Justin PradiptaDevelopment of a Pneumatically Driven Flight Simulator Motion Platform | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
ISBN: | 978-3-8440-4921-3 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Reihe: | Institut für Systemdynamik Universität Stuttgart Herausgeber: Prof. Dr.-Ing. O. Sawodny Stuttgart | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Band: | 30 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Schlagwörter: | flight simulator; motion cueing algorithm; pneumatic actuator; parallel manipulator; trajectory generation | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Publikationsart: | Dissertation | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Sprache: | Englisch | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Seiten: | 154 Seiten | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Abbildungen: | 61 Abbildungen | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Gewicht: | 212 g | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Format: | 21 x 14,8 cm | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Bindung: | Paperback | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Preis: | 48,80 € | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Erscheinungsdatum: | Dezember 2016 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Kaufen: | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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Zusammenfassung: | The constantly growing aviation industry and the difficulty to train pilots increases the demand on cost efficient and time effective pilot training. Flight simulators are an acknowledged solution to prepare pilots for flying an aircraft effectively and safely. There are many kinds of flight simulators and they are ranged by their fidelity and complexity. The more complex the simulator, the costlier the system becomes. A simpler variation of a flight simulator may not have a motion system and it is called a flight training device. When a flight simulator has motion feedback in the system, then it can be called a full flight simulator and reaches a higher qualification level.
The ServoFlight project was set up to provide a cost efficient solution by developing a motion platform for a flight simulator using relatively less expensive pneumatic actuators. The final objective of the ServoFlight project is a low cost full flight simulator that can be used for pilot training and can partially replace training in high cost simulators. A motion platform for a flight simulator that is driven by pneumatic actuators is developed, a parallel manipulator configured in a Stewart platform fashion. Seven pneumatic cylinders are utilized to actuate the six degrees-of-freedom motion platform. With the extra cylinder, the ServoFlight platform is categorized as a redundantly actuated parallel manipulator. The redundant cylinder is the middle cylinder with the task of compensating the platforms heavy payload and relieves the outer six cylinders to only positioning. Force distribution is one of the advantages of a redundant parallel manipulator configuration, making the utilization of less powerful actuators feasible. To control the platform dual control scheme is proposed, with the benefit of eliminating the kinematic constraints caused by the seven-cylinders configuration. The six outer cylinders are controlled according to motion trajectories whereas the middle cylinder acts as a pure force actuator to lift the weight of the platform. The Immersion and Invariance method is used for the motion control of the outer cylinders. Exact input/output linearization is used for designing the force control of the middle cylinder. The dual control scheme requires two kinds of reference trajectories; Motion trajectories for the outer cylinders and force trajectory for the middle cylinder. An improved method to provide a motion trajectory for a full flight simulator to simulate the acceleration during a flight simulation is presented. The motion trajectory of the outer cylinders is generated by the motion cueing algorithm (MCA). The MCA is based on a constrained optimization problem, where the optimal acceleration cues are subjected to the actuators travel constraints. The motion platform’s available workspace is more limited due to the redundant configuration, therefore the actuator constraints become more complex. The differential kinematic analysis is utilized in the optimization problem to define the relationship of the acceleration in the platform coordinate and in the actuator coordinates. An acceleration profile is defined as a function of the actuator travel to create a strict acceleration constraint in the actuator coordinate, and thus a strict travel constraint. A force trajectory for the middle cylinder is derived analytically using the inverse dynamic model to maximize the benefit of the redundant actuator. A feed-forward control scheme is proposed with the requirement of good position tracking control. The measurement results show that the proposed control scheme is effective for controlling the platform. It performs well with very small deviation and low total delay time. The platform is principally suitable to be used in a full flight simulator. The proposed MCA is able to keep the actuators within their travel limit while at the same time providing the correct motion cues for the simulator pilots. The need to tune the motion cueing algorithm for the worst case scenario, which is necessary to avoid damage to the platform but is also detrimental to the normal case, is relieved by the utilization of an on-line optimization process. The generated force by the middle cylinder is proven to reduce the average force of the outer cylinders, increasing the overall dynamic reserve of the platform. |