Simulation and experimental analysis of the Stewart parallel mechanism for vibration control

Author

Qian, Zhou ; Hui, Zhang

Author_Institution

Dept. of Precision Instrum., Tsinghua Univ., Beijing, China

Volume

4

fYear

2003

fDate

5-8 Oct. 2003

Firstpage

3548

Abstract

This paper deals with the Stewart parallel mechanism for vibration control. The problem arises from a large radio telescope in which the astronomical equipment is mounted on a platform to be stabilized by adjusting six scalable actuators, while the base platform of the mechanism itself is carried by a vibrating cable-car that moves along flexible cables. The characteristic of the Stewart parallel mechanism in this application is that the two platforms are coupled. The Stewart platform has been modeled as a rigid multi-body system. A model with a scale of 5:1 has been implemented and tested. The control effects are evaluated by comparing the root-mean-square responses of the stabilized platform. The simulation and experiment results are given and in good qualitative agreement with each other. The system can reduce the vibration amplitude evidently. The feasibility of the full-scale model scheme has been proved.

Keywords

PD control; predictive control; radiotelescopes; real-time systems; vibration control; Stewart parallel mechanism; astronomical equipment; experimental analysis; flexible cables; large radio telescope; rigid multi-body system; root-mean-square responses; scalable actuators; vibrating cable-car; vibration control; Actuators; Analytical models; Cables; Control systems; Instruments; Numerical simulation; Payloads; Radio astronomy; Receivers; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2003. IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-7952-7

Type

conf

DOI

10.1109/ICSMC.2003.1244439

Filename

1244439