Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator
Abstract
Centrifuge motion simulator (CMS) is a training device used for simulation of high onset
rates of accelerations and high sustained accelerations acting on a pilot during challenging flights
of modern combat aircraft. The CMS device has three degrees of freedom. Training profiles in the
CMS require achieving of desired linear profiles of G-load with variable programmed onset rates.
The desired piecewise linear G-load profiles could lead to very demanding joint trajectories for
which achievement very powerful motors would have to be in use. In order to lessen the motor
load, to provide better tracking capabilities of controllers, and to avoid vibrational problems,
while in the same time achieving desired acceleration profiles, trajectory shaping techniques have
to be considered. In this paper, development of the algorithms for smoothing of motions of the
CMS’s second (roll) and the third (pitch) joint is presented. Smoothing of the absolute value of
the acceleration acting on a... pilot is compared to smoothing of the CMS trajectories in joint space.
Keywords:
centrifuge / robot / smoothing / trajectory planningSource:
Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e, 2019Publisher:
- Beograd : Srpsko društvo za mehaniku
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Development of devices for pilot training and dynamic flight simulation of modern fighter aircrafts: 3DoF centrifuge and 4DoF spatial disorientation trainer (RS-MESTD-Technological Development (TD or TR)-35023)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Vidaković, Jelena AU - Kvrgić, Vladimir AU - Lazarević, Mihailo AU - Dimić, Zoran PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4102 AB - Centrifuge motion simulator (CMS) is a training device used for simulation of high onset rates of accelerations and high sustained accelerations acting on a pilot during challenging flights of modern combat aircraft. The CMS device has three degrees of freedom. Training profiles in the CMS require achieving of desired linear profiles of G-load with variable programmed onset rates. The desired piecewise linear G-load profiles could lead to very demanding joint trajectories for which achievement very powerful motors would have to be in use. In order to lessen the motor load, to provide better tracking capabilities of controllers, and to avoid vibrational problems, while in the same time achieving desired acceleration profiles, trajectory shaping techniques have to be considered. In this paper, development of the algorithms for smoothing of motions of the CMS’s second (roll) and the third (pitch) joint is presented. Smoothing of the absolute value of the acceleration acting on a pilot is compared to smoothing of the CMS trajectories in joint space. PB - Beograd : Srpsko društvo za mehaniku C3 - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e T1 - Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator UR - https://hdl.handle.net/21.15107/rcub_machinery_4102 ER -
@conference{ author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo and Dimić, Zoran", year = "2019", abstract = "Centrifuge motion simulator (CMS) is a training device used for simulation of high onset rates of accelerations and high sustained accelerations acting on a pilot during challenging flights of modern combat aircraft. The CMS device has three degrees of freedom. Training profiles in the CMS require achieving of desired linear profiles of G-load with variable programmed onset rates. The desired piecewise linear G-load profiles could lead to very demanding joint trajectories for which achievement very powerful motors would have to be in use. In order to lessen the motor load, to provide better tracking capabilities of controllers, and to avoid vibrational problems, while in the same time achieving desired acceleration profiles, trajectory shaping techniques have to be considered. In this paper, development of the algorithms for smoothing of motions of the CMS’s second (roll) and the third (pitch) joint is presented. Smoothing of the absolute value of the acceleration acting on a pilot is compared to smoothing of the CMS trajectories in joint space.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e", title = "Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator", url = "https://hdl.handle.net/21.15107/rcub_machinery_4102" }
Vidaković, J., Kvrgić, V., Lazarević, M.,& Dimić, Z.. (2019). Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e Beograd : Srpsko društvo za mehaniku.. https://hdl.handle.net/21.15107/rcub_machinery_4102
Vidaković J, Kvrgić V, Lazarević M, Dimić Z. Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e. 2019;. https://hdl.handle.net/21.15107/rcub_machinery_4102 .
Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, Dimić, Zoran, "Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e (2019), https://hdl.handle.net/21.15107/rcub_machinery_4102 .