Development of the algorithms for smoothing of trajectories of a roll and a pitch axis of a centrifuge motion simulator

Centrifuge motion simulator (CMS) is a training device used for simulation of high onset rates of accelerations and high sustained accelerations acting on a pilot during challenging flights of modern combat aircraft. The CMS device has three degrees of freedom. Training profiles in the CMS require achieving of desired linear profiles of G-load with variable programmed onset rates. The desired piecewise linear G-load profiles could lead to very demanding joint trajectories for which achievement very powerful motors would have to be in use. In order to lessen the motor load, to provide better tracking capabilities of controllers, and to avoid vibrational problems, while in the same time achieving desired acceleration profiles, trajectory shaping techniques have to be considered. In this paper, development of the algorithms for smoothing of motions of the CMS’s second (roll) and the third (pitch) joint is presented. Smoothing of the absolute value of the acceleration acting on a pilot is compared to smoothing of the CMS trajectories in joint space.