Blended mode concept for control of flight simulator motion systems

Claim 2

A motion simulator system comprising: a platform unit; means for imparting motion to said platform unit; means for driving said means for imparting motion; and circuit means for providing a command signal to said means for driving; said circuit means comprising: means for receiving an acceleration command signal; means for receiving a position command signal; and means for combining the acceleration and position command signals to provide a signal for driving said means for imparting motion; and wherein said command signals comprise varying signals, and further comprising: means for eliminating the effects of slowly varying acceleration command signals; means for eliminating quickly varying position command signals; and means for processing and combining the uneliminated acceleration command signals and position command signals; and wherein: the low cut-off frequency of said acceleration command signal is less than the high cut-off frequency of said position command signal; and compensation means for removing distortions in the range between said high cut-off frequency and said low cut-off frequency.

Claim 3

A system as defined in claim 1 wherein said means for imparting motion comprises a piston and cylinder arrangement; the piston of said piston and cylinder arrangement being connected to said platform; said means for driving the means for imparting motion comprising a servo-valve.

Claim 4

A system as defined in claim 2 comprising a plurality of piston and cylinder arrangements; said piston and cylinder arrangements being hydraulically driven.

Claim 5

A motion simulator system comprising: a platform unit; a plurality of extensible members disposed below said platform unit for supporting said platform unit at respective points thereof and for imparting motion to said platform unit; each said extensible member including servo means for imparting motion to an extensible portion of said extensible member, and circuit means for providing a command signal to said servo means; said circuit means comprising: means for receiving an acceleration command signal; means for receiving a position command signal; and means for combining the acceleration and position command signals to provide a signal for driving said means for imparting motion; and wherein said command signals comprise varying DC signals, and further comprising: means for eliminating slowly varying acceleration command signals; means for eliminating quickly varying position command signals; and means for processing and combining the uneliminated acceleration command signals and position command signals; and wherein: the low cut-off frequency of said acceleration command signal is less than the high cut-off frequency of said position command signal; and compensation means for removing distortions in the range between said low cut-off frequency and said high cut-off frequency.

Claim 6

A motion simulator system comprising: a platform unit; a plurality of extensible members disposed below said platform unit for supporting said platform unit at respective points thereof and for imparting motion to said platform unit; each said extensible member including servo means for imparting motion to an extensible portion of said extensible member, and circuit means for providing a command signal to said servo means; said circuit means comprising: means for receiving an acceleration command signal; means for receiving a position command signal; and means for combining the acceleration and position command signals to provide a signal for driving said means for imparting motion; and wherein said command signals comprise varying DC signals, and further comprising: means for eliminating slowly varying acceleration command signals; means for eliminating quickly varying position command signals; and means for processing and combining the uneliminated acceleration command signals and position command signals; and wherein: the low cut-off frequency of said acceleration command signal is less than the high cut-off frequency of said position command signal; and compensation means for removing distortions in the range between said low cut-off frequency and said high cut-off frequency.

Claim 7

A system as defined in claim 4 wherein each said extensible member comprises a piston and cylinder arrangement; said servo means comprising a servo-valve; a position and velocity transducer disposed at the bottom end of the cylinder of said piston and cylinder arrangements; and a force transducer disposed at the top end of said cylinder.

Claim 8

For use in a motion simulator system which has a platform unit, means for imparting motion to said platform unit, and means for driving said means for imparting motion; a circuit for providing a command signal to said means for driving, said circuit comprising: means for receiving an acceleration command signal: means for receiving a position command signal; and means for combining the acceleration and position command signals to provide a signal for driving said means for imparting motion; and wherein said command signals comprise varying DC signals, and further comprising: means for eliminating slowly varying acceleration command signals; means for eliminating quickly varying position command signals; and means for processing and combining the uneliminated acceleration command signals and position command signals; and wherein: the low cut-off frequency of said acceleration command signal is less than the high cut-off frequency of said position command signal; and compensation means for removing distortions in the range between said high cut-off frequency and said low cut-off frequency.

Claim 9

For use in a motion simulator system which has a platform unit, means for imparting motion to said platform unit, and means for driving said means for imparting motion; a circuit for providing a command signal to said means for driving, said circuit comprising: means for receiving an acceleration command signal: means for receiving a position command signal; and means for combining the acceleration and position command signals to provide a signal for driving said means for imparting motion; and wherein said command signals comprise varying DC signals, and further comprising: means for eliminating slowly varying acceleration command signals; means for eliminating quickly varying position command signals; and means for processing and combining the uneliminated acceleration command signals and position command signals; and wherein: the low cut-off frequency of said acceleration command signal is less than the high cut-off frequency of said position command signal; and compensation means for removing distortions in the range between said high cut-off frequency and said low cut-off frequency.

Claim 10

A circuit as defined in claim 6 and further comprising: a first summing junction; a second summing junction; integrator means; velocity limiter means; and velocity feedback means; said acceleration command signal being fed to said first summing junction and said compensation means; the output of said compensation means and said position command signal being fed to said second summing junction; the output of said second summing junction being fed to said first summing junction; the output of said first junction being fed to said integrator means; the output of said integrator means being fed to said velocity limiter means and said velocity feedback means; the output of said velocity limiter means being fed to said first summing junction; and the output of said velocity feedback means being fed to said second summing junction.

Claim 11

A circuit as defined in claim 7 wherein said means for imparting motion comprises a piston and cylinder arrangement having a force transducer at the free end of the piston and a velocity and position transducer at the bottom end of the cylinder, and wherein said means for driving comprises a servo-valve; the circuit further comprising: velocity compensator means; linearity compensator means and a load compensator means for compensating for non-linearities and dynamics; a frequency compensator; a third summing junction; and a fourth summing junction; the output of said first summing junction being fed to said third summing junction and to said linearity compensator means; the output of said force transducer being fed to said linearity compensator means and to said first load compensator means; the output of said velocity and position transducer being fed to said velocity compensator means; the output of said velocity compensator means being fed to said fourth summing junction; the output of said fourth summing junction being fed to said third summing junction; the output of said third summing junction being fed to said frequency compensator means; and the output of said frequency compensator means being fed to said servo-valve; whereby the output of said frequency compensator means comprises said command signal to said means for driving.