Simulation of a Stewart Platform Based Multi-Axial Vibration Isolation System Using Decentralized Displacement Feedback Control

This paper presents the effects of different control strategies on the performance of a six-axis active vibration isolation system based on Stewart platform mechanism and working on a decentralized displacement feedback control. A solid rigid body model with frictionless joints of the Stewart platform was developed in MSC ADAMS 10 software and six independent control loops in each of the six legs were employed for active vibration isolation. The transfer functions defined between the accelerations of the CG of the base platform and moving platform was used to assess the effectiveness of the system with respect to integral and integral plus proportional control laws. An isolation of up to 30 dB with integral control and up to 40 dB with integral plus proportional control is demonstrated along with significant corner frequency variation of the system.