The application of modern control theory to improve the quality of motion fidelity in ground based motion simulators

摘要

Optimization methods utilizing LQ (linear quadratic) techniques are applied to develop improved motion fidelity of a three-axis motion. The motion simulator (centrifuge) is modeled as a three-axis revolute robot. The optimization procedure is applied to minimize induced accelerations (Coriolis) that commonly occur. Computer simulations of these algorithms demonstrate that over 65% reduction of the untoward accelerations can be obtained.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>