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Modal Space Control for a Hydraulically Driven Stewart Platform

Journal Name:

  • Journal of Control Engineering and Technology

Publication Year:

  • 2012

Key Words:

Author Name
Abstract (2. Language): 
A novel modal space controller is developed for hydraulically-driven Stewart platforms. By exploiting properties of the joint-space inverse mass matrix of hydraulically driven Stewart platforms, through a mapping of the control and feedback variables from the joint space to the decoupling modal space, the new method transforms the highly coupled six-input six-output dynamics into six independent single-input singleoutput (SISO) 1-DOF hydraulically driven mechanical systems. On the basis of the conventional joint space controller, a novel modal space control concept leads to a design method of modal space control with dynamic pressure feedback, which is used to solve the problem that the conventional controller could not make a damping on each degree of freedom separately. Simulation results indicate that the proposed controller is practical and yields good performance.
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  • 3
106-115
  • English

REFERENCES

References: 

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Journal of Control Engineering and Technology (JCET)
JCET Vol. 2 Iss. 3 July 2012 PP. 106-115 www.ijcet.org ○C World Academic Publishing
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