Payload Pointing and Active Vibration Isolation Using Hexapod Platforms
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This paper presents the recent implementation of pointing and vibration isolation techniques on hexapods at the Spacecraft Research and Design Center (SRDC) of Naval Postgraduate School (NPS). The center has two hexapod platforms: Ultra Quiet Platform (UQP) and Precision Pointing Hexapod (PPH). For vibration isolation, the Multiple Error Least Mean Square (LMS) Algorithm, the Clear Box Algorithm, and the Adaptive Disturbance Canceller have been implemented on either or both platforms and several enhancements have been made to various versions of the Clear Box Algorithm. All algorithms – including the Multiple Error LMS Algorithm, the Time Domain Clear Box Sin/Cosine Algorithm, the Time Domain Clear Box Adaptive Basis Algorithm, the Frequency Domain Clear Box Algorithm, and Adaptive Disturbance Canceller algorithm – achieved under various situations the performance as good as nearly two orders of magnitude on the reduction of narrowband vibrations. The theories of these vibration isolation algorithms and a simple yet effective compensator for the hexapod pointing are presented with experimental results. The advantages, the disadvantages, and the conditions under which each vibration isolation algorithm may be best applied were also given.
The article of record as published may be found at http://dx.doi.org/10.2514/6.2003-1643
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