Design and construction of a two-axis angle control test bed with a hardware-in-the-loop approach

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Bohlouri Vahid; Bagheri Mohammadamin; Ghafari Esmaeel

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Journal Paper

Paper Information

Journal: Science and Technology in Mechanical Engineering Year:2024 | Volume:3 | Issue:1 Page(s): 11-21

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Information Journal Paper

Title

Design and construction of a two-axis angle control test bed with a hardware-in-the-loop approach

Author(s)

Bohlouri Vahid | Bagheri Mohammadamin | Ghafari Esmaeel | Issue Writer Certificate

Keywords

Angle ControlQ4

Ttwo-axis MechanismQ4

Proportional-Integral-DerivativeQ4

Mechanical Device ConstructionQ4

Test-bedQ4

Hardware in the loopQ4

Abstract

This article examines the design and construction of a hardware-based two-axis Angle Control mechanical device in the loop in order to build a two-axis test bed. This device aims to reach the test bed of two-axis Angle Control with a small error in order to evaluate and test position sensors or as a small two-degree-of-freedom table to control the position of satellite components. The device consists of two main parts, a mechanical structure and an electronic part, and the control algorithm is written in the hardware platform in the ring, and there is the ability to define all kinds of controllers on it. The structure consists of a rotatable rod, coupling, bearings, body, base and electronic part of a processor board, encoder sensor, battery, telecommunication module and a coreless motor with a rotating disk as a reaction wheel. This device has the ability of pitch and yaw maneuvers as two degrees of freedom, and its position error is proportional to the control algorithm. The reliability of the accuracy of this device per hundred repetitions of the test for the mentioned maneuvers is 0.11 and 0.2 degrees, respectively, with the PID controller. The performance analysis of the device has been investigated in detail by examining different input angles, various controller coefficients, different initial conditions, single-axis and two-axis maneuvers. The obtained results indicate the proper performance of the device with an average error of less than 0.23 degrees.

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