Impedance Control of Flight Simulator Yoke
Flight simulators reduce the training costs of the pilots significantly, and therefore, is highly demanded in civil and military air forces. The flight simulator yoke simulates the dynamical behavior of a real airplane yoke. By a dynamical relation we mean a differential equation relating the torque applied by the pilot arm on the yoke and its resulting motion. Therefore, it is desired to obtain a desired dynamical relation between torque and motion by means of a controller. Using "Impedance Controller", a desired dynamical relation between force and motion can be obtained in applications where a system is interacting with a stiff environment. Hence, in this thesis the design of an impedance control for the flight simulator yoke is analyzed in detail. After introducing the mechanical hardware of the flight simulator yoke, a complete model of the system with reference to the impedance representation is developed. Then two classical impedance controller were designed and implemented on the system. By analysis the performance of the closed loop system, it is understood that using only one controller is not entirely successful to reduce the output oscillations caused by the pilot hand, and therefore, a 2DOF impedance control structure is proposed. It is shown that this structure is capable of not only generating the desired relation between the torque and motion of the yoke, but also reducing the output oscillation significantly.