Method and device for controlling a simulator

A method for actuating a simulator for simulating translational and rotational movements of a vehicle, wherein, in relation to the three vehicle axes, a rotational rate about a first vehicle axis and the specific forces respectively acting along a second vehicle axis and a third vehicle axis are provided from a movement model that simulates the vehicle and converted into translational and rotational control commands for actuating the simulator, comprising the following steps:

• calculating, using a control unit, a rotational angle from the rotational rate about the first vehicle axis,
• calculating, using the control unit, from the specific forces, an apparent perpendicular angle between a vertical axis as the third vehicle axis and the apparent perpendicular arising on account of the specific forces acting along the second vehicle axis and third vehicle axis,
• calculating, using the control unit, an apparent perpendicular angle difference between a rotational angle and the apparent perpendicular angle and ascertaining a high-frequency difference component of the apparent perpendicular angle difference that is intended to be compensated by a translational movement of the simulator, depending on the apparent perpendicular angle difference,
• calculating, using the control unit, translational control commands for actuating the simulator for a translational movement of the simulator along the second vehicle axis, depending on the ascertained high-frequency rotational angle component of the apparent perpendicular angle difference,
• calculating, using the control unit, a compensation angle that corresponds to an acceleration value to be simulated along the second vehicle axis by inclining the simulator in relation to the perpendicular to the Earth, depending on the rotational angle, the high-frequency difference component of the apparent perpendicular angle difference and the apparent perpendicular angle,
• calculating, using the control unit, a limited compensation angle from the compensation angle by means of a physiological rotational rate limitation, which restricts an inclination of the simulator below a perception threshold, and
• calculating, using the control unit, rotation control commands for actuating the simulator for a rotational movement of the simulator about the first vehicle axis, depending on the limited compensation angle and the rotational angle.