Real-time Model Predictive Control Motion Cueing using Motion System Kinematics
Author(s):
Article Type:
Research/Original Article (دارای رتبه معتبر)
Abstract:
Traditionally, contribution of the motion system in motion cueing algorithm is carried out by a simplistic representation of a set of operational space related state variables. Neglecting the nonlinear inverse kinematics of the motion system as the fundamental part of motion cueing system is an unrealistic simplification with undisclosed consequences. In this paper, the complete motion cueing (MC) potential of the simulator in a more realistic manner is investigated by directly penalizing the general nonlinear inverse kinematics of the motion system. The developed real time model predictive control (MPC) motion cueing strategy enables the faithful reproduction of the perception of motion along with effectively constricting the motions within the limited workspace of the motion system. The partially linearized inverse kinematic model of the motion system specifically developed for the purpose of this study along with the constant coefficient inverse kinematics model at particular so-called neutral state value are employed to examine the performance of the motion cueing based on general nonlinear kinematical model. The results of conducted comparative simulations reveal that nonlinear MPC-based motion cueing algorithm enables more effectively handling the platform workspace while faithfully reproducing the realistic perception of motion with no computational encumbrance.
Keywords:
Language:
Persian
Published:
Aerospace Mechanics Journal, Volume:14 Issue: 4, 2019
Pages:
33 to 50
magiran.com/p1792970
دانلود و مطالعه متن این مقاله با یکی از روشهای زیر امکان پذیر است:
اشتراک شخصی
با عضویت و پرداخت آنلاین حق اشتراک یکساله به مبلغ 1,390,000ريال میتوانید 70 عنوان مطلب دانلود کنید!
اشتراک سازمانی
به کتابخانه دانشگاه یا محل کار خود پیشنهاد کنید تا اشتراک سازمانی این پایگاه را برای دسترسی نامحدود همه کاربران به متن مطالب تهیه نمایند!
توجه!
- حق عضویت دریافتی صرف حمایت از نشریات عضو و نگهداری، تکمیل و توسعه مگیران میشود.
- پرداخت حق اشتراک و دانلود مقالات اجازه بازنشر آن در سایر رسانههای چاپی و دیجیتال را به کاربر نمیدهد.
In order to view content subscription is required
Personal subscription
Subscribe magiran.com for 70 € euros via PayPal and download 70 articles during a year.
Organization subscription
Please contact us to subscribe your university or library for unlimited access!