Stewart Platform - Active Damping
Table of Contents
1 Inertial Control
1.1 Simscape Model
open('simulink/stewart_active_damping.slx')
1.2 Initialize the Stewart model
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3); stewart = generateCubicConfiguration(stewart, 'Hc', 40e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3); stewart = computeJointsPose(stewart); stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1)); stewart = computeJacobian(stewart);
1.3 Identification of the Dynamics
%% Options for Linearized options = linearizeOptions; options.SampleTime = 0; %% Name of the Simulink File mdl = 'stewart_active_damping'; %% Input/Output definition clear io; io_i = 1; io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; io(io_i) = linio([mdl, '/WVB'], 1, 'openoutput'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1; %% Run the linearization G = linearize(mdl, io, options); G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}; G.OutputName = {'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz', ... 'D1', 'D2', 'D3', 'D4', 'D5', 'D6'};
1.4 Analysis
freqs = 2*pi*logspace(1, 4, 1000); figure; bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs) figure; bode(stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
figure; bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
1.5 Conclusion
It is similar to use:
- one 6dof inertial sensor and the Jacobian the have the velocity of each lim
- 6 1dof inertial sensor in each top part of the limbs