Design and Implementation of an Active Horse Gait Simulator
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
This project aims to design and prototype an active horse gait simulator device. The main objective is to train horse riders and give them the feeling of riding a real horse. The mechanical structure as well as the control of this device have been designed, implemented and tested. A background study of horse gaits, and of the trot, which is the gait to be recreated by the active chair, was performed. It includes an analysis of these gaits and a study of how best to recreate these motions in a simplied manner, reducing the level of mechanical complexity from that of a real horse to a simpler mechanical machine. The mechanical structure has been modelled as a lumped two mass system for the purpose of performing the design of a high level controller which commands the Siemens SINAMICS S120 AC drive system to drive the mechanical structure. The high level controller was designed in Matlab/Simulink environment on the basis of an Integral Backstepping control approach and automatically implemented on a dSPACE DS1104 R&D Controller Board. An electronics board was designed to integrate the eletronics hardware systemand a simple physical HMI was also designed in support of the interaction with the device. The prototype device was tested to determine its performance in terms of accuracy and precision by comparing it with the simulation results. It was observed to be controlled to an acceptable performance by the designed controller. Testing with real riders showed that the motion of a horse's trot had been well recreated by this prototype device.
Place, publisher, year, edition, pages
2012. , 94 p.
, MMK 2012:61 MDA 441
IdentifiersURN: urn:nbn:se:kth:diva-145033OAI: oai:DiVA.org:kth-145033DiVA: diva2:715810
Eriksson, Bengt, ForskareHanson, Mats, Professor bitr.
Wikander, Jan, Professor