Optimal Control-based Motion Cueing Algorithm Design for 6DOF Motion Platform

Motion-cueing algorithm is the movement simulation system that calculates the platform's attitude to produce the feeling of real vehicle movement to the user considering the platform's mechanical restrictions in its calculation and algorithm. This paper presents the design of the kinematics model and motion-cueing algorithm for a 6-DOF motion platform. Firstly, the relationship between each axis coordinate is derived from the motion platform coordinate transformation and kinematics theory. Next, the optimized tracking motion-cueing algorithm is designed to improve the dynamic responses of the 6-DOF control system. Finally, a digital signal processor (DSP), TMS-320F-28377, is used as a control center to carry out the kinematic model and motion-cueing algorithms which combines MATLAB software to analyze the execution results of DSP. Simulation results validate the theoretical analysis to illustrate the practicability and correctness of the proposed method.