Stability Study of Cable-Suspended Stewart Platform

The control stability of the end manipulator of a cable-suspended Stewart platform in disturbance was studied by combination of the multi-body system dynamics and control theory and the eigensystem realization algorithm (ERA). The corresponding closed-loop vibration control strategies were suggested based on position prediction with PD (proportional plus derivative) control.Numerical simulation was made on a scale model to study the vibration control effects of the stewart platform with flexible suspension, including system response to step load, system response to cyclic load, and instability. Then, experiments for Stewart platform with cable suspension were designed to study the actual control effects and validate the validity of numerical simulation. The results show that the experimental results agree with the simulation results well, and the the system has a fairly good control effect to the end manipulator. Therefore, a preliminary conclusion can be made that it is feasible using the Stewart platform as the vibration control platform of the flexible support system, by position prediction of the base platform and PD feedback control law.     

岸边集装箱起重机时变系统结构动力响应分析

起重机金属结构动力响应具有随时间变化的变质量、变刚度、变阻尼的时变系统特征。时变系统振动分析是普通有限元计算分析软件无法解决的。本文应用时变系统分析理论,建立起重机计算模型的运用方程,编制了相应的动力计算软件,计算了岸边集装箱起重机在小车运行过程中产生的时变响应,具有较高的实用性。