Stewart机构大幅主动减振耦合控制实验研究.pdfVIP

Stew art Stewart 周 潜 綦 麟 张 辉 段广洪 清华大学, 北京, 100084 : 以大射电望远镜馈源减振实验平台为基 , 研究将Stewart 机构作为大幅多自由度 主动减振机构的控制问题提出了基于Stewart 机构运动学的控制方案两级耦合控制实验 的结果得出了控制精度与馈源运动速度之间的关系, 证明了该控制方案可以满足FA ST 需要 的减振精度要求 : Stewart ; ; ; FAST :T P242 : 1004 132(2005) 18 1599 05 Experiments on Active Large- amplitude Vibration Control of a Coupled Stewart Platform Zhou Qian Qi in Zhang Hui Duan Guanghong T singhua U niversity, Beijing, 100084 Abstract: T his paper studied the Stewart platform for active large- amplitude vibration control. The problem arised from a large radio telescope in which the astronomical equipment was mounted on a platform to be stabilized by adjusting six scalable actuators, while the base platform of the mecha nism itself was carried by a vibration cable- car that moves along flexible cables. T he characteristics of the Stewart platform in this application are that the two platforms are coupled. The control law based on kinematics of the Stewart platform was presented. The relations between the location errors and the speed of the feed had been analyzed based on the experimental results. T he control law can satisfy the requirements of FA ST . Key words: Stewart mechanism; active vibration control; kinematics; FAST 0 引言 FAST (five hundred meter aperture Stewart , spherical radio telescope) FAST 1 实验系统 , FAST , ( 50cm) , ( ) , Stewart , , , ( 40mm) [ 1, 2] 1. 1 Stewart ,