Loading...

Design and Construction of a Single Axis Stable Platform Using the Model-Based Design Approach

Mehrabi, Mohammad Hossein | 2019

454 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 52421 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. The perpuse of this thesis is to design and fabricate a laboratory one degree of freedom stable platform under turbulences by model-based design method. To do this, different parts of the system were first modeled in the Solidworks software and then fabricated with various tools. With proper assembly of electronic and mechanical components, the original body of the system was created. Then, the controller motor with a stable platform which is attached to it was modeled and simulated in MATLAB software. Then, the parameters of the equations were calculated using standard identification tests and TCACS optimization algorithm. One of the challenges of this thesis is the malfunction of the stabilizing motor and consequently, its nonlinear behavior due to the different rotational speeds in two direcions. For this reason, the dynamic model of the motor consists of two separate models in clockwise and counter clockwise rotation. Also, some abnormal behaviors of the stabilizing motor and specific dynamic phenomena have been considered in the model. For controller design and system testing, Model-based design tools have been used in the Matlab/Simulink environment. To do this, the dynamic model of the system was first modeled and simulated. Then, a PID controller was designed to suite the dual behavior of the motor. The PID controller coefficients, similar to the model parameters, were obtained by TCACS optimization algorithm. Then the software controller on the computer was connected to the actual model to make the dynamic model and controller more accurate and to find the unmodeled dynamics. Next, the modified controller was implemented on the hardware with connection to the software model. After fixing the problems at each step, estimation of the system parameters and control coefficients was repeated. Then the rapid control prototyping and hardware in the loop test was repeated. By performing these steps and correcting the model and controller, the output of each of these steps was equal and desired controller was obtained
  9. Keywords:
  10. Single Axis Stable Platform ; Model Based Design ; Direct Current Motor Modeling ; TCACS Optimization Algorithm

 Digital Object List

 Bookmark

No TOC