Towards Washout Filter Concepts for Motion Simulators on the Base of a Stewart Platform
Sprache des Vortragstitels:
82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics
Sprache des Tagungstitel:
In this paper we present a pneumatically driven Stewart platform as a basis for motion simulators. Motion platforms, that simulate perceived situations in aeroplanes, cars or ships, have workspace constraints in every degree of freedom. Therefore it is necessary to adapt the accelerations and angular rates in order to stay within the physical restrictions. For realizing a flight or ride simulator on the basis of the Stewart platform, "Washout Filters" are used to change the signals of the open source software FlightGear and to minimize the sensation error between simulator and aircraft. Different filter concepts are implemented and evaluated. The platform presented in this document is a parallel kinematic robot, driven by fluidic muscles. The pneumatically actuated muscles are only able to produce tensile forces. Therefore a spiral spring from a passenger car is used to apply the compressive forces and torques. A detailed dynamical modelling and identification offers the possibility of an "exact feedforward linearization" control method. Different control strategies are developed and compared.