digital-brain/content/article/wang16_inves_activ_vibrat_isolat_stewar.md

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title = "Investigation on active vibration isolation of a stewart platform with piezoelectric actuators"
author = ["Thomas Dehaeze"]
draft = false
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Tags
: [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Vibration Isolation]({{< relref "vibration_isolation" >}}), [Flexible Joints]({{< relref "flexible_joints" >}})
Reference
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: ([Wang et al. 2016](#org89f2008))
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Author(s)
: Wang, C., Xie, X., Chen, Y., & Zhang, Z.
Year
: 2016
**Model of the Stewart platform**:
- Struts are treated as flexible beams
- Payload and the base are treated as flexible plates
- The FRF synthesis method permits to derive FRFs of the Stewart platform
The model is compared with a Finite Element model and is shown to give the same results.
The proposed model is thus effective.
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<a id="org0d482b7"></a>
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{{< figure src="/ox-hugo/wang16_stewart_platform.png" caption="Figure 1: Stewart Platform" >}}
**Control**:
Combines:
- the FxLMS-based adaptive inverse control => suppress transmission of periodic vibrations
- direct feedback of integrated forces => dampen vibration of inherent modes and thus reduce random vibrations
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Force Feedback (Figure [2](#org1b645a1)).
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- the force sensor is mounted **between the base and the strut**
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<a id="org1b645a1"></a>
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{{< figure src="/ox-hugo/wang16_force_feedback.png" caption="Figure 2: Feedback of integrated forces in the platform" >}}
Sorts of HAC-LAC control:
- LAC: Decentralized integral force feedback
- HAC: Inertial control using accelerometers. Use of the Jacobian to decouple the motion and then Fx-LMS based adaptive control is used
**Experimental validation**:
- All 6 transfer function from actuator force to force sensors are almost the same (gain offset)
- Effectiveness of control methods are shown
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## Bibliography {#bibliography}
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<a id="org89f2008"></a>Wang, Chaoxin, Xiling Xie, Yanhao Chen, and Zhiyi Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” _Journal of Sound and Vibration_ 383 (November). Elsevier BV:119. <https://doi.org/10.1016/j.jsv.2016.07.021>.