Simultaneous micropositioning and microvibration control of a magnetostrictive Stewart platform with synthesized strategy

Abstract

In this paper, we present a hybrid adaptive feedforward and feedback controller with hysteresis compensator on a magnetostrictive-actuated multi degree of freedom (DOF) positioning and vibration isolation integrated system (PVIIS). The PVIIS is custom-developed and based on “cubic” Stewart configuration. It is challenging to develop an effective controller to systematically address the issues of cross-coupling, strut hysteresis and dynamics for the PVIIS. Magnetostrictive asymmetric hysteresis leads to the loss of closed-loop output performance with conventional linear controller. To this end, a novel comprehensive controller is proposed in this paper. With the inverse kinematics analysis, the spatial motion of the mobile plate of the PVIIS is decoupled into the independent motions of six actuator struts. As for controlling the single strut of the PVIIS, the hybrid adaptive feedforward (AFF) and proportional–integral–derivative (PID) feedback controller with asymmetric hysteresis compensator (HC) is constructed. Among them, the AFF sub-controller is characterized by an adaptive finite impulse response (FIR) filter whose coefficients are updated by normalized least-mean squares (NLMS) algorithm. The PID feedback sub-controller is introduced to enhance the ability of positioning and vibration isolation. The arctangent-polynomial modified Prandtl–Ishlinskii (APMPI) model is used to build the inversion-based asymmetric hysteresis compensator. The experimental set-up is built. The positioning and vibration isolation experiments are conducted. Experimental studies show that the output performances are best with the proposed controller compared against sole AFF, hybrid AFF and PID controllers. With the proposed controller, the relative positioning error can maintain around 2.83% when the PVIIS performs 2-DOF rotation in the presence of 0.5 Hz disturbance.