Changes in Pilot Control Behaviour across Stewart Platform Motion Systems

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1 Changes in Pilot Control Behaviour across Stewart Platform Motion Systems PROEFSCHRIFT ter verkrijging van de graad van doctor aan de Technische Universiteit Delft, op gezag van de Rector Magnificus prof. ir. K. C. A. M. Luyben, voorzitter van het College voor Promoties, in het openbaar te verdedigen op woensdag 4 juli 2012 om uur door Frank Martijn NIEUWENHUIZEN Ingenieur Luchtvaart en Ruimtevaart geboren te Haarlem.

2 Contents Summary vii 1 Introduction Flight simulator fidelity Effectiveness of simulator motion Transfer of training studies Simulator motion requirements Identification of pilot control behaviour Research motivation Objectives Approach and thesis contents Thesis scope Publications 16 References 21

3 XIV 2 Identification of multi-modal human control behaviour Introduction Multi-channel perception and control The multi-loop identification problem Examples Conventional method: identification using Fourier Coefficients Identification procedure Bias and variance Forcing function design Preprocessing data from human-in-the-loop experiments Identification using LTI models Identification procedure Bias and Variance Forcing function design Preprocessing data from human-in-the-loop experiments Off-line simulations Method Results Flight simulator experiment Method Results Discussion of the results Conclusion 62 Appendix 63

4 Contents xv References 70 Nomenclature 71 3 Performance measurements on the MPI Stewart platform, Introduction Measurement setup MPI Stewart platform Measurement hardware and software Input signals Measurements Half-Hertz noise level measurement Signal-to-noise measurement Describing function measurement Dynamic threshold measurement Measurement points Results Half-Hertz noise level measurement Signal-to-noise measurement Describing function measurement Dynamic threshold measurement Conclusion 95 References 97 Nomenclature 97 4 Measurements with enhanced platform dynamics Introduction Measurements 102

5 XVI 4.3 Results Describing function measurement Dynamic threshold measurement Conclusion Model of the MPI Stewart platform Introduction Ill 5.2 Research simulators MPI Stewart platform SIMONA Research Simulator Comparison of simulator characteristics Stewart platform modelling and validation approach Describing function measurements Objective Motion Cueing Test Overview of the modelling and validation approach MPI Stewart platform model Summary of model assumptions Kinematics and dynamics Identification of model parameters Noise model Reduction of the MPI Stewart platform model Analysis, of the full rigid body dynamics model Baseline measurements on the MPI Stewart platform Reduction of the model Validation of the MPI Stewart platform model on the SIMONA Research Simulator 134

6 Contents xvii Baseline measurements on the SIMONA Research Simulator Validation of the reduced model OMCT criterion measurements Conclusion 143 References 146 Nomenclature Influence of motion system characteristics on behaviour Introduction Research simulators Comparison of simulator characteristics Model of the MPI Stewart platform Experiment Aircraft pitch control task Independent variables Apparatus Participants and experimental procedures Pilot model Dependent measures 162,6.3.7 Hypotheses Results Pilot performance and control activity Pilot control behaviour Discussion Conclusion 176 References 179

7 XV111 Nomenclature Conclusions and recommendations Properties of simulator motion systems Influence of motion system characteristics on control behaviour Generalisation of the results Experimental recommendations General recommendations 196 References 198 A The Stewart platform 199 A.I Reference frames 200 A. 1.1 Simulator cabin reference frame 201 A.1.2 Simulator cabin inertial reference frame A. 1.3 Simulator base inertial reference frame 201 A.2 General definitions 202 A.3 Stewart platform inverse kinematics 203 A.4 Stewart platform forward kinematics 205 A.5 Stewart platform dynamics 206 References 208 Nomenclature 208 B Research simulators 211 B.I MPI Stewart Platform 212 B.2 SIMONA Research Simulator 213 B.3 Simulator workspace comparison 216

8 Contents xix Nomenclature 223 C Measurement setup 225 C.I Measurement hardware 225 C.I.I Measurement device 226 C.1.2 Inertial Measurement Unit 227 C.2 Measurement software 228 C.2.1 Real-time program 228 C.2.2 Measurements with the IMU 229 C.2.3 Post-processing of the measurement data D Experiment Briefing 233 Samenvatting 237 Acknowledgements 245 Curriculum Vitae 247

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