Vibration isolation of the flexibly supported Stewart platform using adaptive interactive PID control
柔性支撑Stewart平台自适应交互PID隔振控制

To achieve the required precision in position and orientation for the feeding platform of a 500m aperture spherical radio telescope(FAST), we employ a tracking-prediction control based on the kinematics theory of parallel mechanisms to track and predict the motion of the flexibly supported base of the Stewart platform. Adaptive interactive PID controllers, which utilize the adaptive interactive algorithm to adjust the parameters of the conventional PID controller, are developed for controlling the joint space of the Stewart platform. Based on the modern mechatronic system simulation strategy, the simulation of the dynamics and control of the vibration isolation system in a flexibly supported Stewart platform vibration is conducted. The results show that the adaptive interactive PID controller has superior effects in vibration isolation control over the canonical PID controllers, and satisfy the specifications for the vibration isolation control.