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 +++

Tags
[Stewart Platforms]({{< relref "stewart_platforms" >}}), [Vibration Isolation]({{< relref "vibration_isolation" >}}), [Flexible Joints]({{< relref "flexible_joints" >}})
Reference
(Wang et al. 2016)
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.

{{< 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

Force Feedback (Figure 2).

  • the force sensor is mounted between the base and the strut

{{< 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

Bibliography

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.