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An Active Vibration Isolation Control Method for Stewart Platform Based on Backstepping Sliding Mode Technology

A back-step sliding mode and control method technology, applied in the aerospace field, can solve the problems of no high-frequency modal analysis, the vibration attenuation time needs to be improved, etc., and achieve the effects of high interference suppression capability, good robustness, and high control accuracy.

Active Publication Date: 2018-04-24
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control algorithm has a good suppression effect on the vibration of the low frequency mode, but the vibration of the high frequency mode was not analyzed during the experiment, and the vibration attenuation time needs to be improved

Method used

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  • An Active Vibration Isolation Control Method for Stewart Platform Based on Backstepping Sliding Mode Technology
  • An Active Vibration Isolation Control Method for Stewart Platform Based on Backstepping Sliding Mode Technology
  • An Active Vibration Isolation Control Method for Stewart Platform Based on Backstepping Sliding Mode Technology

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specific Embodiment approach 1

[0035] Specific embodiment one: a kind of Stewart platform active vibration isolation control method based on backstepping sliding mode technology of the present embodiment, concrete steps are as follows:

[0036] Step 1: Establish the kinematics and dynamics model of the Stewart platform;

[0037]Step 2: Calculate the state space of the Stewart platform;

[0038] Step 3: Design a backstepping sliding mode controller according to the state space of the Stewart platform;

[0039] According to the state space of the Stewart platform, the backstepping sliding mode controller is designed as follows:

[0040]

[0041] Among them, u=[u 1 ,u 2 ,...,u 6 ] T ,u i (i=1,...,6) is the control law, that is, the expression of the backstepping sliding mode controller, B∈R 6×6 is the damping matrix of the Stewart platform, A represents the coefficient matrix of the platform, x=[x 1 ,x 2 ,x 3 ] T ,x 1 =χ, χ represents the generalized position vector of the upper platform; s is...

specific Embodiment approach 2

[0051] Specific embodiment two: this embodiment is different from specific embodiment one, described a kind of Stewart platform active vibration isolation control method based on backstepping sliding mode technology, it is characterized in that described step one establishes the kinematics of vibration isolation platform and a kinetic model:

[0052] The connection point between the upper platform of the Stewart platform and the 6 poles is the end device A i , i=1, 2, 3, the connection point between the lower platform and the 6 poles is B i , i=1, 2, 3; {B} is the inertial reference coordinate system fixedly connected to the lower platform, the origin of {B} coincides with the center of mass of the lower platform, {P} is the reference coordinate system of the moving platform; r base is the origin of {B} to the base connection point B i The radial distance of r end is the origin of {P} to the base connection point A i radial distance;

[0053] The transformation matrix exp...

specific Embodiment approach 3

[0095] Specific embodiment three: this embodiment is different from specific embodiment one or two, described a kind of Stewart platform active vibration isolation control method based on backstepping sliding mode technology, it is characterized in that described step 2 calculates the state of Stewart platform space:

[0096] According to the formula (20) as make x 1 = x, The state space representation of the Stewart platform is obtained as shown in formula (21):

[0097]

[0098]

[0099] in

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Abstract

The invention relates to an active vibration isolation control method for a Stewart platform based on backstepping sliding mode technology, and belongs to the field of aerospace. The invention provides an active vibration isolation control method for the Stewart platform based on the backstepping sliding mode technology for solving the vibration isolation problem of sensitive loads. The specific steps include: step 1, by establishing the kinematics and dynamics model of the Stewart platform; step 2, calculating the state space of the Stewart platform; step 3, designing a backstepping sliding mode controller according to the state space expression; The stability of the sliding mode controller. The method of the invention has the advantages of high control precision and good robustness.

Description

technical field [0001] The invention belongs to the aerospace field, and in particular relates to an active vibration isolation control method for a Stewart platform based on backstepping sliding mode technology. Background technique [0002] In the aerospace field, many high-precision instruments and equipment need a relatively stable environment during use, so it is inevitable to face the problem of vibration isolation. The quality of vibration isolation performance determines the performance of the instrument. In the face of increasingly complex external environment and performance requirements, passive vibration isolation has been difficult to meet the demand. Compared with passive vibration isolation, the active vibration isolation system has high precision, fast response and excellent vibration isolation performance. In active vibration isolation, the Stewart platform is one of the widely studied vibration isolation systems. It is a parallel mechanism with 6 degrees o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 李传江孙延超高寒马晶晶常雅杰马广富
Owner HARBIN INST OF TECH
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