan 2REN Ge-xue 3HUANG De-xiu1
作者信息
- 1. School of Optoelectronics Science and Technology, Huazhong University of Science and Technology, Wuhan 430074, China
- 2. Engineering School, Sun Yat-Sen University, Guangzhou 510275, China
- 3. Department of Engineering Mechanics, Tsinghua University, Beifing 100084, China
- 折叠
摘要
Abstract
The control stability of the end manipulator of a cable-suspended Stewart platform in disturbance was studied by combination of the multi-body system dynamics and control theory and the eigensystem realization algorithm (ERA). The corresponding closed-loop vibration control strategies were suggested based on position prediction with PD (proportional plus derivative) control.Numerical simulation was made on a scale model to study the vibration control effects of the stewart platform with flexible suspension, including system response to step load, system response to cyclic load, and instability. Then, experiments for Stewart platform with cable suspension were designed to study the actual control effects and validate the validity of numerical simulation. The results show that the experimental results agree with the simulation results well, and the the system has a fairly good control effect to the end manipulator. Therefore, a preliminary conclusion can be made that it is feasible using the Stewart platform as the vibration control platform of the flexible support system, by position prediction of the base platform and PD feedback control law.关键词
Stewart platform/ Stability/ Cable suspension/ Eigensystem realization algorithm (ERA)Key words
Stewart platform/ Stability/ Cable suspension/ Eigensystem realization algorithm (ERA)分类
交通工程引用本文复制引用
GAO Yan-kun,CHENG Yuan,REN Ge-xue,HUANG De-xiu..Stability Study of Cable-Suspended Stewart Platform[J].西南交通大学学报(英文版),2008,16(2):150-159,10.
