Modeling and robust adaptive control of a 3-axis motion simulator

Author

Yue, Xie ; Vilathgamuwa, Mahinda ; Tseng, K.J. ; Nagarajan, N.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

Volume

1

fYear

2001

Firstpage

553

Abstract

In this paper, the development of a 3-axis motion simulator is described. The simulator is used to test and calibrate certain spacecraft instruments within a hardware-in-the-loop environment. A mathematical electromechanical model of the simulator is developed. Moreover, a novel robust adaptive nonlinear control law for the simulator is developed based on Lyapunov stability theory. The controller can be made adaptable to constant unknown parameters as well as robust to unknown but bounded fast varying disturbances. The motion simulator actuators are permanent magnet synchronous motor (PMSM) drives. The simulation and experimental results are presented to verify the efficacy of the proposed control system and the validity of the mathematical model of the simulator.

Keywords

Lyapunov methods; adaptive control; aerospace simulation; aerospace test facilities; avionics; control system analysis computing; control system synthesis; digital simulation; electric actuators; machine control; machine theory; motion control; nonlinear control systems; permanent magnet motors; robust control; space vehicles; synchronous motor drives; 3-axis motion simulator; Lyapunov stability theory; constant unknown parameters; control design; control simulation; fast varying disturbances; hardware-in-the-loop environment; mathematical electromechanical model; motion simulator actuators; permanent magnet synchronous motor drives; robust adaptive nonlinear control; spacecraft instruments calibration; Actuators; Adaptive control; Instruments; Lyapunov method; Mathematical model; Programmable control; Robust control; Robust stability; Space vehicles; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Conference, 2001. Thirty-Sixth IAS Annual Meeting. Conference Record of the 2001 IEEE

Conference_Location

Chicago, IL, USA

ISSN

0197-2618

Print_ISBN

0-7803-7114-3

Type

conf

DOI

10.1109/IAS.2001.955475

Filename

955475