طراحي، ساخت و كنترل سيستم نمايش لمسي با كاربرد ويژه در سيستم كنترل لودينگ شبيه ساز پرواز

چكيده انگليسي :

Design Manufacturing Control of a Haptic Display System with Application in Control Loading System of Flight Simulators Mohsen Soltani Gerdefaramarzi m soltani@me iut ac ir Date of Submission 2010 08 18 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Mehdi Keshmiri mehdik@cc iut ac ir Supervisor Abstract Today robotic systems that are remotely controlled by human are widely used in industry In many cases the operator should have an accurate sense of the force that is applied by the robot So many investigations are done to apply force feedback on operator s hand by haptic display systems These systems also can be used to simulate virtual environments for training or other purposes Control loading system of a flight simulator is one of the applications that haptic devices can be used to simulate flight dynamics models as a virtual environment and apply the calculated forces on pilot s hand Control loading system gets the pilot commands and reports them to the flight dynamic model and then applies the desired force that is calculated by the model on pilot s hand to impose a good sense of the force that is applied in a real case In this project the subject of design and manufacturing of a haptic display system with application in control loading system of flight simulators is investigated First the airplane control system is briefly studied to find out what kind of forces a control loading system should be able to apply Then different mechanisms that are used for this purpose are studied investigating their ability and their advantages and deficiencies the electrical mechanism is selected for continuation of the project Then a 1Dof mechanism is simulated to study the effect of design parameters on performance of the control system According to The simulations results we can conclude that increasing the transfer ratio and the inertia will slow down the system response Then to meet the desired goals a 2Dof electrical mechanism is designed as the control loading system This mechanism works based on controlled resistance of an electrical motor that opposes the rotation of the stick and is designed for the first time Three methods are implemented to analyze the nonlinear kinematics of mechanism and after verification of the methods the model developed for the mechanism in simmechanics environment is selected as the reference model for further analysis However since the model is slow for kinematics and dynamics analysis to be used real time in control loop of system neural network models are used to estimate the response of simmechanics model in kinematics and dynamics analysis So in the control loop of system neural network models are used to estimate the response of simmechanics model in kinematics and dynamics analysis First kinematics and dynamics of mechanism is simulated A large number of data sets are derived and used to train the networks A NARMA L2 neural network controller is trained to close the control loop of the system This controller is used as a human model in the closed loop system All the analytical models and methods are simulated numerically The simulation results showed an appropriate performance of the system loop At last the overall mechanism is manufactured AC servo motors are used to apply the braking force and ball screw is used to transfer the force The software interface is developed in labview and the connection between the drivers and computer is established using advantech data acquisition cards Key Words Haptic Device Control Loading Flight Simulator Neural Network Kinematics Analysis NARMA L2 Controller AC Servo Motors

سلطاني گرد فرامرزي، محسن

طراحي، ساخت و كنترل سيستم نمايش لمسي با كاربرد ويژه در سيستم كنترل لودينگ شبيه ساز پرواز

شبكه عصبي , تحليل سينماتيكي