Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor

Qiang MENG; Tao ZHANG; Jing-feng HE; Jing-yan SONG; Jun-wei HAN

doi:10.1631/jzus.C0910714

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Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor

计算机与自动化 | Updated：2022-08-31

- Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor
- Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor
- 信息与电子工程前沿（英文） 2010年11卷第10期页码：751-761
- Affiliations：
  
  1.Department of Automation, Tsinghua University, Beijing 100084, China
  2.School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China
- Author bio：
  
  E-mail:meng-q09@mails.tsinghua.edu.cn
- Funds：
- DOI：10.1631/jzus.C0910714
  中图分类号：
- 收稿：2009-11-18，
  
  修回：2010-08-31，
  
  录用：2010-03-23，
  
  纸质出版：2010-10
- Accepted：
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Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor[J]. 信息与电子工程前沿（英文）, 2010,11(10):751-761.

Qiang MENG, Tao ZHANG, Jing-feng HE, et al. Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor[J]. Frontiers of Information Technology & Electronic Engineering, 2010, 11(10): 751-761.
Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor[J]. 信息与电子工程前沿（英文）, 2010,11(10):751-761. DOI： 10.1631/jzus.C0910714.

Qiang MENG, Tao ZHANG, Jing-feng HE, et al. Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor[J]. Frontiers of Information Technology & Electronic Engineering, 2010, 11(10): 751-761. DOI： 10.1631/jzus.C0910714.

摘要

Abstract

For an electrical six-degree-of-freedom Stewart platform

it is difficult to compute the equivalent inertia of each motor in real time

as the inertia is time-varying. In this study

an analysis using Kane’s equation is undertaken of the driven torque of the movements of motor systems (including motor friction

movements of motor systems along with the actuators

rotation around axis of rotors and snails)

as well as driven torque of the platform and actuators. The electromagnetic torque was calculated according to vector-controlled permanent magnet synchronous motor (PMSM) dynamics. By equalizing the driven torque and electromagnetic torque

a model was established. This method

taking into consideration the influence of counter electromotive force (EMF) and motor friction

could be applied to the real-time dynamic control of the platform

through which the calculation of the time-varying equivalent inertia is avoided. Finally

simulations with typically desired trajectory inputs are presented and the performance of the Stewart platform is determined. With this approach

the multi-body dynamics of the electrical Stewart platform is better understood.

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