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

by Xuechao Duan 1,2,*, Jianwei Mi 1 and Ze Zhao 1
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
Machines 2016, 4(4), 20; https://doi.org/10.3390/machines4040020
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)
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
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Duan, X.; Mi, J.; Zhao, Z. Vibration Isolation and Trajectory Following Control of a Cable Suspended Stewart Platform. Machines 2016, 4, 20.

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