Iranian Journal of Mechanical Engineering Transactions of ISME

Iranian Journal of Mechanical Engineering Transactions of ISME

Design and Simulation of a Five Degree of Freedom Set included Simulator and Gimbaled Seeker

Authors
Navid Bijeh 1
Hamed Shahbazi 2
Mahdi Mortazavi Bak 3
1 M.Sc., Department of Mechanical Engineering, University of Isfahan, Isfahan, Iran
2 Assistant Professor, Department of Mechanical Engineering, University of Isfahan, Isfahan, Iran
3 Associate Professor, Department of Mechanical Engineering, University of Isfahan, Isfahan, Iran
10.30506/ijmep.2023.1978412.1909
Abstract
In the test of flying object systems, hardware is used in the loop and activation of angular sensors with the help of a three-degree simulator table with a gimbal mechanism. With the development of the use of light and inexpensive sensors, the need to design a simulator table with three degrees of freedom inexpensive and low weight is evident. In this paper, a cheap, at the same time accurate and practical simulation table with Gimbal seeker test capability is designed and optimized. After extracting equations, according to the high uncertainty due to load changes, the design, simulation and optimization of the collection was done by removing and improving the constituent elements, in this way, this tool has the appropriate performance capability in the most optimal and cheapest case. In the present design, the maximum load of the simulator was reduced and instead of using a slip ring, a conventional roller bearing was used to eliminate the noise caused by the slip ring in addition to the lower price. The motors were changed from AC to DC, and the workspace and visibility of gimbal seeker were taken into account during the design. In addition, type of communication was changed to wireless and the method of power supply was changed to the use of batteries. To analyze the stress, deflection and torque of the motors, simulator in Adams software was modeled and the final design was designed and assembled by CATIA software.
Keywords
Three degree of freedom simulator table
Gimbaled seeker
Control
Aerospace

Subjects

[1]        S. Poorrezaie Khaligh, "Design and Manufacture of 3-Axis Motion Simulator (Hardware in The Loop Lab)," M.S. Thesis, Department of Aerospace Engineering, Amir Kabir University of Technology, Tehran, 2006. [Online]. Available: https://digitallib.aut.ac.ir/DL/Search/.
 
[2]        D. Leblebicioglu, Ö. Atesoglu, A. E. Derinoz, and M. Çakmakci, "Learning-Based Control Compensation for Multi-Axis Gimbal Systems using Inverse and Forward Dynamics," ArXiv, Vol. abs/2112.02561, 2021, doi: https://doi.org/10.48550/arXiv.2112.02561.
 
[3]        N. A. Pouliot, C. M. Gosselin, and M. A. Nahon, "Motion Simulation Capabilities of Three-degree-of-freedom Flight Simulators," Journal of Aircraft, Vol. 35, No. 1, pp. 9-17, 1998, doi: https://doi.org/10.2514/2.2283.
 
[4]        R. Azad, "Development of an Angular Motion Test Platform for Hardware in the Loop," M.S. Thesis, Department of Aerospace Engineering, Amir Kabir University of Technology, Tehran, 2015. [Online]. Available: https://library.iut.ac.ir/Inventory/101/33618.htm.
 
[5]        K. Haeri and N. Afshar, "Tracking Fuzzy Control for 3 Degree of Freedom Table," Presented at the Third Conference of Electrical Engineering of Iran, Iran, Tehran, University of Science & Technology, 1993. [Online]. Available: https://library.iut.ac.ir/Inventory/101/33618.htm.
 
[6]        Z. Gao, Z. Miao, X. Wang, and X. Wang, "Three Axis Electronic Flight Motion Simulator Real Time Control System Design and Implementation," Review of Scientific Instruments, Vol. 85, No. 12, p. 125114, 2014, doi: https://doi.org/10.1063/1.4903980.
 
[7]        Z. Miao, C. Wei, Z. Gao, and X. Wang, "Active Coupling Suppression and Real-time Control System Design and Implementation for Three-axis Electronic Flight Motion Simulator," Transactions of the Institute of Measurement and Control, Vol. 40, No. 4, pp. 1352-1361, 2018, doi: https://doi.org/10.1177/0142331216683771.
 
[8]        T. Karbasi and A. Kashaninia, "Multivariable Nonlinear Control of a Three-degree-of-freedom Flight Simulator using Sliding Mode Control," Presented at the 14th Student Conference of Electrical Engineering of Iran, Iran, Kermanshah, Kermanshah University of Technology, 2011. [Online]. Available: https://civilica.com/doc/121598/.
 
[9]        X. Yue, M. Vilathgamuwa, K. Tseng, and N. Nagarajan, "Modeling and Robust Adaptive Control of a 3-axis Motion Simulator," in Conference Record of the 2001 IEEE Industry Applications Conference. 36th IAS Annual Meeting (Cat. No. 01CH37248), 2001, Vol. 1: IEEE, pp. 553-560, doi: https://doi.org/10.1109/IAS.2001.955475.
 
[10]      X. Yue, D. M. Vilathgamuwa, K. Tseng, and N. Nagarajan, "Robust Adaptive Control of a 3-Axis Motion Simulator for Instruments Testing," in 2002 IEEE 33rd Annual IEEE Power Electronics Specialists Conference. Proceedings (Cat. No. 02CH37289), 2002, Vol. 2: IEEE, pp. 552-557, doi: https://doi.org/10.1109/PSEC.2002.1022511.
 
[11]      M. S. Mirzajani Darestani, S. Z. Mosavi, and P. Amiri, "Presenting a Method to Evaluate and Test the Sign Parameters on Two Degrees of Freedom Servomechanism Stabilized by Gyroscope," Presented at the National Conference on Electrical Engineering, Telecommunications and Sustainable Development, Iran, Mashhad, Khavaran Institute of Higher Education, 2014. [Online]. Available: https://civilica.com/doc/346467/.
 
[12]      M. Mohammadian and A. H. Rabiee, "Disturbance Rejection of Three-axis Gimbal Mechanism using PSO-optimized Fuzzy-PID Controller," Journal of Theoretical and Applied Vibration and Acoustics, Vol. 6, No. 2, pp. 301-324, 2020, doi: http://dx.doi.org/10.22064/tava.2021.124105.1162.
 
[13]      Y. Chen, H. Chu, T. Sun, L. Guo, and F. Zhang, "Two-axis Gimbal Platform Controller Design in Finite Time Application Occasions: LMI Approach," Optik, Vol. 158, pp. 831-841, 2018, doi: https://doi.org/10.1016/j.ijleo.2017.12.172.
 
[14]      D.-H. Lee, D.-Q. Tran, Y.-B. Kim, and S. Chakir, "A Robust Double Active Control System Design for Disturbance Suppression of a Two-axis Gimbal System," Electronics, Vol. 9, No. 10, p. 1638, 2020, doi: https://doi.org/10.3390/electronics9101638.
 
[15]      A. Altan and R. Hacıoğlu, "Model Predictive Control of Three-axis Gimbal System Mounted on UAV for Real-time Target Tracking under External Disturbances," Mechanical Systems and Signal Processing, Vol. 138, p. 106548, 2020, doi: https://doi.org/10.1016/j.ymssp.2019.106548.
 
[16]      D. Wenxiang, Y. Jianyong, J. Zongxia, and L. Xiaochao, "High Dynamic Output Feedback Robust Control of Hydraulic Flight Motion Simulator using a Novel Cascaded Extended State Observer," Chinese Journal of Aeronautics, Vol. 35, No. 7, pp. 300-309, 2022, doi: https://doi.org/10.1016/j.cja.2021.07.013.
 
[17]      D. Sui, S. Zhao, T. Wang, Y. Liu, Y. Zhu, and J. Zhao, "Design of a Bio-inspired Extensible Continuum Manipulator with Variable Stiffness," Journal of Bionic Engineering, pp. 1-14, 2022, doi: https://doi.org/10.1007/s42235-022-00213-0.
 
[18]      B. Yan, P. Cheng, and C. Cai, "Aerodynamic Structural Design and Control for a New Miniature Coaxial Dual-rotor Unmanned Aerial Vehicle," Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 237, No. 8, pp. 1335-1348, 2023, doi: https://doi.org/10.1177/09596518231158681.
[19]      N. Lewis, S. Cole, E. Glossbrenner, and C. Vest, "Friction, Wear, and Noise of Slip Ring and Brush Contacts for Synchronous Satellite use," IEEE Transactions on Parts, Hybrids, and Packaging, Vol. 9, No. 1, pp. 15-22, 1973, doi: https://doi.org/10.1109/TPHP.1973.1136708.
 
[20]      Z. Yao-Lin, Z. Gao-Qiang, Z. Lei, and X. Jin, "Design of Wireless Multi-point Temperature Transmission system based on nRF24L01," in 2011 International Conference on Business Management and Electronic Information, 2011, Vol. 3: IEEE, pp. 780-783, doi: https://doi.org/10.1109/ICBMEI.2011.5920375.
 
[21]      D. E. Bittner, "Advances in MEMS IMU Cluster Technology for Small Satellite Applications," M.S. Thesis, Benjamin M. Statler College of Engineering and Mineral Resources of West Virginia University, Morgantown, 2015. [Online]. Available: https://researchrepository.wvu.edu/etd/5216/.
 
[22]      P. H. Zipfel, Modeling and Simulation of Aerospace Vehicle Dynamics, 2th ed. Reston, Virginia: AIAA Education Series, 2007. [Online]. Available: https://doi.org/10.2514/4.862182.
 
[23]      S. Goyanes et al., "Yield and Internal Stresses in Aluminum Filled Epoxy Resin. A Compression Test and Positron Annihilation Analysis," Polymer, Vol. 44, No. 11, pp. 3193-3199, 2003, doi: https://doi.org/10.1016/S0032-3861(03)00229-5.

  • Receive Date 17 December 2022
  • Revise Date 06 June 2023
  • Accept Date 04 October 2023