基于Vortex的6自由度平台洗出运动仿真

Washout motion simulation in 6-DOF parallel platform based on Vortex

为了研究并联6自由度平台在车辆驾驶过程中的洗出运动,实现车辆动力学模型和6自由度运动平台模型的联合仿真,提出一种利用Vortex多体动力学软件对6自由度平台进行建模,复现车辆模型运动过程的仿真方法.平台液压油缸初始位姿采用解析法进行确定,在Matlab/Simulink中实现运动平台的洗出滤波算法和运动学反解算法,利用转弯和直线2种典型运动进行仿真验证.在给定路面上进行虚拟驾驶,Vortex车辆动力学模型解算结果使车辆产生相应的连续运动状态,相关动力学参数经过洗出滤波算法、平台运动学反解运算得到各油缸伸长量,驱动Vortex软件中建立的6自由度运动平台模型.结果表明,利用Vortex软件可以将车辆动力学模型和并联6自由度平台模型进行联合仿真,实现平台洗出运动的可视化.

In order to study Washout motion of the 6-DOF parallel platform during the vehicle driving, realize the co-simulation of vehicle dynamics model and 6-DOF platform model, a simulation method was proposed that the 6-DOF platform was modeled with Vortex multi-body dynamics software （Vortex） and the motion process of vehicle model was reappeared. The initial position and orientation of platform hydraulic cylinders were determined with analytical method, Washout algorithm of motion platform and kinematic inverse calculation were completed through Matlab/Simulink and were verified through the turn and linear motion simulation. The vehicle model built in Vortex was simulative driven on the given roads, relevant and continuous states of motion were formed based on the resolving results, the relevant dynamics parameters were filtered and kinematic inverse calculated, the elongations of hydraulic cylinders computed drove the 6-DOF platform to move. Results show that vehicle dynamics model and 6-DOF parallel platform model can be co-simulated and Washout motion of the platform can be visualized with Vortex.