Simulation and PID control of a Stewart platform with linear motor

作者：Sumnu Ahmet^*; Guzelbey Ibrahim Halil; Cakir Mehmet Veysel

来源：Journal of Mechanical Science and Technology, 2017, 31(1): 345-356.

DOI：10.1007/s12206-016-1238-7

• Stewart platform
• Linear motor
• Kinematic analysis
• Dynamic analysis
• PID controller

In this study, kinematic analysis, dynamic analysis, simulation and control of Stewart platform with linear motor are presented. Using inverse kinematic method velocity and acceleration equations are derived. Lagrange and Newton-Euler equations are used to carry out dynamic analysis. Especially, in dynamic analysis, the lower part of leg inertia is taken into account. The required forces for the each actuator are calculated using MATLAB according to planned trajectories of the moving platform. Dynamic simulation of the system is presented both with and without inertial effect of the lower part of leg. Results of the dynamic simulation show that the effect of the lower part inertia of leg is important to obtain more accurate result. PID control of Stewart platform is performed using MATLAB/Simulink. Transfer function of the linear motor is derived and block diagram is obtained in Simulink. Finally, case studies are performed to verify the developed control system.

• 出版日期2017-1