Research on Control of Stewart Platform Integrating Small Attitude Maneuver and Vibration Isolation for High-Precision Payloads on Spacecraft
Weichao Chi, He Ma, Caihua Wang, Tianyu Zhao
Abstract
The Stewart platform, a classical mechanism proposed as the parallel operation apparatus of robots, is widely used for vibration isolation in various fields. In this paper, a design integrating both small attitude control and vibration isolation for high-precision payloads on board satellites is proposed. Our design is based on a Stewart platform equipped with voice-coil motors (VCM) to provide control force over the mechanism. The coupling terms in the dynamic equations of the legs are removed as the total disturbance by the linear active disturbance rejection control (LADRC). Attitude maneuver and vibration isolation performance is verified by numerical simulations.
Topics & Concepts
Stewart platformVibration isolationSpacecraftAttitude controlIsolation (microbiology)Voice coilMechanism (biology)VibrationControl theory (sociology)EngineeringActuatorAerospace engineeringVibration controlControl engineeringComputer scienceElectromagnetic coilControl (management)AcousticsPhysicsElectrical engineeringArtificial intelligenceKinematicsQuantum mechanicsBiologyMicrobiologyClassical mechanicsVibration Control and Rheological FluidsDynamics and Control of Mechanical SystemsControl and Dynamics of Mobile Robots