Stewart Platform Vibration Isolation And Attitude Adjustment Integration Analysis

Aerospace technology has become a more and more rigid index to measure a country’s scientific and technological strength and has a wide range of USES.However,in the actual working environment of satellites,there are many disturbance sources,which have an impact on the attitude adjustment accuracy of satellite ontology.Stewart vibration isolation platform can effectively reduce the influence of disturbance source on the accuracy of satellite ontology.At present,there are few researches on low-frequency vibration isolation using Stewart vibration isolation platform,and there is a lack of analysis on the transmissivity of Stewart vibration isolation platform’s control attitude Angle,which is worth further study.In this paper,for the purpose of passive vibration isolation application,considering the mass of Stewart platform leg,the moment of inertia and the motion of the base platform,dynamic equations are established in the inertial coordinate system for the vibration isolation platform of two-parameter/three-parameter model,and the natural frequency distribution and transmissivity curves of different parameters are analyzed.At the same time,the attitude dynamic equation and attitude parameters of rigid body are derived.First,based on the general rigid body dynamics equation of space,considering the mass and inertia characteristics of the supporting leg in the inertial system coordinates,and considering the displacement excitation of the base platform,the dynamic equation of Stewart vibration isolation platform was established,and the natural frequency of the platform was analyzed.Secondly,in order to study the influence of external torque on attitude Angle control,a new Stewart vibration isolation platform model was designed,and the dynamic equation was established.Taylor expansion was carried out to isolate the nonlinear and high-order terms,and the motion characteristics of the linear system were analyzed.Finally,LQR control law of linear quadratic regulator is adopted to control the system.The model of the control system is established by using Simulink module in Matlab.The simulation is carried out and the attitude control efficiency under different parameters is compared.