Next Article in Journal
Study on Payload Effects on the Joint Motion Accuracy of Serial Mechanical Mechanisms
Previous Article in Journal / Special Issue
Rotor Unbalance Estimation with Reduced Number of Sensors
Article Menu

Export Article

Open AccessArticle
Machines 2016, 4(4), 20; doi:10.3390/machines4040020

Vibration Isolation and Trajectory Following Control of a Cable Suspended Stewart Platform

1
Key Laboratory of Electronic Equipment Structure Design, Ministry of Education of China, Xidian University, Xi’an 710071, China
2
Collaborative Innovation Center of Information Sensing and Understanding, Xidian University, Xi’an 710071, China
*
Author to whom correspondence should be addressed.
Academic Editor: Dan Zhang
Received: 22 May 2016 / Revised: 22 September 2016 / Accepted: 18 October 2016 / Published: 25 October 2016
(This article belongs to the Special Issue Dynamics and Vibrations in Machines)
View Full-Text   |   Download PDF [6473 KB, uploaded 25 October 2016]   |  

Abstract

To achieve high-quality vibration isolation and trajectory following control of a cable driven parallel robot based Stewart platform in the five hundred meter aperture spherical radio telescope (FAST) design, the integrated dynamic model of the Stewart platform including the electric cylinder is established in this paper, the globally feedback linearization of the dynamic model is implemented based on the control law partitioning approach. To overcome the disadvantages of the external disturbance on the base and unmodeled flexibility of the mechanism, a PID (Proportional-Derivative-Integral) controller with base acceleration feedforward is designed in the operational space of the Stewart platform. Experiments of the vibration isolation and trajectory following control of the cable suspended Stewart platform with presence of the base disturbance is carried out. The experimental results show that the presented control scheme has the advantage of stable dynamics, high accuracy and strong robustness. View Full-Text
Keywords: FAST; Stewart platform; feedback linearization; acceleration feedforward; dynamics and control FAST; Stewart platform; feedback linearization; acceleration feedforward; dynamics and control
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Duan, X.; Mi, J.; Zhao, Z. Vibration Isolation and Trajectory Following Control of a Cable Suspended Stewart Platform. Machines 2016, 4, 20.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Machines EISSN 2075-1702 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top