The evaluation of two methods for active vibration damping using RUS Hexapod platform

Abstract

This paper presents a study on active vibration Isolation using RUS (revolute joint, universal joint, spherical joint) structure of Stewart platform, as it is less expensive and easier to build than PSS (prismatic joint, spherical joint, spherical joint) structure, which is used a lot in this field. Two control methods are proposed; the fuzzy logic method and the adaptive feed forward control method with multiple error least mean square. Results are evaluated using the SimMechanics toolbox under Matlab 2014 with white noise signals to simulate vibrations. In addition, practical measured accelerations are applied and results are evaluated. Both strategies use a proportional–integral–derivative (PID) controller in parallel to control displacements of the Hexapod as vibrations at low frequencies generate high variations in displacements. The results prove that using a Hexapod with RUS structure can degrade vibrations and guarantee a good behavior for many applications, which is the main aim of this research.