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Design, Modeling and Control of a Simulator of an Aircraft Maneuver in the Wind Tunnel Using Cable Robot

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  • Robot and Applications
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Abstract

In this paper, a new controllable simulator is proposed and modeled by which, experimental tests of the aircraft’s models can be performed in wind tunnels with a high level of accuracy. These tests are unavoidable in order to extract the aerodynamic characteristics of the plant and optimize its related profiles. Drag and lift coefficients of the aircraft have a significant effect on the static and also dynamic maneuver of the airplane and thus evaluating these characteristics before manufacturing the aircraft are highly valuable in order to optimize the profile of their structures. To realize the mentioned target experimental tests can provide more accurate and trustable results rather than computer simulations. In order to conduct the wind tunnel tests with the highest accuracy, it is extremely significant to decrease any source of error such as disturbing drag forces. Thus it is required to control and manipulate the model of the aircraft with the aid of a mechanism that not only has the minimum effect on the drag force but also provides the least amount of deviation corresponding to drag forces. To do so, in this paper, a new cable robot is proposed as a proper candidate mechanism by which the disturbing drag force of the tunnel wind is minimum as a result of exact control of all of six spatial Degrees of Freedom (DOFs). Also, cables have the least cross-section area against the wind force and therefore the error of disturbing drags could be minimized. Moreover, there are other advantages for these kinds of robots such as low weight and cost, high load carrying capacity, and easy assembling capability. By proper design of the cables and actuators, it is possible to control all of the degrees of freedom of the end-effector during the dynamic maneuver of the aircraft and so it possible to perform all of the required static and dynamic tests of the plant. Therefore, in this paper first, the proper mechanism is designed and its related kinematics and kinetics modeling is provided. Besides, a robust controller is designed based on Non-Singular Fast Terminal Sliding Mode (NFTSM) to control the aircraft maneuver in presence of wind disturbance and complete the test process. All of the mentioned claims are verified by MATLAB simulations and the results confirm the mentioned expectancies.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran

    Hami Tourajizadeh & Ali Keymasi Khalaji

  2. School of mechanical engineering, Iran University of Science and Technology, Tehran, Iran

    Mahdi Yousefzadeh

  3. Faculty of Mechanical Engineering, Shahrood University of Technology, Shahrud, Iran

    Mahdi Bamdad

Authors
  1. Hami Tourajizadeh
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  2. Mahdi Yousefzadeh
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  3. Ali Keymasi Khalaji
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  4. Mahdi Bamdad
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Corresponding author

Correspondence to Hami Tourajizadeh.

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Conflict of Interest

The authors declare that they have no conflict of interest.

This study was funded by the Vice Chancellor for Research and Technology of Kharazmi University. The authors would like to thank Vice Chancellor for Research and Technology of Kharazmi University for their financial support.

Hami Tourajizadeh was born in Tehran, Iran on October 30, 1984. He received his Ph.D. from IUST in the field mechanics, branch of control and robotics. More than 35 journal papers, 15 conference papers, 1 published book, 1 chapter book and 2 booked inventions are the results of his researches so far. He has been involved in teaching and research activities for more than 10 years in different universities and he is now an associate professor of Kharazmi University from 2013. His research interests include robotics, automotive engineering, control, and optimization.

Mahdi Yousefzadeh received his B.Sc. in mechanical engineering from Babol Noshirvani University of Technology in 2000 and then obtained his M.Sc. degree from K. N. Toosi University of Technology in 2003 in the field of automotive system design. In April 2017, he received a Ph.D. degree in mechanical engineering from Iran University of Science and Technology in the field of dynamics, vibration and control. His research interests include dynamic, control and vibration analysis of robotic systems. He has a 20-year experience in special machinery design for automotive industry as well as teaching experience in different universities in Babol, Iran for eight years.

Ali Keymasi Khalaji received his B.Sc. degree from Iran University of Science and Technology (IUST), Tehran, Iran, in 2007, and his M.Sc. and Ph.D. degrees in mechanical engineering from K. N. Toosi University of Technology (KNTU), Tehran, in 2009 and 2014, respectively. He is with the Mechanical Engineering Department at Kharazmi University (KHU) in Tehran since 2015. He teaches courses in the areas of control, robotics and dynamics. His research interests include modeling and control of mechanical systems, nonlinear control, adaptive and robust control with applications to mobile robotic systems and mechatronics. He has published about 60 articles in peer-reviewed journals and conference proceedings.

Mahdi Bamdad received his B.S., M.S., and Ph.D. degrees in mechanical engineering, in 2004, 2006, and 2010, respectively. He is currently based in the Shahrood University of Technology (Iran) after working as an associate research fellow at the Chinese University of Hong Kong. He was the head of the mechatronics group at the School of Mechanical and Mechatronics Engineering. His research, bridging industrial engineering expertise with mechatronics multidisciplinary education, has seen him awarded an Honorary Life Membership of the Iranian Society of Engineering Education. His research interests are in the areas of mechanisms design and optimization of robotic systems. He has published more than 50 articles in international journals and conference proceedings.

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Tourajizadeh, H., Yousefzadeh, M., Khalaji, A.K. et al. Design, Modeling and Control of a Simulator of an Aircraft Maneuver in the Wind Tunnel Using Cable Robot. Int. J. Control Autom. Syst. 20, 1671–1681 (2022). https://doi.org/10.1007/s12555-020-0662-8

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  • DOI: https://doi.org/10.1007/s12555-020-0662-8

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