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TRIREME: Open Loop 3-6 DOF Controller for Large Displacement Motion Tables

TRIREME is a PC-based controller for 3-6 DOF open loop large linear/angular displacement motion tables.  The capabilities of TRIREME are:

     · Allows for the user to import or compute 3-6 axes motions for motion tables.

· Can accommodate sinusoidal or transient motion.  Provides an internal sinusoidal function generator.

· Automatic inspection of the proposed motions to determine and warn if these motions will cause end of travel impact during the geometric nonlinear motions.  Allows the user to scale or filter the motions until impact does not occur.

· Allows the user to enter location information and calibration factors for 16-128 channels of response transducers.

· Outputs the approved motions to drive the table and records actual actuator motion achieved.

· Performs a geometric nonlinear inverse transformation to compute the actual table motions achieved.  The transformation is stabilized and forced to the realistic branch of the solution by using a local Newtonian linearization iterative process with relaxation coefficient.

· Provides an animated graphical model showing the table motion.

· Provides for plotting, archiving, and exporting of all data.

· Test data set-ups can be saved and retrieved for later use, review, and modification.

· Operates at a sampling rate up to 50 samples/sec.

TRIREME is a PC-based, ANCO written Virtual Instrument (VI) using LabVIEW which produces drive signals and acquires data using National Instruments hardware. (See also ANCO product Motion Platforms.)

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