Development and implementation of an algorithm for calculating angular velocity of main arm of human centrifuge

Aircrew of a modern combat aircraft is exposed to hazardous effects of high G-forces and high angular velocities. In order to protect human lives and to avoid material losses, High-G training in human centrifuge is used to artificially increase accelerative force under controlled conditions. In this paper, centrifuge is modeled as 3 DoF revolute robot manipulator with planetary, roll and pitch axis. Pilot seat is controlled as last unit of robot manipulator. Control system is obtained by adding new functionalities for flight simulation in control unit for robot programming previously developed and by implementing solutions for the kinematics and dynamics of this robot. Standard open-loop flight simulations imply predefined profiles of absolute acceleration in the gondola of the centrifuge. It is necessary to develop algorithms for controlling this acceleration. An algorithm for calculating the angular velocity of main arm of human centrifuge which provides predefined profile of absolute acceleration in gondola of centrifuge, where the onset rate of absolute acceleration is constant, is developed. As a solution of nonlinear differential equation, Jacobi elliptic function appears. Results obtained by developed algorithm are compared with results obtained by simulation in Simulink.