Control System Development of a Hexarot-Based High-G Centrifugal Simulator

Pedrammehr, Siamak; Qazani, Mohammad Reza Chalak; Asadi, Houshyar; Nahavandi, Saeid

doi:10.1109/icit.2019.8755117

Cited by 41 publications

(11 citation statements)

References 43 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The developed MPC model is very fast because it is designed using MPC toolbox of the MATLAB software using KWIK algorithm [43] to find the optimal input signal. Also, the SimMechanic representation of the Hexapod is developed using the geometrical and dynamical indexes of the mechanism [44]. It enhances the ability of the model to reproduce the motion signals as close as possible to the real Hexapod SBMP.…”

Section: Resultsmentioning

confidence: 99%

A Motion Cueing Algorithm Based on Model Predictive Control Using Terminal Conditions in Urban Driving Scenario

Qazani

Asadi

Nahavandi

2021

IEEE Systems Journal

Self Cite

View full text Add to dashboard Cite

The motion cueing algorithm (MCA) is in charge of the real vehicle motion feeling regeneration for the driver of the simulation-based motion platform (SBMP) with respect to its limitations. The model predictive control (MPC) has newly employed in developing MCAs to calculate the optimal input signals for delivering the best motion feeling to the SBMP's drivers while respecting the boundaries of the platform. The stability of the MCA based on MPC has become one of the main issues for some scenarios such as urban driving scenario which involves sudden decelerations/accelerations (stop and start moving), sharp and large turn, slalom movement. The urban driving scenario destabilises the current MCA based on MPC and leads undesired motion fluctuations which creates unpleasant motion artefact for the SBMP drivers. Therefore, the displacement of the SBMP should be penalised conservatively to respect the workspace boundaries for all driving scenarios. This will make the motion conservative and can cause some motion feeling error. In this paper, the concept of terminal conditions (weights and states) are employed for the first time to design and develop a new generation of MCA based on MPC to enhance the performance of the model for different scenarios such as the heavy-traffic scenario in urban areas. Also, the stability of the MPC by considering of the terminal conditions is investigated in MCA domain. Then, the MCA based on MPC by considering of terminal conditions is developed using MATLAB software with presentation of urban motion scenario. The outcomes demonstrate the effectiveness of the designed model with common MCA based on MPC without consideration of the terminal conditions.

show abstract

Section: Resultsmentioning

confidence: 99%

A Motion Cueing Algorithm Based on Model Predictive Control Using Terminal Conditions in Urban Driving Scenario

Qazani

Asadi

Nahavandi

2021

IEEE Systems Journal

Self Cite

View full text Add to dashboard Cite

show abstract

“…The PID controller is widely used in industrial applications as a control loop feedback mechanism because of its easy tuning, cost-effective and practical features. 48 An error value known as e(t) calculated by the PID controller shows the difference in the desired value and a measured value using the sensors and applies the control correction action by proportional, integral and derivative terms know as P, I and D, respectively. These are the gains of the PID controller which should be tuned properly to reach the lowest tracking error.…”

Section: Pid Controllermentioning

confidence: 99%

“…12,13 On the other hand, the parallel manipulators' angular displacement is limited because of the passive joints inside the closed form structures. 14,15 The parallel manipulators consist of several passive joints which are connected to each other in the close chain connection between the base and the end effector. [16][17][18] The end effector of the manipulator can reach the angular positioning limits if one of the passive joints passes the limitations without consideration of the other passive joints.…”

Section: Introductionmentioning

confidence: 99%

A New Gantry-Tau-Based Mechanism Using Spherical Wrist and Model Predictive Control-Based Motion Cueing Algorithm

Qazani¹,

Asadi²,

Nahavandi³

2019

Robotica

Self Cite

View full text Add to dashboard Cite

SUMMARYThe 3 degree-of-freedom Gantry-Tau manipulator with the addition of the spherical wrist mechanism which is called Gantry-Tau-3R is designed as a high-G simulation-based motion platform (SBMP) with the capability of generating the large linear and angular displacement. The combination of both parallel and serial manipulator in newly designed Gantry-Tau-3R mechanism improves the ability of the mechanism to regenerate larger motion signals with higher linear acceleration and angular velocity. The high-frequency signals are reproduced using the parallel part of the mechanism, and sustainable low-frequency accelerations are regenerated via the serial part due to the larger rotational motion capability, which will be used through motion cueing algorithm tilt coordination channel. The proportional integral derivative (PID) and fuzzy incremental controller (FIC) are developed for the proposed mechanism to show the high path tracking performance as a motion platform. FIC reduces the motion tracking error of the newly designed Gantry-Tau-3R and increases the motion fidelity for the users of the proposed SBMP. The proposed method is implemented using Matlab/Simulink software. Finally, the results demonstrate the accurate motion signal generation using linear model predictive motion cues with a fuzzy controller, which is not possible using the common parallel and serial manipulators.

show abstract

“…The kinematics, workspace, error analysis, and control of the hexarot mechanism have then been studied in different research works. [40][41][42][43] Hexarot mechanism as a parallel manipulator using six 5 DOF passive arms to manipulate an end effector has several advantages. Five DOF arm is not sensitive to torsion or bending, and it is manufactured lightweight with a high stiffness.…”

Section: Hexarot Mechanismmentioning

confidence: 99%

A Study on Vibrations of Hexarot-Based High-G Centrifugal Simulators

Pedrammehr¹,

Asadi

Nahavandi³

2019

Robotica

Self Cite

View full text Add to dashboard Cite

SummaryThis paper investigates the vibrations of hexarot simulators. The generalized modeling of kinematics and dynamics formulation of a hexarot mechanism is addressed. This model considers the flexible manipulator with the base motion. The dynamic formulation has been developed based on the principle of virtual work. The dynamic model consists of the stiffness of the different parts of the mechanism, the effects of gravity and inertia, torque and force related to the joints viscous friction. Finally, the response of the end effector at various frequencies has been presented, and the vibrations of the mechanism and the dynamic stability index have been investigated.

show abstract

Control System Development of a Hexarot-Based High-G Centrifugal Simulator

Cited by 41 publications

References 43 publications

A Motion Cueing Algorithm Based on Model Predictive Control Using Terminal Conditions in Urban Driving Scenario

A Motion Cueing Algorithm Based on Model Predictive Control Using Terminal Conditions in Urban Driving Scenario

A New Gantry-Tau-Based Mechanism Using Spherical Wrist and Model Predictive Control-Based Motion Cueing Algorithm

A Study on Vibrations of Hexarot-Based High-G Centrifugal Simulators

Contact Info

Product

Resources

About