MOOG 6DOF motion Platform

[pyrrhicpk]

hi,

very nice motion simulations.

i am working on the same model from moog.i had an issue regarding the motion limits of the hexapod.

As mentioned in the manual, the platform has +30/-30 deg/sec limits for the angular rates.but at my end, the response with in this range is very low in amplitude, however when i give angular rate of 300deg/sec then the response becomes apparently good.

any thoughts on this?

thanks

[mmakrzem]

The platform has a non-linear response curve as you have noticed. If you want to operate it over the entire range, you will need to model the behaviour and use that to control the platform. For my application, I linearized the equations about my operating point and then used the linear model to control the platform. Otherwise the control theory gets a little hairy!