Model Predictive Motion Cueing Algorithm for an Overdetermined Stewart Platform

Abstract

To make motion perception more realistic, a current-implemented classical washout motion cueing algorithm (CWMCA) is extended to a model predictive motion cueing algorithm (MPMCA) for a seven-cylinder pneumatically actuated Stewart platform. Through this enhancement, not only are potential predictive signals taken into account, but also comprehensive information and data sets relating to the mechanical limitations of the simulator platform. The significantly increased information content enables the calculation of far more specific targeted requirements for the platform. First, the platform kinematics are derived and its physical platform constraints are examined. Furthermore, the CWMCA is extended and transformed into a state space-based motion cueing algorithm for the purpose of setting up a linear quadratic MPMCA. Finally, the MPMCA is simulated and evaluated with respect to its degree of realism.