Stewart platform vibration isolation control method based on momentum compensation adaptive filter

摘要

This paper proposes a momentum compensation adaptive filter based on variable parameters. Aiming at the traditional adaptive filtering method, the problems of slow convergence and poor real-time performance are considered. The momentum term was added to the expression of the adaptive filter parameter update to compensate, and the algorithm step size was changed to adaptive form. Finally, the active vibration isolation verification was performed on the Stewart platform. The results show that this method can obtain better convergence speed. Especially for active vibration isolation systems with conventional vibration sources, this method has better vibration isolation effects.