| Abstract |
A novel control strategy suitable for positioning systems used in hail suppression is presented. The solution is designed for realizing a very precise control of the final launch pad position over the azimuth and elevation, resulting in controlling a system with two degrees of freedom. The proposed simulation is developed starting from a PMSM with an inversed magnetic model. The control algorithm initially takes into consideration a regulation of the main motor's electrical quantities: torque, speed and position. Then a mechanical model of the system is developed, accounting for the experimentally determined static torque, total reduction factor (worm gear and launch pad), total inertia and efficiency. The simulation developed in Matlab Simulink is presented, and it considers two different systems formed by one of the motors, it's worm gear and the corresponding mechanical parts. Two sets of simulation results have been developed. The experimental tests were carried out with two different types of motors, measuring the speed and position of the launch pad and controlling them in a closed loop, showing the feasibility of the proposed solution. Experimental results are provided for the elevation motor. |
