关键词: 关键词： 自适应控制器, 鲁棒性, Stewart平台, 低频激励

Abstract: Abstract：The Stewart platform is used to simulate the microvibration environment in space. The lowfrequency control of microvibration generation is conducted based on the platform. The parameters are tuned repeatedly to get a satisfied performance of the system in the traditional fixedgain controllers. Meanwhile, the nonlinear phenomenon caused by the friction makes it difficult to build an accurate system model. With the problems described above, it is difficult to design the controller for the system. To solve the problems, an adaptive controller is presented. Due to the sensitivity of nonparameter uncertainties, the deadzone technique is used to modify the adaptive laws to improve the robustness. The algorithm is applied to the multidegree microvibration excitation control system. The experimental results show that the platform can generate lowfrequency sinusoidal signal excitations in both onedegree and multidegree direction. The experimental results verify that the method is applicable for practical engineering problems.

Key words: Keywords：adaptive controller, robustness, Stewart platform, lowfrequency excitation