Stewart platform pneumatic control system development and characteristic research

Abstract

The paper presents the results of improving the Stewart platform control system by applying the second-order regulation law to pneumatic drive controllers and transformation of the actuating signal for the functioning of valves in the linear region of the flow characteristic. Methods of mathematical and numerical simulation using the software package MatLab/Simulink and AMESim are used to analyze the sufficiency of the measures proposed. Special attention is given to the analysis of the pneumatic drive dynamic characteristics. Dynamic characteristics of the pneumatic drive control system incorporated in the Stewart platform are calculated, which show the efficiency of the proposed methods of improvement. If the pneumatic drive is used as part of the Stewart platform the load in the output component can reach hundreds of kilograms, which makes it possible to use it both for dynamic tests of the systems and for positioning objects, for instance, mobile simulators.

Keywords

• stewart platform
• inverse kinematics
• coordinate system
• pva-control
• flow characteristics
• pneumatic drive
• trajectory control