To the Problem of Motion Cueing Simulation on a Robotic Stand for Aircraft Flight

Abstract

Various simulators with motion cueing simulation stands, which make it possible to create an acceleration environment for the pilot that is close to a real flight, are used for training aircraft pilots. The article considers the formulation of the motion cueing simulation on a stand based on an industrial manipulator. Motion cueing simulation algorithms include two phases: motion cueing simulation phase and phase of return to the working area center. During simulation phase the stand must implement such a movement that the angular accelerations acting on the person and the overload vector acting on the center of mass of the operator completely coincide with the real ones. If it is not possible then just the directions of these vectors should coincide. During the second phase the stand end point must return to the working area center with acceleration values below the threshold, but in the fastest way. This task can be presented as a generalization of the brachistochrone problem. The article considers the problem of the material point motion in a uniform gravity field along a curve located in a vertical plane, in the presence of restrictions on the trajectory curvature. It is necessary to choose the curve shape in such a way that the descent time is minimal. The problem solution is obtained by optimal control methods, the cases of regular and singular control realization are considered, the question of its conjugation. Also, the switching number between sections of regular and singular control is studied.