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Active exercise can improve the rehabilitation efficacy of the paralyzed patients, while we need to consider its safety. Impedance control takes the active compliance into account, providing a safe and comfortable training environment for the patients. However, the traditional impedance control has poor robustness, so it is urgent to enhance the adaptive capability of the system. This paper proposes...
The strong dynamic coupling exists in each channel of 6-DOF motion simulator. Aiming at this problem, singular value decomposition is used to transform coupling physical space to decoupling space of motion simulator. PID controller of decoupling space for each channel of motion simulator is designed, which realizes dynamic decoupling of motion simulator and optimal regulation of control parameter...
The control system of 3 axis, 6 degree-of-freedom (DOF) hydraulic shaking table with 8 actuators is presented to reproduce the multiple DOF reference waveforms. The servo control is used to expand the acceleration frequency bandwidth and transform signals between the 8 actuators and 6 DOF. The multi input multi output (MIMO) vbiration control is presented to update the drive signals and reproduce...
In this paper, the spatial six-DOF(degree of freedom) parallel manipulator is described as a rigid body, and in many cases, this simplification is adequate for describing the properties of the whole mechanical system, especially with large and heavy motion system. By using Kane approach the explicitly forward dynamic equations with six variables are gained straightly and readily. Under identical conditions,...
When flying an aircraft, the force feel of the control column provides the pilot with important information about the state of the aircraft. In a flight simulator this force feel needs to be simulated, which is the task of the control loading system. A hydraulic Control Loading System (CLS) was developed and installed on our flight simulator earlier days, but the CLS contains instabilities for some...
This paper described Phase-amplitude control methods, based on fix step-size (FSS-LMS) and variable step-size (VSS-LMS) in ALINE neural network control respectively, were compared and analyzed on the simulated hydro-pneumatic suspension control system. The test results indicated that phase-amplitude control method could improve the sine signal reappeared accuracy in limited range, efficiently realize...
An automated test system for evaluating flight simulator fidelity has been implemented. The system is designed to automatically test statically and dynamically the performance of flight simulator. The testing item file is designed, the file parser supporting for batch command file formats is presented, trim function and the flying part of the test are completed, evaluation way is presented. The ability...
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