Modeling and robust adaptive control of a 3-axis motion simulator

In this paper, the development of a 3-axis motion simulator is described. The simulator is used to test and calibrate certain spacecraft instruments within a hardware-in-the-loop environment. A mathematical electromechanical model of the simulator is developed. Moreover, a novel robust adaptive nonlinear control law for the simulator is developed based on Lyapunov stability theory. The controller can be made adaptable to constant unknown parameters as well as robust to unknown but bounded fast varying disturbances. The motion simulator actuators are permanent magnet synchronous motor (PMSM) drives. The simulation and experimental results are presented to verify the efficacy of the proposed control system and the validity of the mathematical model of the simulator.