Publication detail

Controller implementation of the Stewart platform linear actuator

ANDRŠ, O. BŘEZINA, T.

Original Title

Controller implementation of the Stewart platform linear actuator

Czech Title

Implementace řízení aktuátoru Stewartovy platformy

English Title

Controller implementation of the Stewart platform linear actuator

Type

conference paper

Language

en

Original Abstract

This article presents a simple and efficient approach to the control simulation, implementation and verification of a linear actuator which is a part of a Stewart platform. The proposed method is based on the state - space control with an input integrator. The controller itself combines structures of a position and a velocity control. Switching between the position and the velocity controller is realized according to desired and real position. The whole controller design is based on a linear state-space model of the actuator with the disturbance. The control system itself is implemented in NI LabVIEW software environment from where it is possible to control the constructed prototype through a real-time computer.

Czech abstract

Tento článek se zabývá návrhem řízení a simulací jednoho ramena Stewartovy platformy.

English abstract

This article presents a simple and efficient approach to the control simulation, implementation and verification of a linear actuator which is a part of a Stewart platform. The proposed method is based on the state - space control with an input integrator. The controller itself combines structures of a position and a velocity control. Switching between the position and the velocity controller is realized according to desired and real position. The whole controller design is based on a linear state-space model of the actuator with the disturbance. The control system itself is implemented in NI LabVIEW software environment from where it is possible to control the constructed prototype through a real-time computer.

Keywords

Stewart platform, parallel mechanism, controller implementation, linear actuator

RIV year

2010

Released

20.10.2010

Publisher

DAAAM International Vienna

Location

Vienna

ISBN

978-3-901509-73-5

Book

Annals of DAAAM for 2010 & Proceedings of the 21st International DAAAM Symposium "Intelligent Manufacturing & Automation : Focus on Interdisciplinary Solutions"

Pages from

1357

Pages to

1358

Pages count

2

BibTex


@inproceedings{BUT35022,
  author="Ondřej {Andrš} and Tomáš {Březina}",
  title="Controller implementation of the Stewart platform linear actuator",
  annote="This article presents a simple and efficient approach to the control simulation, implementation and verification of a linear actuator which is a part of a Stewart platform. The proposed method is based on the state - space control with an input integrator. The controller itself combines structures of a position and a velocity control. Switching between the position and the velocity controller is realized according to desired and real position. The whole controller design is based on a linear state-space model of the actuator with the disturbance. The control system itself is implemented in NI LabVIEW software environment from where it is possible to control the constructed prototype through a real-time computer.",
  address="DAAAM International Vienna",
  booktitle="Annals of DAAAM for 2010 & Proceedings of the 21st International DAAAM Symposium "Intelligent Manufacturing & Automation : Focus on Interdisciplinary Solutions"",
  chapter="35022",
  howpublished="print",
  institution="DAAAM International Vienna",
  number="1",
  year="2010",
  month="october",
  pages="1357--1358",
  publisher="DAAAM International Vienna",
  type="conference paper"
}