All improved ADC method with feedforward for Hexapod vibration control

Considering the background of high stable precise tracking-pointing Hexapod platform vibration control, ADC (Adaptive Disturbance Canceller) method is analyzed, and then hidden problems are discovered. Firstly, when ADC method is used in structure vibration control, result may be not convergent. Secondly, control result may be affected because of phase lag caused by hardware. According to these two problems, for better engineering application, an improved ADC method with feedforward is given. A parallel velocity feedback is added to improve stability of the ADC method. A serial feedforward is added to compensate phase lag. This given improved method is utilized both in experiment of the macro/micro hybrid actuator and Adams/Simulink Co-simulation of the 'cubic' Hexapod platform. Results show not only the necessity of the improvements, but also the affectivity of the given method. In the experiment, vibration of the macro/micro hybrid actuator is suppressed about 90%, showing obvious priority of the given method to PID method. In the Co-simulation, vibration of Hexapod can be well controlled even on a Hexapod with biggish angle pointing procedure.