# Advanced Servo Control and AI Integration in 3-DoF Platforms for Enhanced Simulation Interactivity
## 5 Experimental Results  
The servo software was written and debugged using the CCS software and then executed. The visual effects computer was connected to update, compute, and actuate the servos via the network interface. It also constantly receives instructions from the operating computer and transmits the internal status to the servos. Figure 15 depicts the visual scene, set in an island location to make the flight path more challenging. As the flight attitude varies with different flight path planning, slight rolling effects are observed, as indicated by the fluctuation in height between different green dots. Figure 16a shows the response of three servo systems when controlling the 3-DoF platform using a joystick. Figure 16b,c, respectively, presents the experimental results of the proposed method and traditional control. A joystick was utilized to command the velocity, and the actual speeds of the three servos were measured. It is observed that Figure 16b exhibits better control performance compared to Figure 16c when varying velocities. Figure 17a,b depicts the errors corresponding to Figure 16a,b, respectively. It can be noted that the proposed method yields errors of approximately \(\pm 4\) degrees per second, which is superior to the errors of approximately \(\pm 12\) degrees per second obtained using the traditional PI control. Figure 18 illustrates the control test of the position loop. When a \(\pm 100\)-degree forward and reverse motion is provided, the response diagram of the three-axis angle and speed is obtained. Figure 19a-c shows the servo response after zeroing. It can be observed from Figure 19a that the pitch axis moves clockwise, while the roll axis and yaw axis move counterclockwise, as shown in Figure 19b. The angular acceleration of the three axes is shown in Figure 19c. After zeroing is completed, a pitch down command is issued to the pitch axis, and the ball will move from the zero-degree position to \(-25\) degrees, stopping at a position where personnel can enter, as shown in Figure 18. Figure 20 illustrates that when personnel enter the ball and the operator issues a centering command, the turret will realign and prepare to enter the experiential course. Figure 21a,b shows the three-axis commands received by the servos in the first-stage scene. The servos operate passively, providing the crew with a sense of immersion. Figure 22a-c illustrates the second-stage scene where the servos are controlled by the joystick. At this time, the servos operate actively, providing the crew with a real-time sense of shooting at enemy aircrafts. It can be seen from the figures that the red and black lines have no values, indicating no joystick control, and the roll axis flight attitude is approximately within \(\pm 15\) degrees. In Figure 23a, it can be observed that at \(12.5\) s the pitch axis will pitch down to \(-25\) degrees and the ball will move to a position where the experiential personnel can dismount. Due to the aircraft being hit, the visual effects computer will simulate a momentary shaking sensation through the roll axis, as shown in Figure 23b,c. From the figure, it can be seen that there are four hits, as reflected by the four shaking effects. The quantitative results are summarized in Table 3.  
Figure 15: Visual effects scene flight path. Figure 16: Measured response of angular velocity response for the 3-DoF platform controlled by joystick: (**a**) test photo image; (**b**) proposed; and (**c**) PI. Figure 17: Comparison of angular velocity errors for the 3-DoF platform controlled by joystick: (a) proposed and (b) PI. Figure 18: _Cont._  
Figure 19: _Cont._  
Figure 18: Measured response of position-controlled 3-DoF platform: (**a**) angle and (**b**) angular velocity. Figure 19: Simulator response test after zeroing initialization: (**a**) angle; (**b**) angular velocity; and (**c**) angular acceleration. Figure 20: Measurement response after zero initialization and personnel entry into the simulator.