Modal Space Control for a Hydraulically Driven Stewart Platform

Hongzhou Jiang; Jingfeng He; Zhizhong Tong
July 2012
Journal of Control Engineering & Technology;Jul2012, Vol. 2 Issue 3, p106
Academic Journal
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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