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Control of a Link on Elastic Torsional Support and Experimental Verification

Daryabari, Mohammad | 2020

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54045 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Mohammad Navazi, Hossein
  7. Abstract:
  8. A simple control system contains at least an actuator, a controlled link, and a foundation. These structures are not ideally rigid, this flexibility can appear willingly or unwillingly in any parts of the system or the connections between them. As a consequence of this flexibility, the movement of the controlled part will fluctuate unintentionally. In this thesis, a control system with rigid controller and flexible torsional base is investigated and controllers are designed and compared to reduce these unwanted vibrations. Finally, by implementing the controllers on the constructed system, the experimental results are obtained and compared with the analytical results.To fabricate the physical model of this system, a steel rod with a large length-to-diameter ratio is considered as a torsional spring that is connected to a fixed support on one side and to the body of a torsional actuator such as a servomotor on the other side. The body of servo motor can slip around the axis of it's shaft. A disk shape plexiglass is also connected to the shaft of this servomotor as controlled part. After constructing this system, all its mechanical specifications have been extracted by tests and modeled in software. Various controllers have been analytically designed and tested. Finally, the experimental data attained from the system’s dynamic behavior, are compared with the analytical data and the results are reported
  9. Keywords:
  10. Position Control ; System Identification ; Controller Design ; Series Elastic Actuator ; Flexible Bearing ; Seromotor Simulation

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