Dynamics and Control of Piezoelectric- Based Stewart Platform for Vibration Isola- Tion

This paper presents a study on dynamics modeling and control system design of a stewart platform using piezoelectric actuators, which has been developed at the Spacecraft Dynamics Control and Navigation Laboratory (SDCNLab), York University for vibration isolation. As an efficient mechanism of six degree-of-freedom (6-DOF), stewart platform is capable of isolating vibration of wide band range, which is of essence in vibration control of aerospace structures. In this paper, the dynamics model of piezoelectric stewart platform in cubic configuration is first studied. In order to achieve the vibration isolation using the platform, a PD feedback control law, as well as a force and acceleration feedback control law, derived from the kinetic relation between attitudes of platform and elongation of piezoelectric actuators are discussed. Finally, simulations are conducted and the results verify the effectiveness of vibration isolation controllers.