带有补偿环节的串并联混合型飞行模拟器指令分配方法

Command assignment method with compensation unit for serial-parallel hybrid flight simulator

提出了一种串并联混合型飞行模拟器,该模拟器结合了串联机构和并联机构的特点,能够实现高动态大角度机动飞行的运动仿真。针对所提出模拟器的指令分配问题,首先基于伪逆和梯度投影法给出了带有加权的速度层最优解。然后针对各个关节的物理约束,基于二次分配的思想设计了补偿环节,使得当某一个关节指令的速度或加速度超限时,可以利用其他未超限的关节进行补偿,这也使得模拟器能够模拟更高动态的运动。给出的指令分配算法能保证在获得期望位姿指令的同时,避免运动学奇异,同时还能充分发挥系统各关节的驱动能力。

A serial-parallel hybrid flight simulator gle maneuvering flight simulation. The simulator parallel manipulator. For command assignment was p combines the characteristics of series manipulator and problem of the serial-parallel hybrid flight simulator, pseudo-inverse and gradient projection methods were used to obtain optimal solution with weighted at the velocity level. Then, a compensation unit of velocity and acceleration was designed for the compensation of the joint velocity and acceleration saturation. The compensation unit based on the velocity and acceleration redistribution was designed. When some of the joint velocities or accelerations are in saturation other joints compensate for the lack of the velocity or acceleration. Thus, this simulator can implement higher dynamic flight simulation. The proposed command assignment algorithm achieves desired position and attitudes, avoid kinematics singularity, and drive ability of the each joint is fully utilized.