Dynamic modeling and control of an electromechanical control actuation system

Date

2016

Author

Yerlikaya, Ümit

Metadata

Show full item record

Item Usage Stats

401
views

0
downloads

Electromechanical simulators, actuators are widely used in miscellaneous applications in engineering such as aircrafts, missiles, etc. These actuators have momentary overdrive capability, long-term storability and low quiescent power/low maintenance characteristics. Thus, electromechanical actuators are applicable option for any system in aerospace industry, instead of using hydraulic actuators. In the same way, they can be used in control actuation section of missiles to deflect flight control surfaces. Mostly used alternatives of control actuation system (CAS) are electromechanical, electrohydraulic and electrohydrostatic CASs. In this thesis, electromechanical control actuation systems that are composed of brushless direct current motor, ball screw and lever mechanism are studied. In this type of control actuation system, there are both nonlinearity and asymmetry which are caused by lever mechanism itself, saturation limits, Coulomb friction, backlash and initial mounting position of lever mechanism. In order to design controller and optimize controller parameters, all equations of motion are derived and so the detailed nonlinear and linear mathematical models of this system are obtained. The servo vi drive amplifier of motor is used in current mode. Between position and current loops, inner velocity loop is used to provide extra damping to the system and avoid unnecessary oscillations. Therefore, three control loops are used. By using linear model of electromechanical CAS, according to performance requirements, it is decided that PI and P-controller are sufficient for position and velocity control, respectively. The limitations that are imposed to controllers which have integral gain cause a residual error, so the controllers tend to overshoot target value in order to eliminate it. In order to solve this problem, an anti-windup method is applied. Then, the unknown controller parameters and anti-windup coefficients are found according to the performance requirements by using MATLAB Response Optimization Tools on the nonlinear model. During the optimization, the nonlinear relations and limitations on controller outputs are considered. A prototype of electromechanical CAS with ball screw and lever mechanism is manufactured. All unknown parameters such as dimensions, masses, inertias of components, viscous and Coulomb frictions and backlash of the system are identified. Identified Coulomb friction values are used for friction compensation in real-time application. Real-time tests are performed with optimized controller parameters and anti-windup coefficient by using xPC Target (MATLAB-Simulink). Finally, the nonlinear model of electromechanical control actuation system is verified by making real-time tests on the manufactured prototype with and without external load.

Subject Keywords

Actuators., PID controllers., Automatic control., Electromechanical devices.

URI

http://etd.lib.metu.edu.tr/upload/12620583/index.pdf
https://hdl.handle.net/11511/25930

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

DYNAMIC MODELING AND CONTROL OF AN ELECTROMECHANICAL CONTROL ACTUATION SYSTEM Yerlikaya, Umit; Balkan, Raif Tuna (2017-10-13) Electromechanical actuators are widely used in miscellaneous applications in engineering such as aircrafts, missiles, etc. due to their momentary overdrive capability, long-term storability, and low quiescent power/low maintenance characteristics. This work focuses on electromechanical control actuation systems (CAS) that are composed of a brushless direct current motor, ball screw, and lever mechanism. In this type of CAS, nonlinearity and asymmetry occur due to the lever mechanism itself, saturation limit...
Detailed modeling and control of a 2-DOF gimbal system Poyrazoğlu, Erhan; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2017) Gimbal systems are used in various engineering applications such as military systems. Their conﬁgurations are designed according to the types of application and desired performance requirements. The essential aim of these systems is to compensate the disturbance effects in order to stabilize LOS and positioning to the desired point. In this thesis, ﬁrst, a detailed mathematical model of a 2-DOF gimbal system containing some nonlinear dynamic effects such as friction, static and dynamic mass unbalance is obt...
Dynamic modelling and control of a gimballed airborne antenna platform with mass unbalance and friction Şeref, Tuğçe; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2018) Inertial stabilized gimballed systems are widely-used in many applications to achieve a high precision positioning. Airborne antennas pointing target as a part of the satellite communication may be examples of such systems. This thesis presents the dynamic modelling and control of a two axes gimballed airborne antenna platform. First, reference frames and the transformation matrices are defined to build up the motion of the antenna and kinematic equations of each gimbal are derived. Next, the dynamic equati...
Parameter Identification of Riveted Joints Using Vibration Methods Altuntop, Elif; Aykan, Murat; Şahin, Melin (2015-02-05) Rivets are widely used in several industries including aerospace, shipbuilding and construction. Aircraft components such as wings and fuselages are some examples of riveted structures. Accurate parameter identification of these joints is critical since excessive number of rivets is present in such structures. Furthermore, modeling structures with fasteners has always been a challenge since these members might show nonlinear behavior. In this study, the FEM of a continuous plate is constructed and modal tes...
GPS based altitude control of an unmanned air vehicle using digital terrain elevation data Ataç, Selçuk; Platin, Bülent Emre; Department of Mechanical Engineering (2006) In this thesis, an unmanned air vehicle (UAV) is used to develop a prototype base test platform for flight testing of new control algorithms and avionics for advanced UAV system development applications. A control system that holds the UAV at a fixed altitude above the ground is designed and flight tested. Only the longitudinal motion of the UAV is considered during the controller design, hence its lateral motions are controlled manually by a remote control unit from the ground. UAV’s altitude with respect ...

Citation Formats

Ü. Yerlikaya, “Dynamic modeling and control of an electromechanical control actuation system,” M.S. - Master of Science, Middle East Technical University, 2016.