Development of the Several Integrated Degree-of-Freedom Demonstrator (SIDFreD) CSME 2004 Nicholas...
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Transcript of Development of the Several Integrated Degree-of-Freedom Demonstrator (SIDFreD) CSME 2004 Nicholas...
Development of the Several Integrated Degree-of-FreedomDemonstrator (SIDFreD)
CSME 2004
Nicholas Spooner B.Eng
on behalf of:
Introduction to CUSP
• Multi-year project• Inter-disciplinary design
environment– Mechanical Engineering– Aerospace Engineering– Systems and Computer
Engineering– Business– Computer Science– Psychology
• CUSP develops theoretical and practical knowledge
Structures
Dynamics
Actuation
Computer SystemsSafety
Vehicle Model
Human Factors
CUSP Overview
• SIDFreD– Multi-functional vehicle
demonstrator– Three degree-of-freedom
motion platform• On-road vehicle model
– Validates simulation concepts
• Actuation• HLA compliant software• Washout• Human factors• Vehicle models
• NASP– Innovative 6 DOF multi-
functional simulator
– Unlimited roll, pitch, yaw ranges of motion
– Expandable translational range of motion
Overview
• Introduction to CUSP• Business Development• Project Management• Translational Motion – Year 1
– Structure and Actuation– Performance Testing
• Rotational Motion – Year 2– Structure, Actuation, Controls,
Visuals, Cockpit, Safety, and Software
• Future work
Business Development
• Strong Business Development was a key to CUSP’s success• Received financial support
– Internal: CSES, CUESEF, MAE, Dean’s Office– External: IBM Eclipse Fellowship, MMO– In-Kind Products: Featherlite, National Instruments, Tolomatic, Electromate
• Learning opportunities– In-Kind Services: CAE, Mechtronix. 406 Squadron
• Sponsorship goal: $20,000 – Actual: $52,000
Tack Schedule
• SureTrak® Project Manager software with online interface• Integration team responsible for project management and
scheduling
Translational Motion – Year 1
• Structure• Actuation• Cockpit• Controls• Visuals• Safety• Software
Translational Structure
• Centralized guide rail with two pillow block bearings ensure linear translation
• Four fixed wheels at the platform corners• Two precision-aligned and levelled I-beams on the facility's floor.• Ensures consistent operation and performance of the platform.
Translational Actuation
• Requirements– Reversibility
– Variable operation settings
• 2hp Baldor vector motor• Gear-reduced chain drive
motor configuration• PC serial motor control
Performance Testing
• Required suitable DAS• Optical Mouse DAS
– Unique accurate inexpensive solution
• Verify the suitability of additional DOF
• Design requirements of 0.5 g with 500 lbs platform load
• Result indicate a 1.2 g acceleration
Rotational Motion – Year 2
• Structure• Actuation• Cockpit, Controls, Visuals• Software• Washout and Human
Factors• Vehicle Model
Configuration Overview
• Lower translational platform
• Chain guard integration platform
• Support assembly• Upper platform • Cockpit
Support Assembly & Actuation
• Steel support assembly– Centre post– Passive post– Ball screw linear
actuator
• Mechanical joints– Universal joints – Rod ends
• Unique stationary chain guard
Cockpit
• Aluminum Superstructure• Adjustable Automobile Seat
– 5-point safety harness
• Control panel
Controls
• USB Force Feedback System– Steering Wheel
• Emergency kill switch
– Pedals• Accelerator
• Brake
Visuals
• Data projector mounted to motion platform• Stationary screen
Mechanical Safety
• Kill switches– Occupant – Operator
• Limit switches– Translational – Rotational
• 5-point restraint system• Superstructure• Chain guard• Bumpers• Software
Computer Systems Software
• High Level Architecture (HLA) is a standard for simulation interoperability– Separates simulation and
data modelling– Concurrent development
• SIDFreD Federation– Visuals– Physics– Washout– Safety
Software Safety
• Monitors critical data– Sensor information
– Washout values
– Actuator input values
– Clear to Send (CTS)
• Fail-safe design– Central authority
Senso
r Inf
o
Ball S
crew
Info
Was
hout
Valu
es
Vecto
r Mot
or In
fo
Safety Software
CT
S
Washout and Human Factors
• Preserves critical elements of motion• Simulator remains within physical limitations of the motion base• Classical washout algorithm
– Computationally light– Easily tuned
Vehicle model
• Determines accelerations and velocities based on– Past vehicle conditions– Current driver inputs– Time between calculations
• In-house development allows for expandability– Currently on-road vehicle
type– Rotary-wing aircraft to follow
• Bicycle vehicle dynamics model
Current Simulator Model
3 DOF Motion Platform
Future Work
• Rotational DOF performance testing
• Implement additional rotational DOF
• Visual display improvements
Thank you
Questions?