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• W4320802885 abstract "In this paper, we present a hybrid coupled FxNLMS feedforward and integral-derivative feedback controller to realize precision positioning and microvibration isolation with a Stewart platform. It is challenging to develop an effective multi-input-multi-output (MIMO) controller for the multi-dimensional positioning and vibration isolation integrated system (PVIIS). Strut nonuniformity may lead to accuracy loss with decoupled control approach. To address this issue, we study the coupled feedforward control approach based on adaptive FxNLMS algorithm. The proposed controller is a MIMO controller whose non-diagonal elements of the transfer function matrix represent the cross-coupling dynamics- the strut nonuniformity can be compensated by those elements. The whole elements in transfer function matrix of the proposed controller are characterized by FIR models. The coefficients of the FIR-based controller are updated by normalized-least-mean-squares (NLMS) algorithm in real-time. To enhance the vibration isolation ability ofthe PVIIS, a integral-derivative feedback controller is further incorporated. Experimental studies show that the positioning accuracies of the coupled feedforward controller are much better than those of the decoupled. With the proposed hybrid controller, the relative positioning errors can maintain under 1.90% even if the PVIIS undergoes the narrow-band and wide-band vibration disturbances." @default.
• W4320802885 created "2023-02-15" @default.
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• W4320802885 date "2022-08-15" @default.
• W4320802885 modified "2023-09-26" @default.
• W4320802885 title "Hybrid Micropositioning and Microvibration Isolation Control of a Multi-DOF Stewart Platform" @default.
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• W4320802885 doi "https://doi.org/10.1109/ccdc55256.2022.10034262" @default.
• W4320802885 hasPublicationYear "2022" @default.
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