Personal simulator

• US 6,733,293 B2
• Filed: 01/25/2002
• Issued: 05/11/2004
• Est. Priority Date: 01/26/2001
• Status: Active Grant

• Current Assignee: Provision Entertainment Incorporated
• Original Assignee: Provision Entertainment Incorporated
• Inventors: Forster, Michael K., Thornton, Curtis L., Vrachan, Jeffrey L., Baker, Edward-Bruce
• Primary Examiner(s): Nguyen, Kien T.
• Application Number:
  US10/057,483
• Publication Number:
  US 20020115043A1
• Time in Patent Office: 837 Days
• Field of Search: 434/29, 434/30, 434/51, 434/55, 434/58, 434/59, 434/61, 434/62, 472/57, 472/59, 472/60, 472/83, 472/130, 472/134
• US Class Current: 434/55
• CPC Class Codes: G09B 19/16 Control of vehicles or other craft simulators G09B9/02
• CPC Class Codes: G09B 9/08 for teaching control of aircraft, e.g. Link trainer

Abstract

A reliable, cost effective motion simulator system wherein a motion platform controlled by three inexpensive fractional horsepower induction AC motors to provide n-axis of motion where n is two, three, four, five or six. A dynamic boost is applied to maintain the position of the motion platform at low speed or zero speed and to handle transient motion demands without use of an encoder. The personal simulator motion base includes a support structure for positioning a rider coupled to the motion platform. A support pedestal and a plurality of linkages support the motion platform. A plurality of motor assemblies 114 is coupled to the motion plate by the linkages. A control algorithm enables the use of low cost power electronics to drive the AC motor-linkage assemblies. The personal simulator may be controlled in response to user-initiated commands, remote-user initiated commands or by commands embedded in game software or the audio track of a video stream.

Claims

1. A personal simulator system having a display device for displaying simulated scenery depicting motion;

said system comprising;

A motion control device for indicating a desired change in the position of said system;

A support plate;

A pedestal support rigidly connected to said support plate at one end and having a coupling joint at the other end;

A motion plate for supporting a rider, said motion plate coupled to said coupling joint;

A plurality of AC fractional horsepower motors fixedly mounted on said support plate;

A plurality of drive arm linkages, each coupled at one end to a respective one of said plurality of AC fractional horsepower motors and, at the other end, to said support plate; and

A controller for generating a motor control signal to cause each of said plurality of AC fractional horsepower motors to cooperatively either reposition said motion plate by changing the relative orientation of at least one of said drive arms with respect to at least one other drive arm or for generating a dynamic boost motor control signal to maintain the current position of said at least one drive arm, said controller responsive to a positional control signal generated by said motion control device and having means for increasing motor torque at zero speed.

2. The personal simulator of claim 1 further comprising a chair coupled to said motion plate, said chair having an internal sneaker to generate sound and chair vibrations.

3. The personal simulator of claim 2 wherein said support plate comprises an aluminum support plate having a ballast chamber.

4. The personal simulator of claim 3 wherein said controller comprises:

Means for generating a three phase variable voltage pulse width modulated signal for driving each of said motors where each phase is applied to a different winding of each of said AC fractional horsepower motors; and

A DC power supply having a sink for dissipating regenerative energy during rapid deceleration of one or more of said motors.

5. The personal simulator of claim 4 wherein said controller further comprises means for increasing motor torque at low speed by holding the applied voltage to each winding of each of said motors constant for the duration of the applied dynamic boost.

6. The personal simulator of claim 1 wherein said plurality of drive assemblies comprise a first and a second drive assembly coupled proximate to respective first and second adjacent corners of said motion plate and a third drive assembly coupled midway between adjacent corners opposite from said first and second adjacent corners.

7. The personal simulator of claim 1 wherein said plurality of drive assemblies comprise at least three drive assemblies connected to said support plate in a generally triangular configuration.

8. The personal simulator of claim 1 wherein said pedestal support is coupled to the center of said support plate and said plurality of drive assemblies comprise at least three drive assemblies connected to said support plate in a generally triangular configuration proximate to the periphery of said support plate.

9. The personal simulator of claim 1 wherein said support plate comprises a rigid metal plate capable of supporting a static load of at least 300 pounds.

10. The personal simulator of claim 9 wherein said support plate further comprises ballast.

11. The personal simulator of claim 10 wherein said drive arm linkage further comprises:

A lower eyebolt;

A first rod end connector, connected to said lower eyebolt, for rotatably coupling said drive arm linkage to said crank;

An upper eyebolt;

A second rod end connector, connected to said upper eyebolt, for rotatably coupling said drive arm linkage to said motion plate; and

A rigid push rod connecting said upper eyebolt to said lower eyebolt.

12. The personal simulator of claim 11 wherein said motion plate comprises:

A flange coupled to said upper eyebolt by said second rod end connector; and

Means for coupling said motion plate to said universal joint.

24. The personal simulator system of claim 12 wherein said controlling means comprises:

Means for detecting a motion request generated by at least one of the following;

a joystick, a steering wheel, an accelerator, a motion detector, the Internet, a multiplayer video game or a video camera detector; and

Means for converting detected motion requests to motion commands, said converting means coupled to said motion base.

