A Precise Identification and Control Method for the 6D Micro-Vibration Exciting System

Purpose A precise identification and control method for the 6D micro-vibration exciting system is proposed in this paper. The controlled object is a Stewart configuration platform, which can provide six degree-of-freedom (6DOF) micro-vibration excitation excited by six actuating legs. Methods In view of the amplitude nonlinearity in this kind of exciting system, a nonlinearly iterative identification method is introduced to establish an inverse model to decouple the system in different levels of magnitude. For the decoupled system, a multi-input multiple-output (MIMO) adaptive disturbance cancellation (ADC) control method is proposed for the time domain control of the exciting system. Furthermore, the feedforward control loop is added to MIMO ADC control method to improve the rapidity and stability of the control system. Results Experiments show that the nonlinearly iterative identification method can greatly improve the decoupling accuracy of the system, and then improve the accuracy of sinusoidal vibration control. Conclusion The precise identification and control method can achieve sinusoidal vibration control of high precision in the control frequency band up to 300 Hz.