ADAPTIVE CONTROLLER FOR AUTOMATIC MANEUVER OF A SATELLITE DISH RECEIVER

doi.org/10.29327/217514.7.1-1

Resumen

The objective is to develop a control system capable of performing the automatic maneuver of a satellite dish and more accurately with less time maneuvering when compared to manual maneuver. The dish consists of a study on metal parabola 1.60 m in diameter, two sets of gears and two electric motors to perform the movements. The physical parameters of the mechanical system could be easily obtained from a three-dimensional modeling in a CAD software platform. For modeling the system dynamics we used the similarity of the physical system under study with an serial manipulator of two degrees of freedom that allowed it to apply concepts related to kinematics and modeling of robotic manipulators. Through the Denavit-Hartenberg notation of the direct kinematics of the antenna with two degrees of freedom was successfully obtained. The dynamic equations describing the motion of the system were raised through an automatic model implemented in symbolic manipulation software. To that end, an algorithm that describes the steps necessary to obtain the equations of motion of a robotic manipulator in open chain, from the Lagrangian method, was developed. A model reference adaptive control system was designed and implemented considering the uncertainties of the model arising from imperfections within the three-dimensional modeling. The results obtained by simulation of the system of closed loop control were satisfactory as well as the high rates of the perfect maneuver have been achieved.