Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd Logo
Upload

Welcome to Scribd!

  • 40 views

    ME270 Final Project Kaneko

    Uploaded by

    Alif Darsim
    This document summarizes a project to improve controls for NASA's 6-DOF Stewart platform used for docking and berthing simulations. The objectives are to implement additional feedforward control to the existing PD controller to more accurately simulate contact dynamics. The procedure uses CAMP-G, MATLAB and SIMULINK to develop models from the platform's bond graph and control its physical motion. Results show the step response and bode diagrams behave as expected, validating the controls approach.

    Copyright:

    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd

    ME270 Final Project Kaneko

    Uploaded by

    Alif Darsim
    40 views5 pages
    This document summarizes a project to improve controls for NASA's 6-DOF Stewart platform used for docking and berthing simulations. The objectives are to implement additional feedforward control to the existing PD controller to more accurately simulate contact dynamics. The procedure uses CAMP-G, MATLAB and SIMULINK to develop models from the platform's bond graph and control its physical motion. Results show the step response and bode diagrams behave as expected, validating the controls approach.

    Original Description:

    6 DOF platform. Final year project by kaneko

    Copyright

    © © All Rights Reserved

    Available Formats

    DOC, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document summarizes a project to improve controls for NASA's 6-DOF Stewart platform used for docking and berthing simulations. The objectives are to implement additional feedforward control to the existing PD controller to more accurately simulate contact dynamics. The procedure uses CAMP-G, MATLAB and SIMULINK to develop models from the platform's bond graph and control its physical motion. Results show the step response and bode diagrams behave as expected, validating the controls approach.

    Copyright:

    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd
    Download as doc, pdf, or txt
    40 views5 pages

    ME270 Final Project Kaneko

    Uploaded by

    Alif Darsim
    This document summarizes a project to improve controls for NASA's 6-DOF Stewart platform used for docking and berthing simulations. The objectives are to implement additional feedforward control to the existing PD controller to more accurately simulate contact dynamics. The procedure uses CAMP-G, MATLAB and SIMULINK to develop models from the platform's bond graph and control its physical motion. Results show the step response and bode diagrams behave as expected, validating the controls approach.

    Copyright:

    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd
    Download as doc, pdf, or txt
    of 5

    Jesse Kaneko

    Final Project ME270


    Prof. Granda

    NASA CDSL 6-DOF Platform

    Figure 1: NASA CDSL 6-DOF Platform

    Physical System and Problem


    The 6-DOF Stewart platform at the CDSL (contact dynamics simulation
    laboratory) has proven records of docking and berthing simulations over 20
    years. The general shape and dimensions can be seen in the picture above
    and the payload can be seen in the picture below. However, even with its
    proven record, there is still room for improvement in controls so that the
    mechanism can simulate contact dynamic motions more accurately. Some of
    the controls issues include increasing the bandwidth of the system and
    implementing a predictor to compensate for transport and dynamic response
    relay. The implementation of an additional feedforward control element to
    the existing PD control system is for improving the controller performance.

    Even before the PID systems are attained there are many steps in between
    that can be done relatively quickly with the use of CAMP-G.

    Figure 2: Payload mount of NASA CDSL 6-DOF Platform

    Objectives
    The objective of this project is to utilize CAMP-G, MATLAB, and
    SIMULINK to gain control of the physical motion of the NASA CDSL 6DOF Platform. The bond graph of the NASA CDSL 6-DOF Platform can be
    seen in Figure 3. The objective of my thesis is to implement an additional
    feedforward control element to the existing PD control system with
    minimum modifications (the existing PD servo cards will be used with their
    tuned parameters as they are). The additional input current from the added
    feedforward element to the hydraulic servo valve of each actuator leg is
    superimposed to the input current to the valve from the existing servo card.
    For pratical implementation of the added element, the original input current
    from the element is multiplied with a weight factor. The weight factor can
    vary from 0.0 to 1.0, depending on the effectiveness of the additional

    element. This can be a risk-free approach when the weight factor is set to
    0.0 because there will be no effect from the added element.

    Figure 3: Bond graph of platform

    Specifications
    The docking and berthing simulator mechanism is composed of two major
    hardware components. The first is the Stewart platform where the chaser
    vehicle is mounted and the second is the stationary mount where the docking
    mechanism of the target vehicle is mounted. There is a force sensor of the
    stationary mount to measure contact forces and torques between the two
    docking mechanisms. The motion of the two halves is digitally simulated
    using the computer. Through the simulated motion, the computer also
    calculates the motion of the platform and displacements of the hydraulic
    actuator legs.

    Figure 4:Physical system in NASTRAN

    Procedure
    The procedure for this project was to gain full movement control of this
    physical system with the use of CAMP-G, MATLAB, and SIMULINK.

    Figure 5:MATLAB GUI for platform

    The first step was to develop the bond graph (figure 3). Once the bond
    graph is created CAMP-G can interface with MATLAB and develop four

    programs that, with a little programming, allow one to control the desired
    system. Once the interface has been completed the programming must take
    place in the m-files. Once the m-files have been altered all of the desired
    systems can be controlled. Using these m-files the block diagrams can also
    be attained. An example of the m-files can be seen in figure 6.

    Figure 6:Mod m-file

    Results
    For this physical system it was necessary to run the simulation in the time
    domain. The use of the m-files gave the necessary differential equations.
    With the differential equations now found the motion is also known. The
    step response reacts the way one would expect it to along with the bode
    diagrams.

    You might also like