Publication detail
Controller design of the Stewart platform linear actuator
BŘEZINA, T. BŘEZINA, L.
Czech title
Návrh regulátoru pro lineární pohon Stewartovy platformy
English title
Controller design of the Stewart platform linear actuator
Type
conference paper
Language
en
Original abstract
The article presents mechatronic approach to the control of a linear actuator of the Stewart platform. The proposed method is based on the state – space control with disturbance compensation. The controller itself has a structure with an input integrator and the disturbance compensation is provided by a torque observer. The whole controller design is based on a linear state-space model of the actuator with the disturbance.
Czech abstract
Článek se zabývá návrhem regulátoru pro lineární pohon Stewartovy platformy z mechatronického hlediska. Prezentovaná metoda je založena na stavovém modelu pohonu. Pracuje se stavovým regulátorem s kompenzací poruchy. Samotný regulátor je potom realizován strukturou s integrátorem na vstupu, kompenzace poruchy je zprostředkována momentovým pozorovatelem.
English abstract
The article presents mechatronic approach to the control of a linear actuator of the Stewart platform. The proposed method is based on the state – space control with disturbance compensation. The controller itself has a structure with an input integrator and the disturbance compensation is provided by a torque observer. The whole controller design is based on a linear state-space model of the actuator with the disturbance.
Keywords in Czech
Stewartova adresa, stavový regulátor, kompenzace poruchy
Keywords in English
Stewart platform, state-space controller, disturbance compensation
RIV year
2009
Released
18.11.2009
Publisher
Springer-Verlag Berlin Heidelberg
Location
Berlin
ISBN
978-3-642-05021-3
Book
Recent Advances in Mechatronics 2008-2009
Edition number
1
Pages from–to
341–346
Pages count
6
BIBTEX
@inproceedings{BUT32984,
author="Tomáš {Březina} and Lukáš {Březina},
title="Controller design of the Stewart platform linear actuator",
booktitle="Recent Advances in Mechatronics 2008-2009",
year="2009",
month="November",
pages="341--346",
publisher="Springer-Verlag Berlin Heidelberg",
address="Berlin",
isbn="978-3-642-05021-3"
}