Method for determining a movement limit
AssigneeDeutsches Zentrum für Luft- und Raumfahrt e.V.
InventorCarsten Seehof
Life of this patent
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Abstract
In a movement system, the movement limit is determined by having a degree of freedom of the movement system defined and the respective current movement system state being available. Subsequently, an articulation trajectory is determined for each upper articulation point of the movement system, on which articulation trajectory the articulation point can move along the degree of freedom. The movement limit is then derived by calculating the point of intersection of the actuator movement in an extreme deflection with its respective articulation trajectory.
Claims16
A movement system for simulators configured for carrying out a method for determining a movement limit of the movement system, wherein the movement system comprises:
- a platform which can be moved in several degrees of freedom with respect to a fixed reference plane by actuators,
- wherein the actuators are arranged in an articulated fashion both in the fixed reference plane and on the movable platform and are designed to change length in order to move the movable platform, and
- microprocessor-controlled computing unit which receives information from the actuators and is configured for:
- a) defining a degree of freedom of the movement system for which the movement limit is to be determined,
- b) making available a current movement system state of the movement system with respect to a predefined coordinate system,
- c) calculating an articulation trajectory for each upper articulation point of the actuators at the movable platform along the fixed degree of freedom taking into account the current movement system state in the predefined coordinate system,
- d) calculating a maximum possible position of each upper articulation point on its calculated articulation trajectory in the direction of the defined degree of freedom as a function of an extreme deflection of the corresponding actuator of the respective upper articulation point, and
- e) calculating the movement limit of the movement system with respect to the defined degree of freedom as a function of the maximum possible positions of the upper articulation points on their articulation trajectories
- whereby the movement limit is calculated deterministically and in real time, in order to thereby configure real-time-capable controlled-loop control while taking into account the available movement limit within the movement system.
Method for determining a movement limit of a movement system with simulator for carrying out a method,
- wherein the movement system comprises:
- a platform which can be moved in several degrees of freedom with respect to a fixed reference plane by actuators,
- wherein the actuators are arranged in an articulated fashion both in the fixed reference plane and on the movable platform and are designed to change length in order to move the movable platform, and
- a microprocessor-controlled computing unit which receives information from the actuators,
- the method comprising:
- a) defining a degree of freedom of the movement system for which the movement limit is to be determined,
- b) making available a current movement system state of the movement system with respect to a predefined coordinate system,
- c) calculating an articulation trajectory for each upper articulation point of the actuators at the movable platform along the fixed degree of freedom taking into account the current movement system state in the predefined coordinate system,
- d) calculating a maximum possible position of each upper articulation point on its calculated articulation trajectory in the direction of the defined degree of freedom as a function of an extreme deflection of the corresponding actuator of the respective upper articulation point,
- e) calculating the movement limit of the movement system with respect to the defined degree of freedom as a function of the maximum possible positions of the upper articulation points on their articulation trajectories, whereby the movement limit is calculated deterministically and in real time, and
- f) configuring a real-time-capable controlled-loop control while taking into account the available movement limit within the movement system, and using the controlled-loop control for controlling the movement system.
Dependencies are inferred from the claim text.