An optimal controller for Desdemona for an optimal feeling

Schutyser, Pieter (2005) An optimal controller for Desdemona for an optimal feeling.

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Abstract:Desdemona is a new prototype disorientation simulator which can generate acceleration profiles. In this report the design of an optimal controller for Desdemona is described. An optimal controller calculates the optimal movements of Desdemona within the limits of Desdemona. The limitations are caused by maximum displacement of the joints and a maximum in the power/torque of the motors, where a dynamic model is used to calculate the power and torque of the motors. The optimal controller optimizes the complete trajectory if it is known beforehand or until a limited time horizon if the trajectory can only be estimated for a limited time horizon. The optimal controller is realized and tested for Desdemona with one degree of freedom (d.o.f.), called dynamic flight simulator also with two d.o.f. where the central yaw and the vertical sledge are controlled. And finally with three d.o.f where yaw of the cabin is also included. If the d.o.f. is one then the optimization can be solved for the case the trajectory can only be estimated for a certain time horizon. This is the case for example with man in the loop. The results show that the optimization works especially for limited d.o.f. An increased number of d.o.f. makes the problem much harder to solve, which causes a decrease in performance. The performance can be increased by choosing smart initial values. Initial values for the optimization can be generated with the existing controllers. The results of the optimization will be better or equal to the results of the initial values from the controller. This makes the optimization method an interesting extension for the existing controllers. For Desdemona as dynamic flight simulator this is shown. The off-line optimization is ready to be implemented for simulations. Some work has to be done for realizing the on-line optimization. The path of the simulated model has to be estimated in the future and the calculation time has to be reduced.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/56922
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