Hammerstein-Wiener model research for a Stewart platform

Abstract

The Hammerstein-Wiener model for the Stewart platform driven by a DC motor is formulation, meanwhile the model's parameters are identified by experiments. By comparing the identification results of ARX model and Ham-merstein-Wiener model, it concludes that the Hammer-stein-Wiener model can describe the actual system's movement more accurately. The accuracy of the established Hammer-stein-Wiener model is proved by Stewart platform's single-degree of freedom (DOF) movement experiments in low frequency and small-scale (0–5 mm) range. Experimental studies show that the established model can accurately track the movement of Stewart platform. The Hammerstein-Wiener model of the Stewart platform provides a new method for the use of the Stewart platform in practical project.