Orientation control of Atlas: A novel motion simulation platform

Atlas Motion Platform Full-Scale Prototype Design

“…What distinguishes Atlas from conventional motion platforms is that linear displacements are decoupled from angular displacements. Moreover, the orientation workspace is unbounded and free from singularities [7]. This is accomplished by attaching the sphere orientation system to an interface platform atop a hexapod, see Fig.…”

“…At this point, the controller is being developed using a dynamic model to simulate the sphere motions given pilot flight control inputs. The following gives a high-level description of the feedback motion control [7], motor torque requirements [9], and the simulated dynamic response of the sphere.…”

“…The overall Atlas control system comprises the vehicle simulation which determines the motion of the simulated vehicle in response to pilot input and environmental disturbances, a two-part sphere orientation sensing system which fuses orientation data from a visual orientation system (VOS) that actively tracks circular barcodes affixed to the outer surface of the sphere and an on-board three-axis gyroscope [7]; a washout algorithm that converts the vehicle state information to the desired platform state using classical washout theory that has been extended to accommodate large angular motions that are possible with the Atlas simulator; and an actuator control system that controls the six legs of the MOOG motion base to provide desired translational motions and the three rotation drive motors that control the sphere orientation by applying the required combination of sphere motor torques.…”

Motion Simulation Table Control Using Improved ZPETC Approach

“…As the rapid development of inertial navigation systems [1][2][3], the research and manufacturing of inertial guidance test equipment becomes an important issue [4]. One of the most important inertial guidance test equipment is a flight motion simulator [5][6]. Therefore, Motion simulator control research has important significance in the aviation, Aerospace and national defense.…”

“…The ZPETC approach has gained attention by numerous researchers [5][6][7]. The ZPETC approach delivers the overall tracking system with zero phase error characteristics and rules out the phase error that affected by NMP and has unity gain for low frequencies [8][9][10][11][12][13].…”