25. The personal simulator system of claim 24 wherein said motion base comprises a two-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

26. The personal simulator system of claim 24 wherein said motion base comprises a three-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

27. The personal simulator system of claim 24 wherein said motion base comprises a four-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

28. The personal simulator system of claim 24 wherein said motion base comprises a four-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

29. The personal simulator system of claim 24 wherein said motion base comprises a five-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

30. The personal simulator system of claim 24 wherein said motion base comprises a six-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

13. A single person motion simulator comprising:

A display device for displaying a video signal;

Means for supporting a person proximate to said display device;

Means for receiving and interpreting motion commands;

Means, responsive to said receiving and interpreting means, for positioning said support means in at least three axis of motion synchronized with said video signal, said positioning means including at least three fractional horsepower AC motors coupled to said supporting means for controlling said three axis of motion;

An enclosure surrounding said support means and said control means;

A controller that receives motion control signals and, responsive to said motion control signals, generates a three phase variable voltage pulse width modulated signal for driving each of said motors and for maintaining torque within a selected range while operating said motors at low operating speeds; and

A DC cower supply having a sink for dissipating regenerative energy during rapid deceleration of one or more of said motors.

14. The single person motion simulator of claim 13 wherein said support means comprises a chair having an internal speaker to generate sound and chair vibrations.

15. The single person motion simulator of claim 14 wherein said support means further comprises an aluminum support plate having a ballast chamber.

16. A simulator system having a platform for positioning a rider and for displaying audio and video signals to said rider, said simulator system comprising:

Computer means for generating said audio and video signals and motion control information synchronized with said audio and video signals;

A motion platform including;

Linkages, coupled to said motion platform, for controlling the pitch, roll and heave of said motion platform;

A plurality of induction motors, coupled to said linkages for controlling said linkages;

A controller, associated with each motor, coupled to said computer means and adapted to receive control information from said computer means, said controller, in response to said control information, adapted to generating motor control signals to position said motion platform;

said controller further adapted to generating a dynamic boost signal for maintaining torque within a selected range while operating said motors at low or zero operating speeds; and

A DC power supply having a sink for dissipating regenerative energy during deceleration of said motors.

17. The simulator system of claim 16 wherein each of said induction motors comprises a fractional horsepower AC motor.

18. The simulator system of claim 17 wherein said controller generates a pulse width modulated signal having a variable AC voltage and variable frequency for controlling said fractional horsepower AC motors.

19. The simulator system of claim 17 wherein said controller is adapted to selectively increase the torque of said fractional horsepower AC motors.

20. A personal simulator system for spatially positioning a rider and for displaying audio and video signals to said rider, said simulator system comprising:

A motion platform supported by a pedestal and a plurality of linkages, said motion platform adapted to receive and retain said rider in proximity to said displayed audio and video signals;

Means for controlling a plurality of induction motors to, coupled to said linkages, to position said motion platform responsive to and synchronized with the displayed audio and video signals;

said controlling means adapted to maintain torque of said induction motors within a selected range while operating said induction motors at low operating speeds; and

A DC power supply having a capacitor for dissipating regenerative energy during rapid deceleration of said motion platform.

21. The personal simulator system of claim 20 wherein said controlling means further comprises means for increasing motor torque at zero or low speed by applying a DC voltage of between ±

25 volts to about ±

50 volts to at least two windings of each of said induction motors.

22. The personal simulator system of claim 20 wherein said controlling means further comprises:

A plurality of controllers, each of said controller dedicated to an axis of motion of said motion platform, for receiving a positional reference and calculating the difference between the current position of said motion platform and the positional reference, said controller determining the rate of change necessary to achieve said positional reference;

A plurality of fractional horsepower AC motors, each coupled to one of said plurality of controllers for generating torque for changing and maintaining the position of said motion platform; and

Means for coupling said plurality of fractional horsepower AC motors to said plurality of linkages.

23. A personal simulator system for spatially positioning a rider and for displaying audio and video signals to said rider, said simulator system comprising:

A motion base;

A chair attached to said motion base, said chair having an internal speaker to generate sound and chair vibrations;

A motion control device;

Means, coupled to said motion base and said motion control device, for controlling the positioning of said motion base in response to commands generated by said rider, said controlling means adapted to receive motion control signals from said motion control device and, responsive to said motion control signals, generating a three phase variable voltage pulse width modulated signal for driving each of a plurality of induction motors and for maintaining torque of said induction motors within a selected range while operating said induction motors at low operating speeds; and

A DC power supply having a sink for dissipating regenerative energy during rapid deceleration of one or more of said motors.

31. The personal simulator system of claim 23 further comprising:

A game box for generating a game where a series of linked scenery images are displayed, said game box coupled to a plurality of remote players and to said motion base;

A game pad for generating rider input associated with said game generated by said game box; and

A programmable interface circuit, coupled to said game pad and to said game box for converting changes in said plurality of linked scenery images to motion and for controlling said motion base to track the changes in said linked scenery images.

32. The personal simulator system of claim 31 wherein said motion base comprises a two-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

33. The personal simulator system of claim 31 wherein said motion base comprises a three-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

34. The personal simulator system of claim 31 wherein said motion base comprises a four-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

35. The personal simulator system of claim 31 wherein said motion base comprises a four-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

36. The personal simulator system of claim 31 wherein said motion base comprises a five-axis motion base where each axis is controlled by a fractional horsepower electrical motor.

37. The personal simulator system of claim 31 wherein said motion base comprises a six-axis motion base where each axis is controlled by a fractional horsepower electrical motor.