CLC number: TP242.2
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2010-08-31
Cited: 12
Clicked: 10850
Qiang Meng, Tao Zhang, Jing-feng He, Jing-yan Song, Jun-wei Han. Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor[J]. Journal of Zhejiang University Science C, 2010, 11(10): 751-761.
@article{title="Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor",
author="Qiang Meng, Tao Zhang, Jing-feng He, Jing-yan Song, Jun-wei Han",
journal="Journal of Zhejiang University Science C",
volume="11",
number="10",
pages="751-761",
year="2010",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.C0910714"
}
%0 Journal Article
%T Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor
%A Qiang Meng
%A Tao Zhang
%A Jing-feng He
%A Jing-yan Song
%A Jun-wei Han
%J Journal of Zhejiang University SCIENCE C
%V 11
%N 10
%P 751-761
%@ 1869-1951
%D 2010
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C0910714
TY - JOUR
T1 - Dynamic modeling of a 6-degree-of-freedom Stewart platform driven by a permanent magnet synchronous motor
A1 - Qiang Meng
A1 - Tao Zhang
A1 - Jing-feng He
A1 - Jing-yan Song
A1 - Jun-wei Han
J0 - Journal of Zhejiang University Science C
VL - 11
IS - 10
SP - 751
EP - 761
%@ 1869-1951
Y1 - 2010
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.C0910714
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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