A real-time Linux based controller for active vibration isolation Stewart platform and the experiment

摘要

Optical or laser equipment which are used on land vehicles or airplanes require high capacity of vibration isolating, and the Stewart platform which has six degrees of freedom can provide a reasonable effect of vibration isolating. This paper provides a Stewart platform vibration isolating control system which is based on RTAI(Real Time Application Interface), a real time Linux expand. The vibration isolating control algorithm is filtered-X adaptive inverse control method. A hydraulic drive Stewart platform is used in the vibration isolating experiments. The experiments show that the platform can isolate up to 90% disturbance from the base under 4∼20Hz horizontal and vertical sinusoidal vibration experiments. The experiments of 5∼15Hz random vibration isolating show that the peak amplitude of the random vibration is attenuated by 76.5% and 75.0% in horizontal and horizontal vibration experiments respectively.