A Time-Varying Weight MPC-Based Motion Cueing Algorithm for Motion Simulation Platform

2021 ◽  
pp. 1-12
Author(s):  
Mohammad Reza Chalak Qazani ◽  
Houshyar Asadi ◽  
Shady Mohamed ◽  
Chee Peng Lim ◽  
Saeid Nahavandi
Keyword(s):  
Simulation Platform ◽  
Time Varying ◽  
Motion Simulation ◽  
Motion Cueing

Mechanism Design of Equivalent Simulation of Cylinder Pressure Load in Reciprocating Compressor Fault System

2019 ◽  
Vol 893 ◽  
pp. 84-88
Author(s):  
Shun Gen Xiao ◽  
Meng Meng Song ◽  
Xiao Hu Sang ◽  
Li Xia Huang ◽  
Hong Long Chen ◽  
...  
Keyword(s):  
Test Bench ◽  
Fault System ◽  
Time Varying ◽  
Reciprocating Compressor ◽  
Cylinder Pressure ◽  
Motion Simulation ◽  
Compression Process ◽  
Pressure Load ◽  
New Ideas ◽  
New Type

In this paper, by designing a new type of mechanism, the time-varying cylinder load ofthe reciprocating compressor is simulated. The time-varying cylinder pressure load includes fourprocesses of expansion, suction, compression and exhaust, where the pressure of the expansionprocess is gradually reduced until it is equal to the suction pressure, and the pressures of the suctionand exhaust processes are almost constant. The pressure of the compression process is graduallyincreased until it is equal to the exhaust pressure value. Through the motion simulation of themechanism, four processes of time-varying cylinder pressure load can be realized. This newmechanism will provide new ideas for the time-varying load involved in the simulation of thereciprocating compressor fault test bench.

Research on the Ship Motion Simulation Platform for Three Degrees Based on Seasickness Test and Kinematics Analysis

2012 ◽  
Vol 252 ◽  
pp. 89-92
Author(s):  
Zhi Wei Zhang ◽  
Song Li ◽  
Kai Cong ◽  
Jin Chun Song
Keyword(s):  
Control System ◽  
Virtual Prototype ◽  
Ship Motion ◽  
Simulation Platform ◽  
Motion Simulation ◽  
Hydraulic Control ◽  
Kinematics Analysis ◽  
Matlab Simulink ◽  
Hydraulic Control System

A new structure of ship motion simulation platform and its hydraulic control system were designed. Matlab/Simulink was used for the analyses of hydraulic control system. Virtual prototype of the ship motion simulation platform was built up by ADAMS under the seasickness test condition, and the kinematics analysis was also carried on. The results show the effectiveness on the model of platform.

Configuration Optimization of a Boat Simulation Platform for a Mobile User

2010 ◽  
Author(s):  
Juan C. Blanco ◽  
Carlos F. Rodri´guez
Keyword(s):  
Fitness Function ◽  
Center Of Mass ◽  
Parallel Robot ◽  
Mobile User ◽  
Simulation Platform ◽  
Motion Simulation ◽  
Objective Functions ◽  
Low Discrepancy Sequences ◽  
Position And Orientation ◽  
Mechanical Devices

Motion simulation platforms are mechanical devices designed to replicate the dynamics of a given vehicle. These devices are very attractive for training individuals as drivers, pilots or passengers. In the case of river boats, the simulator consists of a section of the boat (hull) mounted over a 3 DOF parallel robot with a passive mass compensator (3UPS + PU). If users have mobility in the hull, an uncertainty in the position of the upper platform’s center of mass is produced. This variation may generate excessive loads on the robot that can be prevented by an adequate placement of the hull over the robot. Dynamic calculations, based on measurements of the real boat in motion, are computed by numerical simulations in SimMechanics. Three methodologies are presented for optimizing the configuration of a boat simulation platform. First, a manual procedure is developed in which critical cases are intuitively detected and evaluated. Then, two multi-variable optimization algorithms are used to systematically obtain the best position and orientation (pose) of the boat section: Genetic Algorithms and low discrepancy sequences. The pose is the design variable; the average forces are the objective functions and the maximum difference between the average forces is the fitness function. The article describes the design problem, the proposed optimization methodologies and simulation results for the optimal configuration.

