Modeling and real-time control system implementation for a Stewart platform

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Makina Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2005

Öğrenci: ONUR ALBAYRAK

Danışman: RAİF TUNA BALKAN

Özet:

This work focuses on modeling and real-time control of a motion simulator for dynamic testing of a two-axis gyro-stabilized head mirror used in modern tanks. For this purpose, a six-degree-of freedom Stewart Platform which can simulate disturbances on the stabilized head mirror during operation of the tank is employed. Mathematical models of the Stewart Platform are constructed using MATLAB and ADAMS. Control system infrastructure is constructed and real-time control system elements are employed. Controller tuning is achieved by using the developed mathematical models in MATLAB. These parameters are applied in the real-time control system and fine tuning is achieved. Accuracy of the motion simulator is tested by mounting an Inertial Measurement Unit on the Stewart Platform. Further control system strategies are discussed by means of simulation.