运动模拟器姿态稳定性控制研究

Research on Attitude Stability Control of Motion Simulator

运动模拟器的运动控制系统是运动模拟器姿态稳定性控制的关键部分,系统的洗出算法在运动模拟器中的验证和分析具有复杂性,且静态仿真环境的可靠性有限,无法对运动模拟器姿态稳定性进行实时控制。提出利用运动模拟器的数学模型和体感模型,建立完整的运动控制系统动态仿真模型,验证和分析经典洗出算法在纵向平移和升沉方向的动态仿真响应。仿真结果显示动态仿真模型中执行机构的杆件误差在很小范围内波动,运动模拟器的姿态变化可以反映出洗出算法的控制性能。证明上述动态模型能够实时验证洗出算法的控制效果,有助于提高洗出算法验证和分析的效率,为分析洗出算法对运动模拟器姿态稳定性控制的作用机理,以及提升模拟器动感逼真度有重要意义。

The motion control system of the motion simulator is a key part of the motion simulator＇s attitude stabili- ty control, the validation and analysis of the system＇s washout algorithm is relatively complex in motion simulator, and it is limited for the reliability of the static simulation environment, it is impossible to control the attitude stability of the motion simulator in real time. Motion simulator mathematical model and somatosensory model are proposed and used to establish a complete dynamic simulation model of motion control system, verify and analyze the dynamic simu- lation response of the classical washout algorithm in longitudinal translation and heave direction. The simulation re- sults show that the error of executive body fluctuates within a very small range in the dynamic simulation model, the attitude change of the motion simulator can reflect the control performance of the washout algorithm. It is proved that the dynamic model can verify the control effect of the washout algorithm in real time, which improves the efficiency of validation and analysis of washout algorithms, in order to analyze the mechanism of the washout algorithm on the atti- tude stability control of the motion simulator, and it has great significance to enhance the dynamic fidelity of simula- tor.