| 摘要 |
PURPOSE:To evaluate positional accuracy and response by reversely converting and computing the actual attitude from a displacement of hudraulic cylinder, comparing the result with a command signal, and performing evaluation. CONSTITUTION:A displacement command signal Li=F(Xi) is computed in a coordinate conversion and computing device 35 by a six freedom movement commanding signal X1 from a computing processor 34, and the result is imputted to a servo controller 36. The actual displacements of the hydraulic cylinders 4-9 are detected by displacement detectors 28-33 as Lf. A driving device 37 is controlled by feedback, and a cockpit is moved as specified. Meanwhile actual free movement attitude Xs on the motion base is obtained by Xs=F<-1>(Lf) in a reversely converting and computing device 38, based on the cylinder displacement Lf. In a manueuverability evaluating device 39, the true attitude Xs and the command signal Xi are compared, and the maneuverability on the motion base is evaluated. |
