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Design, Fabrication and Robust Adaptive Control of a 3_Axis Motion Simulator Using Model Based Design Approach

Zolfaghari, Mohsen | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57147 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan; Hoviattalab, Maryam
  7. Abstract:
  8. One of the critical issues in the aerospace industry is the validation of guidance and navigation systems' performance before final implementation. The accuracy of these systems' performance prior to final deployment is examined through a series of tests known as Hardware-in-the-Loop (HIL) experiments. The fundamental idea behind the Hardware-in-the-Loop method is to place meaningful combinations of subsystems of a dynamic system in a simulation loop in hardware to identify the sources of errors within these subsystems before final implementation. One prerequisite for Hardware-in-the-Loop testing of navigation sensors is simulating real movements for them in a laboratory environment. Motion simulation, including velocities and accelerations for sensors, is performed using a 3_Axis Motion Simulator robot. In this thesis, the design, construction, and robust adaptive control of a 3_Axis Motion Simulator robot for Hardware-in-the-Loop testing of sensor units with specified dimensions and mass are investigated. Initially, the design stages, component selection, and construction of the parts are examined, followed by extracting electromechanical equations governing the system using the iterative Newton-Euler method. The resulting set of equations contains parameters that are unknown and require identification. Some of these parameters, such as inertial properties, are accessible from modeling software. Others, such as friction coefficients and actuator parameters, are unknown to us. Grey box identification has been used to obtain approximate estimates of unknown parameters. Subsequently, considering the electromechanical model and taking uncertainties into account, a fuzzy sliding mode controller is designed for motion simulator, and after simulation, it is implemented on the system. Implementation is carried out based on the stages of the model-based design method, and at each stage, the control system design is refined to improve performance. The implementation results in several motion scenarios demonstrate the controller's satisfactory performance in tracking desired commands in the presence of uncertainties
  9. Keywords:
  10. Hardware in the Loop ; Fuzzy-Sliding Mode Method ; Model Based Design ; Sliding Mode Controller ; Three Degree of Freedom Motion Simulator ; Robust Adaptive Controller

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