Path Point Calculation and 3D Coordinate Display for WMR Based on Vision

2011 ◽  
Vol 121-126 ◽  
pp. 4176-4179
Author(s):  
Hong Wei Gao ◽  
Chang Yi Luan ◽  
Hui Ying Yang
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Simulation Platform ◽  
Motion Simulation ◽  
3D Space ◽  
Point Calculation ◽  
Simulation Results ◽  
2D And 3D ◽  
Path Point

According to the path point calculation, display and motion simulaiton problem for wheeled mobile robot(WMR), two kinds of path point calcualtion method are discussed from 2D and 3D space in this paper. The simulation results based on the motion simulation platform prove the validity and practicability of the proposed method.

Development of the Picking Manipulator Simulation Platform Based on Multi-Domain System

2010 ◽  
Vol 102-104 ◽  
pp. 292-296
Author(s):  
Yin Le Chen ◽  
Xiang Jun Zou ◽  
Hai Xin Zou ◽  
Quan Sun ◽  
Jing Li ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Intelligent Design ◽  
Simulation System ◽  
Simulation Platform ◽  
Research Needs ◽  
Motion Simulation ◽  
Motion Model ◽  
Simulation Accuracy ◽  
The Real ◽  
Analysis Tools

In order to reduce the research and experimental cost of hand-picking machine, to make the design of manipulator more reasonable, and to provide more optimized program for the design, an agricultural picking manipulator simulation system based on intelligent design was designed. Firstly ,based on the research needs, to simplify the real picking manipulator under the premise of that the simulation accuracy reach the requirement, the model of picking manipulator had been simplified. Secondly, the finished model was put into EON Studio to build the virtual procedure, and movement properties were added to the manipulator to realize the function of motion simulation. Thirdly, the picking manipulator mathematics motion model of 4 freedoms was established, and the inverse kinematics of the picking manipulator was analyzed by MATLAB analysis tools, and the reverse solution program was written. Finally, Microsoft Visual C++ was used to complete the design of simulation platform, in order to realize the calling of various functions of the manipulator.

scholarly journals A Design of Nonlinear Scaling and Nonlinear Optimal Motion Cueing Algorithm for Pilot's Station

2021 ◽  
Vol 26 (6) ◽  
pp. 513-520
Author(s):  
Daoyang ZHU ◽  
Jun YAN ◽  
Shaoli DUAN
Keyword(s):  
Motion Simulation ◽  
Motion Platform ◽  
Motion Simulator ◽  
Pitch Direction ◽  
Washout Filter ◽  
Motion Cueing ◽  
Physical Limitations ◽  
Rotational Motions ◽  
Simulator Motion ◽  
High Degree

Motion cueing algorithms (MCA) are often applied in the motion simulators. In this paper, a nonlinear optimal MCA, taking into account translational and rotational motions of a simulator within its physical limitation, is designed for the motion platform aiming to minimize human’s perception error in order to provide a high degree of fidelity. Indeed, the movement sensation center of most MCA is placed at the center of the upper platform, which may cause a certain error. Pilot’s station should be paid full attention to in the MCA. Apart from this, the scaling and limiting module plays an important role in optimizing the motion platform workspace and reducing false cues during motion reproduction. It should be used along within the washout filter to decrease the amplitude of the translational and rotational motion signals uniformly across all frequencies through the MCA. A nonlinear scaling method is designed to accurately duplicate motions with high realistic behavior and use the platform more efficiently without violating its physical limitations. The simulation experiment is verified in the longitudinal/pitch direction for motion simulator. The result implies that the proposed method can not only overcome the problem of the workspace limitations in the simulator motion reproduction and improve the realism of movement sensation, but also reduce the false cues to improve dynamic fidelity during the motion simulation process.

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