- Library Home /
- Search Collections /
- Open Collections /
- Browse Collections /
- UBC Theses and Dissertations /
- Modeling, simulation, and control of a Stewart platform
Open Collections
UBC Theses and Dissertations
UBC Theses and Dissertations
Modeling, simulation, and control of a Stewart platform Li, Daming
Abstract
This thesis describes the modeling, simulation, and control of an inverted, ceiling-mounted Stewart platform, which is designed to be a motion simulator. This hydraulically actuated Stewart platform is capable of providing 10 m/s2, 400 degree/s2 accelerations and 1 m/s, 30 degree/s speeds to a 250 kg payload. The issues of modeling and control of such a platform are addressed here. The inverse kinematics and forward kinematics are studied first. The platform rigid-body dynamics are derived based on the virtual work principle and then combined with the actuator dynamics to simulate the response of the Stewart platform given a pre-planned motion path. Design and implementation of the link-space controller are discussed and also validated using experimental data. Cartesian-space controllers are also addressed. Motion drive algorithms are finally addressed to complete the system's function as a motion simulator. When the controller is well tuned, the bandwidth of the system can reach about 9Hz along the vertical axis for a payload of about 140 kg.
Item Metadata
Title |
Modeling, simulation, and control of a Stewart platform
|
Creator | |
Publisher |
University of British Columbia
|
Date Issued |
1996
|
Description |
This thesis describes the modeling, simulation, and control of an inverted, ceiling-mounted
Stewart platform, which is designed to be a motion simulator. This hydraulically actuated
Stewart platform is capable of providing 10 m/s2, 400 degree/s2 accelerations and 1 m/s,
30 degree/s speeds to a 250 kg payload.
The issues of modeling and control of such a platform are addressed here. The inverse
kinematics and forward kinematics are studied first. The platform rigid-body dynamics are
derived based on the virtual work principle and then combined with the actuator dynamics to
simulate the response of the Stewart platform given a pre-planned motion path. Design and
implementation of the link-space controller are discussed and also validated using experimental
data. Cartesian-space controllers are also addressed. Motion drive algorithms are finally
addressed to complete the system's function as a motion simulator.
When the controller is well tuned, the bandwidth of the system can reach about 9Hz along
the vertical axis for a payload of about 140 kg.
|
Extent |
4405449 bytes
|
Genre | |
Type | |
File Format |
application/pdf
|
Language |
eng
|
Date Available |
2009-03-12
|
Provider |
Vancouver : University of British Columbia Library
|
Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
|
DOI |
10.14288/1.0065196
|
URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
|
Graduation Date |
1997-05
|
Campus | |
Scholarly Level |
Graduate
|
Aggregated Source Repository |
DSpace
|
Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.