Research Papers

Model Predictive Motion Cueing Algorithm for an Overdetermined Stewart Platform

[+] Author and Article Information
Tobias Miunske

Institute for Internal Combustion Engines and
Automotive Engineering,
University of Stuttgart,
Stuttgart D-70569, Germany
e-mail: tobias.miunske@ivk.uni-stuttgart.de

Justin Pradipta

Institute for System Dynamics,
University of Stuttgart,
Stuttgart D-70569, Germany
e-mail: justin.pradipta@gmail.com

Oliver Sawodny

Institute for System Dynamics,
University of Stuttgart,
Stuttgart D-70569, Germany
e-mail: oliver.sawodny@isys.uni-stuttgart.de

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received November 6, 2017; final manuscript received September 10, 2018; published online October 10, 2018. Assoc. Editor: Huiping Li.

J. Dyn. Sys., Meas., Control 141(2), 021006 (Oct 10, 2018) (9 pages) Paper No: DS-17-1554; doi: 10.1115/1.4041504 History: Received November 06, 2017; Revised September 10, 2018

To make motion perception more realistic, a current-implemented classical washout motion cueing algorithm (CWMCA) is extended to a model predictive motion cueing algorithm (MPMCA) for a seven-cylinder pneumatically actuated Stewart platform. Through this enhancement, not only are potential predictive signals taken into account, but also comprehensive information and data sets relating to the mechanical limitations of the simulator platform. The significantly increased information content enables the calculation of far more specific targeted requirements for the platform. First, the platform kinematics are derived and its physical platform constraints are examined. Furthermore, the CWMCA is extended and transformed into a state space-based motion cueing algorithm for the purpose of setting up a linear quadratic MPMCA. Finally, the MPMCA is simulated and evaluated with respect to its degree of realism.

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Grahic Jump Location
Fig. 1

The 6DOF simulator platform including a Diamond-DA42 cockpit and a projection screen mounted on the top; ServoFlight-Project at the Institute for System Dynamics, University of Stuttgart

Grahic Jump Location
Fig. 2

Modeling of the simulator platform and the actuators lengths [16]

Grahic Jump Location
Fig. 3

Elliptical movement capacity in the workspace of the simulator platform U∈ℝ3

Grahic Jump Location
Fig. 4

Acceleration constraints of a cylinder depending on its cylinder length [19]

Grahic Jump Location
Fig. 5

Motion cueing algorithm of the ServoFlight-Project with extended components

Grahic Jump Location
Fig. 6

Model predictive motion cueing algorithm of the flight simulator

Grahic Jump Location
Fig. 7

Layout of a standard right-hand airfield traffic pattern [23]

Grahic Jump Location
Fig. 8

Input acceleration for the motion cueing algorithm (in ISO-Norm) of all 6DOF about a right-hand airfield traffic pattern. ① Takeoff ② First Right Turn ③ Second Right Turn ④ Third Right Turn ⑤ Fourth Right Turn ⑥ Landing.

Grahic Jump Location
Fig. 9

Comparison of the simulator positions (in SAE-Norm) between CWMCA () and the MPMCA () about a right-hand airfield traffic pattern. ① Takeoff ② First Right Turn ③ Second Right Turn ④ Third Right Turn ⑤ Fourth Right Turn ⑥ Landing.



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