The paper describes identification and a new parameter-varying decoupling method for a 3-degree-of-freedom (DOF) platform with a manipulator on top of it, which is magnetically levitated by 9 voice-coil actuators. The identification has been performed in closed-loop using two different indirect approaches. In the first approach time-domain data of the system were processed using Ho-Kalman algorithm. The second approach was based on frequency-response measurements. The 3 DOFs of the platform are coupled and the coupling is even varying as the manipulator on top is moving. In order to design separate SISO controllers for each DOF of the platform, a new decoupling method has been developed which uses frequency response measurements of the system obtained for different positions of the manipulator.
|Title of host publication||International Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2008 : SPEEDAM 2008 ; Ischia, 11 - 13 June 2008|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2008|