Mechatronics design of response enhancement of Stewart fine tuning platform for the square kilometer array

For the rapid response requirement of the trajectory tracking of the next generation large radio telescope-square kilometer array (SKA), a mechatronics design strategy using homogeneous electrorheological (ER) damper to enhance the response of Stewart fine tuning platform is proposed in this paper. The viscosity-variable homogeneous ER damper is directly attached on the ram of the linear actuator to tune the additional damping of the actuator controlled system, so that the large gain coefficient can be used to enhance the response of Stewart fine tuning platform. The position PD controller design methodology is proposed based on this mechatronics strategy using conventional pole assignment technique, and the relationship between the ER damping coefficient and the bandwidth of linear actuator control system is presented. The simulation results have verified the effectiveness of this mechatronics design strategy, the designed controlled actuator system based on this mechatronics strategy has large gain coefficient and favorable performance over the conventional designed one, which have laid a solid base for the engineering implementation of the SKA.

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