Design and development of motorized vertical platform for satellite test facilities /
Space Research Agency of Malaysia (ANGKASA) has built an Assembly, Integration and Test centre (AITC) for the satellite development where they aim that all satellites are to be tested in the AITC facilities such as the thermal test, acoustics test and vibration test. Currently, the only available fa...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
Kuala Lumpur :
Kulliyyah of Engineering, International Islamic University Malaysia,
2017
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| Subjects: | |
| Online Access: | http://studentrepo.iium.edu.my/handle/123456789/4461 |
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| Summary: | Space Research Agency of Malaysia (ANGKASA) has built an Assembly, Integration and Test centre (AITC) for the satellite development where they aim that all satellites are to be tested in the AITC facilities such as the thermal test, acoustics test and vibration test. Currently, the only available facility for transporting and handling the satellite is the overhead crane. However, the overhead crane is incapable of transferring the satellite into the Thermal Vacuum Chamber (TVC), which is located particularly for the thermal test in one of the cleanrooms. Therefore, a suitable platform is required to facilitate the tests. The components on the satellite are very sensitive to vibration and during handling, the available space inside the cleanroom is limited in space. Hence, this research presents the design and control of motorized adjustable vertical platform (MAVeP) for transporting and handling any satellite into the TVC in AITC. For the mechanical analysis, the motion study of Lifting and Baseplate Loading mechanisms were conducted to analyse the dynamic behaviour of the system by using 3D modelling tool and the statics analysis was conducted by using the virtual work analysis. For control, the Fractional Order PID (FOPID) control that is the extension of the classical PID control which offers a simple, practical and easy to understand was designed and implemented. The laboratory-scaled prototype was developed to test the designed FOPID control where the controller has been designed for the Lifting subsystem (position and velocity control) and the Baseplate Loading subsystem (position control). The prototype was first modelled by using the virtual reality in Simmechanics. The simulation performance analysis has been conducted to evaluate the robustness and performance of the designed controller and the performance has been compared with PID control. The controller parameters of both controllers have been tuned by using Nichol-Ziegler technique and the additional parameters in FOPID controller have been heuristically (try and error) tuned. From the simulation, FOPID controller performance has outperformed the PID controller in terms of the robustness, tracking, transient and steady-state performances. Later FOPID controller was selected to be implemented and its controller parameters were optimized by using Particle Swarm Optimization (PSO) technique and the results show that the PSO-FOPID controller performance has been improved as compared to heuristic-tuned FOPID control. Finally, performance analysis has been conducted on the prototype to validate the performance. Based on the mechanical analysis, the velocity profile was successfully examined and satisfies the ISO standard (for the quality ride). In addition, the actuator specifications were determined based on the statics and dynamics analyses. For position control of the Lifting subsystem, PSO-FOPID controller offers approximately 2.0 mm position accuracy and less than 0.5% overshoot meanwhile for the velocity control the overshoot was 5.4774% from the desired speed. For the position control of Baseplate subsystem, the controller produces 4 mm accuracy and 1.2245% overshoot. |
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| Item Description: | Abstracts in English and Arabic. "A thesis submitted in fulfilment of the requirement for the degree of Master of Science in (Mechatronics Engineering)." --On title page. |
| Physical Description: | xx, 198 leaves : illustrations ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves |