Algorithms for active vibration isolation on spacecraft using a Stewart platform

摘要

This paper presents the recent development in algorithms for active vibration isolation on spacecraft using a Stewart platform. The multiple error least mean square (LMS) algorithm and the clear box algorithm have been implemented on these platforms and several enhancements have been made to the clear box algorithm. Based on experimental results, it is concluded that the multiple error LMS algorithm is preferred for vibration isolation when a disturbance correlated signal is available. In the absence of such a signal, the clear box algorithm is the method of choice. Among the implementations of the clear box algorithm, the sine/cosine method is preferred for handling time-invariant disturbance frequencies, the adaptive method for rapidly varying disturbance frequencies, and the frequency-domain method for a large number of time invariant disturbance frequencies.