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Modelling and control of base plate loading subsystem for the motorized adjustable vertical platform

Norsahperi, Nor Mohd Haziq and Ahmad, Salmiah and Fuad, A.F.M. and Mahmood, Iskandar Al Thani and Toha, Siti Fauziah and Akmeliawati, Rini and Darsivan, Fadly Jashi (2017) Modelling and control of base plate loading subsystem for the motorized adjustable vertical platform. In: 3rd International Conference on Mechanical, Automotive and Aerospace Engineering (ICMAAE 2016), 25th-27th July 2016, Kuala Lumpur, Malaysia.

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Malaysia National Space Agency, ANGKASA is an organization that intensively undergoes many researches especially on space. On 2011, ANGKASA had built Satellite Assembly, Integration and Test Centre (AITC) for spacecraft development and test. Satellite will undergo numerous tests and one of it is Thermal test in Thermal Vacuum Chamber (TVC). In fact, TVC is located in cleanroom and on a platform. The only available facilities for loading and unloading the satellite is overhead crane. By utilizing the overhead crane can jeopardize the safety of the satellite. Therefore, Motorized vertical platform (MAVeP) for transferring the satellite into the TVC with capability to operate under cleanroom condition and limited space is proposed to facilitate the test. MAVeP is the combination of several mechanisms to produce horizontal and vertical motions with the ability to transfer the satellite from loading bay into TVC. The integration of both motions to elevate and transfer heavy loads with high precision capability will deliver major contributions in various industries such as aerospace and automotive. Base plate subsystem is capable to translate the horizontal motion by converting the angular motion from motor to linear motion by using rack and pinion mechanism. Generally a system can be modelled by performing physical modelling from schematic diagram or through system identification techniques. Both techniques are time consuming and required comprehensive understanding about the system, which may expose to error prone especially for complex mechanism. Therefore, a 3D virtual modelling technique has been implemented to represent the system in real world environment i.e. gravity to simulate control performance. The main purpose of this technique is to provide better model to analyse the system performance and capable to evaluate the dynamic behaviour of the system with visualization of the system performance, where a 3D prototype was designed and assembled in Solidworks. From the Solidwork, the model was translated to Simmechanics with the system coordinate and specification i.e mass and inertia and actuator model was designed by using Simpower for simulating the system. Then, the system was integrated with controller by using conventional Proportional-Derivative (PD) controller with 0% steady state error, (ess) and 22.4% overshoot, (P.O) as the results.

Item Type: Conference or Workshop Item (Plenary Papers)
Additional Information: 4113/62879
Uncontrolled Keywords: Aerospace engineering, Bridge cranes, Clean rooms, Controllers, Cranes, Gantry cranes, Laboratories, Plates (structural components), Schematic diagrams, Three dimensional computer graphics,
Subjects: T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechanical Engineering
Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Ir. Dr. Salmiah Ahmad
Date Deposited: 21 Mar 2018 10:00
Last Modified: 26 Jun 2018 13:48
URI: http://irep.iium.edu.my/id/eprint/62879

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