|
" Stewart platformunun tasarımı, geliştirilmesi, modellenmesi ve denetlenmesi "
Gündüz, Ali Bars
Tatlıcıoğlu, Enver
| Document Type
|
:
|
Latin Dissertation
|
| Language of Document
|
:
|
English
|
| Record Number
|
:
|
1112211
|
| Doc. No
|
:
|
TLpq2522819065
|
| Main Entry
|
:
|
Gündüz, Ali Bars
|
|
|
:
|
Tatlıcıoğlu, Enver
|
| Title & Author
|
:
|
Stewart platformunun tasarımı, geliştirilmesi, modellenmesi ve denetlenmesi\ Gündüz, Ali BarsTatlıcıoğlu, Enver
|
| College
|
:
|
Izmir Institute of Technology (Turkey)
|
| Date
|
:
|
2020
|
| student score
|
:
|
2020
|
| Degree
|
:
|
Master's
|
| Page No
|
:
|
72
|
| Abstract
|
:
|
Need for a six degrees of freedom test platform to be used in the inertial stabilization development tests of turrets, remote controlled weapon systems or sight systems is present in modern military technology development. To address this research issue, within this thesis study, a Stewart platform is built and is used for stabilization development tests of a sight system. To give a clear picture of the whole system, mechanical design criterion, electrical architecture, communication between system units and chosen hardware of the designed Stewart platform are presented in detail. After the design and development phases are completed, kinematic model is obtained via utilizing the computer–aided design model of the Stewart platform. The inverse kinematic expressions of the platform are made use of to calculate the required actuator behaviors for the platform to achieve the desired motion. Then, a cascade control structure is designed for control of both speed and position of the actuators where proportional integral controller is preferred. The designed control strategy is implemented to the Stewart platform where satisfactory performance is observed for it to be used in military vehicles.
|
| Subject
|
:
|
Electrical engineering
|
|
|
:
|
Kinematics
|
|
|
:
|
Mechanical properties
|
|
|
:
|
Software
|
| |