基于Stewart平台微振动主动控制分析与实验

以压电棒为主动元件构建立方体Stewart隔振平台,采用基于DSP的数字控制系统和Fx-LMS自适应算法进行振动控制。对输入输出通道辨识方法和主动控制模块进行测试,并给出隔振平台隔振效果验证。实验结果表明,对于10 Hz~100 Hz范围内的单频干扰,可实现24 d B以上抑制效果,对于双频干扰,也具有良好的控制效果。

Analysis and Experiment of Micro-vibration Active Control Based on a Stewart Platform

With piezoelectric stack as an active element, a cubic configuration of Stewart platform is proposed in this paper. The control system is based on DSP and an Fx-LMS method is adopted to suppress the foundation vibration. The tests of input,output,system identification,control module is presented. The experiment is carried out to verify the effect of the Stewart platform. The results show that from 10 Hz to 100 Hz, the Stewart platform is able to achieve 24 dB attenua-tions under the tonal disturbance,the platform also performs good under mixed disturbance.