列车驾驶模拟器模糊自适应洗出算法研究

Research on Fuzzy Adaptive Washout Algorithm of Train Driving Simulator

协调自适应洗出算法是目前被认为最有潜力模拟人体运动感觉的体感模拟算法,但由于计算过程复杂、耗时长、易不稳定等缺点而未得到广泛应用。针对算法中自适应参数实时求解的困难,结合人体运动感觉模糊特性,提出一种新的模糊自适应洗出算法。利用模糊控制理论,将实际列车运动特征和运动感觉误差与洗出算法中自适应参数之间的关系建立模糊推理知识库,采用形式简单、易于求解的模糊推导实时调整自适应参数,根据劳斯判据验证系统的稳定性。以牵引动力国家重点实验室正在研制的高速列车驾驶模拟器为研究对象,仿真结果表明,新算法形式简单、计算时间少,能保证系统稳定,而且可利用较小的运动空间得到更高的模拟逼真度。为体感模拟算法研究提供思路。

As the most potential proprioceptive simulation algorithm exploiting human motion sensations at present,the coordinated adaptive washout algorithm has not been widely applied because of its complicated calculation process,time-consuming duration and instability.To overcome the difficulty of real-time solution of the adaptive parameters in the algorithm,a new fuzzy adaptive washout algorithm is proposed in combination with the fuzzy characters of human motion sensations.The fuzzy reasoning knowledge base of the relations between the adaptive parameters and the characters of real locomotive movements and kinaesthesia errors is established on the basis of the fuzzy control theory.Simple and easy fuzzy deducing is adopted to adjust the adaptive parameters in real time.The system stability is verified according to the Lauth Criteria.Referring to the high speed train driving simulator being developed by the State Key Laboratory of Traction Power,the simulation results show that the new algorithm is characterized by simple form,less calculation time,better system stability and higher simulation fidelity within smaller movement space.A new thought is provided for study of the proprioceptive simulation algorithm.