Journal of South China University of Technology(Natural Science) >

2015 , Vol. 43 >Issue 6: 56 - 62,70

DOI: https://doi.org/10.3969/j.issn.1000-565X.2015.06.009

Mechanical Engineering

Control Strategy of Modal Space for a Hydraulically-Driven Stewart Platform Considering Passive Joint Damping

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  • School of Mechatronics Engineering，Harbin Institute of Technology，Harbin 150001，Heilongjiang，China
田体先(1985-)，男，博士生，主要从事并联机构、液压伺服系统研究． E-mail: tiantixian@163． com

Received date: 2014-10-08

  Revised date: 2015-01-22

  Online published: 2015-05-04

Supported by

Supported by the National Natural Science Foundation of China(50975055，51175100)

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Abstract

In order to overcome the system over-damping caused by the conventional hinged form commonly-used in parallel manipulators in industry，a modal space controller with positive pressure feedback is presented． In this controller，the highly-coupled multiple-input multiple-output systems in the physical space are transformed into six independent single-input single-output decoupled systems in the modal space，and the positive pressure feedback technology is employed to tune each degree of freedom (DOF) with over-damping independently and to broaden the bandwidth of each DOF to the eigenfrequencies． In the investigation，first，the influence of passive joint damping on the control characteristics of a hydraulically-driven Stewart platform is analyzed based on the modal decoupling theory． Then，the structure and the design method of the modal space controller with pressure feedback are presented． Finally，an experiment is carried out to testify the effectiveness of the proposed controller． The results indicate that the designed modal space controller effectively broadens the system bandwidth，thus reducing the coupling effect between each two DOFs and improving the response speed．

Key words： passive joint damping; modal space control; Stewart platform; positive pressure feedback

Cite this article

Tian Ti-xian Jiang Hong-zhou Huang Qi-tao He Jing-feng Tong Zhi-zhong Nie Bo-xun . Control Strategy of Modal Space for a Hydraulically-Driven Stewart Platform Considering Passive Joint Damping[J]. Journal of South China University of Technology(Natural Science), 2015 , 43(6) : 56 -62,70 . DOI: 10.3969/j.issn.1000-565X.2015.06.009

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