| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 102 === In this thesis, a 3 degree-of-freedom (DOF) motion platform with extensible screw bars actuated by servo motors is designed for the motion-cueing simulator with low cost and easy maintenance. Moreover, the classical washout filter can be adopted for generating equivalent acceleration by varying the posture of motion platform. Then, the inverse kinematics is processed for converting the posture of motion platform to the reference signals for three servo motors of the motion platform.
The accurate components of gravity on the tilt-surface of 3-DOF motion platform generate desirable motion cueing and its precision has been significantly improved by applying the lead controller and the zero phase error tracking controller (ZPETC), separately, on each axis. Furthermore, to extend motion-cueing control to a 6-DOF platform, the contouring error results in the deviation from the desirable path of the motion platform and the false cue thus occurs. The contouring error was effectively reduced by introducing the cross-coupled controller (CCC) with the lead type controller to obtain the improved contouring accuracy. The integrated control structure with both the tracking and contouring accuracy has been proved to be suitably realized on the 6-DOF motion platform for future development.
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