Hexapod Intelligent Active Vibration Isolation Platform System

The precision instruments and system used on the space vehicles and missiles have high performance requirement for pointing, for example, the fixer/guidance system, optical instrument. But the vibration of the space vehicles and missiles will cause effect on the pointing precision of the payload. For this purpose, it is important to develop the vibration isolation systems.In this research, an intelligent active vibration isolation system named hexapod platform is described in detail. Can the platform be used for the high-precision vibration isolation on the spacecraft? A deep research and analysis is done. Because the system's structure is complex and has six-free-degree, it is hard to build the mathematic model. Then a new method, in which the ADAMS software is used to build the three-dimensional mechanical dynamic model, is used. In the process, in order to optimize the model, the parameters of the model are modified by analyzing the simulation results.A deep research and analysis is done for the actuator and controller. They are both the important assembly of the platform. The piezoelectric ceramics is chosen to be used as the actuator, and the piezoelectricity equations are given, and for more, the process of the derivation of the actuator equations is also given; the PID optimized control algorithm based on the linear quadratic regulator is used to control the platform system. The detailed analytic derivation is also given. Then the MATLAB/Simulink is used to build the mathematic model of the control algorithm.Then MATLAB and ADAMS are combined to do the dynamic simulation. The simulation results show the feasibility of the hexapod platform on the space vehicles for the high-precision vibrating isolation in the low frequency (2Hz-200Hz) .In the last, the whole research is summarized and some reasonable suggestions are presented.