IMPLEMENTATION OF A WASHOUT FILTER USED IN STEWART PLATFORM
Rodrigo Cristian Lemes1; Ricardo Breganon2; Mateus Moreirade Souza1; Fabio Toledo Bonemer De Salvi3; Ricardo Afonso Angélico3; Caio Augusto Zagria Barbosa3; Eduardo Morgado Belo3
1 Instituto Federal de São Paulo - São Carlos; 2 Instituto Federal do Paraná; 3 Escola de Engenharia de São Carlos, Universidade de São Paulo
doi:10.20906/CPS/COB-2015-1982
Resumo
The aim of this work is to implement the filter called Classic Washout, which creates sensations of movement, for application in a movable Stewart platform at the Unmanned Aerial Vehicle (UAV) laboratory of the EESC-USP. This washout filter is intended to recreate the sensations of movement caused by changes of acceleration, lateral and rotational that an aircraft can provide, due to changes in attitudes caused by external factors, and those caused by the pilot's command. A complete dynamic model of an aircraft was implemented and its initial flight conditions in order to obtain data as linear accelerations and angular velocities of this aircraft. These signals are then filtered by washout filter and inserted in the inverse kinematics of the movable platform, which will condition the correct movements of the actuators according to the motion sensations created by the aircraft. Experiments were performed in Stewart platform, varying linear accelerations ax, ay, az and the angular velocities p, q, r for checking and validation of the washout filter, as well as the mathematical modeling of the entire system. Results indicate the efficiency of the washout filter, and the necessity to properly estimate the natural frequency values of the damping coefficient filters, since they are determined by trial and error through work experience reported by the pilot in the simulator.
Palavras-chave: Stewart Platform; Washout Filter; Flight Simulator