抄録
Stewart platform in cubic configuration is of great application in the prospect of vibration control. However, the twist and torque between the conjunction of the strut and plate and the special characteristics of piezo would enhance the nonlinearity of cubic configuration, and influence the tracking accuracy and efficiency of the platform. Therefore, in this paper, an adaptive control based on least-square identification method of the dynamics model of piezoelectric Stewart Platform is proposed. Regarding that the force matrix can represent all the nonlinear influence and the real model can be identified accurately, the controller is designed to replace the original force matrix of the linear model of the cubic configuration with the identification outcome. Then simulation is implemented to confirm the feasibility of this method. Results show that the adaptive control law is able to remedy the influence of nonlinearity of the dynamic model and be efficient in isolation vibration.
