Comparative Study of Dynamic Models of Vehicle Simulator Motion Platform

Abstract

Improvement of motion platform control algorithms is an actual problem of modern vehicle simulators development, which solution may significantly increase the reproducing quality of motion effects at the operator workplace. For general purposes, the simple and robust kinematic approach to control the platform is implemented; it implies the solution of the inverse kinematic task in real-time modes. The controller in this architecture is decomposed to separate local systems of controlling the drives of elements that produce the calculated positions of input elements of the mechanism in the tracking mode. Local systems of computer-aided regulation for electric mechanical drives are designed according to the principle of subordinate control of parameters of the actuating motor. However, such architecture is ineffective in case of significant motor loads, high center of gravity position and nonlinear behavior of local drive controllers. For these cases, system performance can be improved with more complicated algorithms, which consider platform dynamics. In this paper, the dynamic models of 3DOF motion platform of vehicle simulator are studied for the purposes of controller synthesis. The obtained equations of inverse and direct kinematics and direct dynamics equations are discussed. According to the obtained equations, the simplified and complete dynamic models of the system for platform control are developed. Using the information available due to the mathematical model of the device, testing input effects are selected for investigating the transient and stationary processes. Based on computer simulation, common recommendations about using simplified or full dynamic model in synthesis and analysis of control system are given.