58 lines
2.4 KiB
Markdown
58 lines
2.4 KiB
Markdown
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title = "Investigation on active vibration isolation of a stewart platform with piezoelectric actuators"
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author = ["Thomas Dehaeze"]
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draft = false
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Tags
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: [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Vibration Isolation]({{< relref "vibration_isolation" >}}), [Flexible Joints]({{< relref "flexible_joints" >}})
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Reference
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: <sup id="db95fac7cd46c14e2b4f38e8ca4158fe"><a href="#wang16_inves_activ_vibrat_isolat_stewar" title="Wang, Xie, Chen, Zhang \& Zhiyi, Investigation on Active Vibration Isolation of a Stewart Platform With Piezoelectric Actuators, {Journal of Sound and Vibration}, v(), 1-19 (2016).">(Wang {\it et al.}, 2016)</a></sup>
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Author(s)
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: Wang, C., Xie, X., Chen, Y., & Zhang, Z.
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Year
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: 2016
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**Model of the Stewart platform**:
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- Struts are treated as flexible beams
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- Payload and the base are treated as flexible plates
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- The FRF synthesis method permits to derive FRFs of the Stewart platform
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The model is compared with a Finite Element model and is shown to give the same results.
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The proposed model is thus effective.
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<a id="orgbc70494"></a>
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{{< figure src="/ox-hugo/wang16_stewart_platform.png" caption="Figure 1: Stewart Platform" >}}
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**Control**:
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Combines:
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- the FxLMS-based adaptive inverse control => suppress transmission of periodic vibrations
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- direct feedback of integrated forces => dampen vibration of inherent modes and thus reduce random vibrations
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Force Feedback (Figure [2](#org4b1fbd9)).
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- the force sensor is mounted **between the base and the strut**
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<a id="org4b1fbd9"></a>
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{{< figure src="/ox-hugo/wang16_force_feedback.png" caption="Figure 2: Feedback of integrated forces in the platform" >}}
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Sorts of HAC-LAC control:
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- LAC: Decentralized integral force feedback
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- HAC: Inertial control using accelerometers. Use of the Jacobian to decouple the motion and then Fx-LMS based adaptive control is used
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**Experimental validation**:
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- All 6 transfer function from actuator force to force sensors are almost the same (gain offset)
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- Effectiveness of control methods are shown
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# Bibliography
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<a id="wang16_inves_activ_vibrat_isolat_stewar"></a>Wang, C., Xie, X., Chen, Y., & Zhang, Z., *Investigation on active vibration isolation of a stewart platform with piezoelectric actuators*, Journal of Sound and Vibration, *383()*, 1–19 (2016). http://dx.doi.org/10.1016/j.jsv.2016.07.021 [↩](#db95fac7cd46c14e2b4f38e8ca4158fe)
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