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Abstract
Nowadays, marine simulator systems are widely used for understanding sailor–ship interaction, sailor behavior and in crew training. In this research, the motion platform deck of cabine proposed the parallel manipulator is moved by three servo drives. This paper presents a controller-based PLC and Drive which incorporates the nonlinear kinematics of the 3DOF Stewart motion platform within the Feedforward control, load torque compensation and digital predict algorithm in order to increase the cueing fidelity and tracking capabilities of marine simulator signal. Full simulations were carried out, tracking performance indicators were defined to objectively compare the result of the proposed different algorithm. It is concluded that a better reference tracking with lower roll, pitch angle error. Lastly, the effect of the tracking controller-based PLC was also observed in the form of smoother servo-actuator movements.