Title :
Hammerstein-Wiener model research for a Stewart platform
Author :
Xuewei Wang ; Wensheng Zhang ; Baolin Wu
Author_Institution :
Res. Center of Precision Sensing & Control, Instn. of Autom., Beijing, China
Abstract :
The Hammerstein-Wiener model for the Stewart platform driven by a DC motor is formulation, meanwhile the model´s parameters are identified by experiments. By comparing the identification results of ARX model and Ham-merstein-Wiener model, it concludes that the Hammer-stein-Wiener model can describe the actual system´s movement more accurately. The accuracy of the established Hammer-stein-Wiener model is proved by Stewart platform´s single-degree of freedom (DOF) movement experiments in low frequency and small-scale (0-5 mm) range. Experimental studies show that the established model can accurately track the movement of Stewart platform. The Hammerstein-Wiener model of the Stewart platform provides a new method for the use of the Stewart platform in practical project.
Keywords :
DC motors; modelling; ARX model; DC motor; DOF movement; Hammerstein-Wiener model research; Stewart platform; model parameters; single-degree of freedom movement;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-2125-9
DOI :
10.1109/ROBIO.2012.6491307