Abstract
The Stewart platform, a classical mechanism proposed as the parallel operation apparatus of robots, is widely used for vibration isolation in various fields. In this paper, a design integrating both small attitude control and vibration isolation for high-precision payloads on board satellites is proposed. Our design is based on a Stewart platform equipped with voice-coil motors (VCM) to provide control force over the mechanism. The coupling terms in the dynamic equations of the legs are removed as the total disturbance by the linear active disturbance rejection control (LADRC). Attitude maneuver and vibration isolation performance is verified by numerical simulations.
Highlights
Spacecraft performing specific detection or communication tasks always have strict requirements for the attitude of the payload, which mainly include attitude maneuver and stability
The Stewart platform was first proposed by Stewart as a six degree-of-freedom flight simulator [5], which was soon applied to the parallel operation mechanism of robots
In the past 20 years, the Stewart platform has gradually been applied to vibration isolation systems [8,9,10]
Summary
Spacecraft performing specific detection or communication tasks always have strict requirements for the attitude of the payload, which mainly include attitude maneuver and stability. An application of a typical Stewart platform can be seen in the vibration isolation system developed by Hood Technology and the University of Washington [11] It adopts a cubic configuration of six-axis active vibration isolation with flexible hinges and a large stroke voice coil actuator. A lot of work has been conducted on the research of attitude maneuver and vibration isolation integrated structures, few associate control coefficients with dynamic characteristics. By using a general six degree-of-freedom (DOF) Stewart platform, the resonance problem is solved collaboratively from two aspects: structure improvement and control compensation. This solution does not need to adjust the attitude of the entire spacecraft so the payload attitude can be adjusted very fast with less energy consumption. The dynamic of the platform is analyzed by a simulation and the influence of the control coefficients on system bandwidth is discussed
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