Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model
Abstract
This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator's mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the ...manipulator links are considered, and the actuator capabilities are taken into account The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator's domain.
Keywords:
robot dynamics / robot control / computed torque method / centrifugeSource:
Strojniski Vestnik-Journal of Mechanical Engineering, 2018, 64, 7-8, 465-474Publisher:
- Assoc Mechanical Engineers Technicians Slovenia, Ljubljana
Funding / projects:
- Development of devices for pilot training and dynamic flight simulation of modern fighter aircrafts: 3DoF centrifuge and 4DoF spatial disorientation trainer (RS-MESTD-Technological Development (TD or TR)-35023)
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
DOI: 10.5545/sv-jme.2018.5272
ISSN: 0039-2480
WoS: 000438469000005
Scopus: 2-s2.0-85050104263
Collections
Institution/Community
Mašinski fakultetTY - JOUR AU - Vidaković, Jelena AU - Kvrgić, Vladimir AU - Lazarević, Mihailo PY - 2018 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2832 AB - This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator's mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator's domain. PB - Assoc Mechanical Engineers Technicians Slovenia, Ljubljana T2 - Strojniski Vestnik-Journal of Mechanical Engineering T1 - Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model EP - 474 IS - 7-8 SP - 465 VL - 64 DO - 10.5545/sv-jme.2018.5272 ER -
@article{ author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo", year = "2018", abstract = "This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator's mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator's domain.", publisher = "Assoc Mechanical Engineers Technicians Slovenia, Ljubljana", journal = "Strojniski Vestnik-Journal of Mechanical Engineering", title = "Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model", pages = "474-465", number = "7-8", volume = "64", doi = "10.5545/sv-jme.2018.5272" }
Vidaković, J., Kvrgić, V.,& Lazarević, M.. (2018). Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model. in Strojniski Vestnik-Journal of Mechanical Engineering Assoc Mechanical Engineers Technicians Slovenia, Ljubljana., 64(7-8), 465-474. https://doi.org/10.5545/sv-jme.2018.5272
Vidaković J, Kvrgić V, Lazarević M. Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model. in Strojniski Vestnik-Journal of Mechanical Engineering. 2018;64(7-8):465-474. doi:10.5545/sv-jme.2018.5272 .
Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, "Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model" in Strojniski Vestnik-Journal of Mechanical Engineering, 64, no. 7-8 (2018):465-474, https://doi.org/10.5545/sv-jme.2018.5272 . .