The OverTilt algorithm
The OverTilt algorithm can be quickly configured for a variety of motion bases, both large and small. For linear specific force, only three parameters must be configured: maximum specific force, maximum position and maximum tilt rate. OverTilt performs motion base pre-positioning as determined by the current input acceleration. It also provides smooth adjustments in the commanded specific force, avoiding large false cues which can occur when the motion base reaches its excursion limits.