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

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 mot...

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Bibliographic Details
Published in:Frontiers of information technology & electronic engineering 2010-10, Vol.11 (10), p.751-761
Main Authors: Meng, Qiang, Zhang, Tao, He, Jing-feng, Song, Jing-yan, Han, Jun-wei
Format: Article
Language:English
Subjects:
Actuators
Back electromotive force
Communications Engineering
Computer Hardware
Computer Science
Computer Systems Organization and Communication Networks
Degrees of freedom
Dynamic control
Dynamic models
Dynamical systems
Dynamics
Electrical Engineering
Electromotive forces
Electronics and Microelectronics
Equivalence
Inertia
Instrumentation
Mathematical models
Motors
Networks
Permanent magnets
Platforms
Real time
Snails
Synchronous motors
Torque
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Summary: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.
ISSN:1869-1951
2095-9184
1869-196X
2095-9230
DOI:10.1631/jzus.C0910714