Improvement of the UTIAS adaptive motion drive algorithm.
Published: 2006
Language: eng
Number of pages: 58
ISBN-13: 9780494160572
Subjects: Flight simulators -- Ontario -- Toronto.
Description: The UTIAS adaptive motion drive algorithm was investigated for previously documented oscillations in the simulator response. Adaptive step size gain in the steepest descent algorithm was employed. Adaptation is based on the position and velocity of the simulator motion system. Use of adaptive step size gain minimized oscillations in the simulator response for large amplitude inputs, and it had no significant effect on simulator response for inputs with small magnitudes.Furthermore, a new actuator state based adaptive motion drive algorithm that takes into account the parallel architecture of the traditional Stewart platform was developed. As opposed to traditional inertial cartesian adaptive algorithms, the proposed actuator state based adaptive algorithm cost function directly employs the simulator actuator states. Therefore it implicitly accounts for the coupling between degrees-of-freedom in the workspace that exist when the motion is expressed in Cartesian coordinates. This algorithm was compared to the UTIAS adaptive motion drive algorithm using simple step inputs.
Notes: Source: Masters Abstracts International, Volume: 44-06, page: 2868.

Thesis (M.A.Sc.)--University of Toronto, 2006.

Includes bibliographical references.

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