期刊
ENERGIES
卷 8, 期 8, 页码 8001-8019出版社
MDPI
DOI: 10.3390/en8088001
关键词
vibration isolation; Stewart platform; VCM actuator; Newton-Euler Method; H control; sinusoidal sweeping analysis
资金
- Foundation of Civil Astronautics
- Pre-research Foundation of General Armament Department of China
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.
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