Computer Science
Scientific paper
Jul 2002
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2002spie.4717...56p&link_type=abstract
Proc. SPIE Vol. 4717, p. 56-67, Technologies for Synthetic Environments: Hardware-in-the-Loop Testing VII, Robert Lee Murrer; Ed
Computer Science
Scientific paper
The objective of the HFMS Program Phase II is to finalize the development and produce a '6 DOF High Frequency Motion Simulator' (HFMS). This system is a continuation of a Phase I Conceptual Design study completed in 2000. The introduction of a unique non-cascaded gimbal configuration offers the ability to increase the closed-loop frequency response of this motion simulator to the 1000 Hz region. The motion base is based on a variant of a hexapod configuration. Unique joints are utilized to provide low friction coupling between the platform and actuators. The high modal frequency is achieved by using a beryllium-aluminum alloy for the platform structure and actuator extensions. A multi-variable feedback system, which uses the actuator position and platform inertial accelerations, provides a control system directly related to the airframe coordinate frame. A unique Forward Kinematics filter has been developed to permit a real time solution of the platform variables by a measurement of the leg extensions. The system provides control of the three angular rotations and three linear displacements, each control loop exhibiting a 1000 Hz bandwidth.
Benson Michael
Gass Herb
Hsu Jeffrey
Novokov Michael
Peterson Robert R.
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