Application of H∞ theory to a 6 DOF flight simulator motion base

Becerra-Vargas, Mauricio; Belo, Eduardo Morgado

doi:10.1590/s1678-58782012000200011

Cited by 23 publications

(9 citation statements)

References 8 publications

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“…In paper [6], a 6-DOFs flight simulator based on electric drive improves the stability and frequency response performance of the platform through particle swarm optimization algorithm. Inverse dynamics control is applied for the motion system of a 6-DOFs flight simulator in [7]. A tracking system based on a 2-DOFs motion platform is designed in [8].…”

Section: Laboratory Of Robot Mechatronics Dept Of Industrial Engineer...mentioning

confidence: 99%

Manipulate Mechanism Design and Synchronous Motion Simulation for Helicopter Driving Simulator

Yao

Wang

Carbone

et al. 2022

Preprint

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A new manipulate mechanism with automatic position reset function for helicopter driving simulator is proposed and developed. The motion platform of the driving simulator and the synchronous motion analysis are designed. The synchronous simulation research is carried out. By using the simulation method, the availability of the mechanism and the feasibility of synchronous motion are verified. It provides a new design scheme and develops synchronous motion analysis method for the manipulate mechanism of the helicopter driving simulator. Firstly, the mechanisms and models of the manipulate stick and the driving simulator are established. The mathematical modeling and kinematic derivation are carried out respectively. Secondly, the dynamic simulation of the manipulate mechanism is carried out and the driving simulator model is built by using MATLAB/Simulink. In order to control the attitude adjustment of the helicopter driving simulator, the mapping relationship between the manipulate mechanism and the 6-DOFs platform is established. And the effect of synchronous motion simulation is achieved. The simulation results show that the manipulate mechanism can perform the load simulation of the joystick by spring compression and is feasible to control the driving simulator. Comparing with formerly electric load simulation, this research provides us a new way to achieve manipulate stick load simulation by mechanism design for helicopter driving simulator. The simulation result curves verify the proposed research method is reasonable and practice for helicopter driving simulation.

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Section: Laboratory Of Robot Mechatronics Dept Of Industrial Engineer...mentioning

confidence: 99%

Manipulate Mechanism Design and Synchronous Motion Simulation for Helicopter Driving Simulator

Yao

Wang

Carbone

et al. 2022

Preprint

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“…Reference [17] suggested the use of dynamic neural network. Other work suggests optimal control of a Stewart robot using a sequential optimal feedback linearization method considering the jack dynamics to secure optimal and accurate control of a Stewart robot that is supposed to carry a machine along a specified path [18] Other recent work proposed H-infinity theory to control 6 DOF motion [19]. However, to avoid complexity and high computation requirements, linear regression is used in this paper [20].…”

Section: Linear Regressionmentioning

confidence: 99%

Adaptive 6 DOF Self-Balancing Platform for Autonomous Vehicles

et.al.¹

2020

IJCDS

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Parallel manipulators with six degrees of freedom are utilized in many applications. In this paper, a Stewart manipulator is used as a robust vehicle stabilizer to control the orientation and direction of the top platform. A detailed kinematic analysis of a Stewart platform is established in order to control the extensions of linear actuators. This analysis is formulated to cope with the design of vehicle stabilizer. The design and selection of mechanical components including primary joints is accomplished based on comprehensive dynamic simulation. After validating simulation results of proposed design, they were implemented in to build a physical model. To improve system accuracy and performance, and to eliminate associated vibrations, a linear regression model of ground rise is embedded in the system to estimate and predict upcoming elevations. This has lowered the percentage error of platform orientation, made the system more stable.

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“…However, a vibration isolator with an accurate dynamic model can be more competitive and advantageous, especially for complex devices. For the parallel mechanism, many modeling methods have been proposed and applied, for instance, the Newton-Euler method [20][21][22][23][24], Lagrange method [25][26][27],…”

Section: Introductionmentioning

confidence: 99%

Modeling and Vibration Analysis of a 3-UPU Parallel Vibration Isolation Platform with Linear Motors Based on MS-DT-TMM

Chen

Tong

Yang

et al. 2021

Shock and Vibration

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The dynamics and vibration characteristics of a 3-UPU parallel mechanism isolator are investigated by theoretical modeling, numerical simulation, and experimental study. The system consists of two platforms, three linear motors, and the Hook hinges. Firstly, the dynamical mathematical model of this vibration isolator is innovatively established and solved by using the discrete-time transfer matrix method of the multibody system (MS-DT-TMM). According to the modeling principle, the transfer matrix of each component is derived, including the upper and lower platforms, Hooke hinges, and linear motors. Then, the dynamical equation of the overall system is obtained by multiplying all transfer matrices. Secondly, the solution of equation is calculated through the setting of boundary conditions. The numerical simulation is carried out according to the known parameters. The dynamical and vibration analysis of the isolation platform is performed, involving the displacement and force characteristics of the branches. Furthermore, in view of the fact that the Hooke hinges and linear motors are simplified as spatial elastic hinges in modeling. The vibration suppression effect caused by adjusting spring stiffness and damping coefficient is discussed. The simulation results verified the correctness of the MS-DT-TMM method through the comparison with ADAMS simulation results. Finally, the prototype of the vibration isolator is constructed and assembled, and the vibration experiment is conducted. By testing the responses of the isolation device mounted on the vibration table, the natural frequency of the isolator is obtained. The purpose of this experiment is to avoid resonance when it is applied as a vibration isolator in the future. This paper provides a theoretical basis for the later vibration research and control scheme design of the 3-UPU parallel vibration isolation platform.

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Application of H∞ theory to a 6 DOF flight simulator motion base

Cited by 23 publications

References 8 publications

Manipulate Mechanism Design and Synchronous Motion Simulation for Helicopter Driving Simulator

Manipulate Mechanism Design and Synchronous Motion Simulation for Helicopter Driving Simulator

Adaptive 6 DOF Self-Balancing Platform for Autonomous Vehicles

Modeling and Vibration Analysis of a 3-UPU Parallel Vibration Isolation Platform with Linear Motors Based on MS-DT-TMM

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