六自由度振动平台的位姿解算与路谱模拟分析

Solution of Position and Pose of 6-DOF Vibration Platform and Analysis of Road Spectrum Simulation

在自主设计的六自由度振动平台上,通过模拟车辆的实际运行来检测车辆座椅的减振性能,路谱模拟实验和仿真结果分析表明,该六自由振动平台能够应用于车辆座椅性能的检测。计算了振动平台各姿态的欧拉角,分析其在任意时刻的旋转矩阵,并推导出振动平台位姿的反解方程,并用此方法进行车辆路谱的模拟。在此基础之上,对旋转矩阵算法进一步优化,并借助PROE仿真软件分析了两种旋转矩阵算法的误差,仿真结果显示:优化后的算法使振动平台上3个测点的最大误差均值由2.3μm缩小到0.709μm。

The six degree of freedom （6-DOF） vibration platform is designed independently and it cart simulate the actual operation of the vehicle to detect the vibration reducing performance of vehicle seat. The 6-DOF vibration platform cou!d he applied to vehicle seat performance testing by the simulation experiment of road spectrum and the results of simulation analysis. First, calculating the Euler angles of each attitude of the vibration platform, the rotate matrixs at any moment were anslyzed and the inverse solution of the position and pose of the vibration platform was derived. In this way, the simulation of vehicle road spectrum was carried out. On the basis of the previous work, the rotate matrix algorithm was optimized further and the error of the two kinds of rotate matrix algorithm was analyzed with the aid of PROE simulation software. The simulation results show that the optimized algorithm makes the average value of the maximum error of the three points on the vibrate platform is reduced form 2. 3 μm to 0. 709μm.