| 摘要 |
The invention is directed to a movement simulator, comprising a base; a platform movable relative to said base; actuators having a controllable length, said element being coupled with said base and carrying said platform, wherein the dimensions of the base, platform and the variable dimensions of the actuators determine a workspace within which the platform can move. A controller operable to provide a motion cueing algorithm having a demanded platform state as output and a washout controller having a washout adaptation as output, which washout controller keeps the platform within its workspace by adapting the demanded platform state to a commanded platform state using the washout adaptation. The commanded platform state controls, via a kinematic transformation, the length of the actuators. The washout adaptation is calculated using a model predictive control algorithm. |
