3自由度飞行模拟运动平台动力学参数辨识试验研究

Experimental study on dynamic parameter identification of the threedegree-of-freedom flight simulation platform

以一种具有一平动两转动的3自由度新型并联飞行模拟运动平台为研究对象,为满足飞行模拟动感要求,研究其动力学参数的试验辨识方法,以进一步提高动力学模型的精度。针对模拟平台样机,采用分步辨识法辨识动力学参数。将电机的驱动力矩分为:减速器惯性力矩、丝杠惯性力矩、综合摩擦力矩和负载力矩,并分别辨识。再根据负载力矩分两步辨识平台的主要动力学参数。设计平台参数辨识试验的激励轨迹,采用加权最小二乘法计算出待辨识参数,并代替理论模型中的对应参数。最后通过试验和ADAMS仿真对比验证参数辨识策略的正确性。

This article focuses on a novel three-degree-of-freedom parallel platform with one translation and two rotations,which is applied in the field of flight simulation. A series of experiments on the prototype are carried out to identify unknown dynamic parameters,in order to verify whether the model is accurate. For the simulation platform,the step identification method is adopted to identify the dynamic parameters. The motor’s driving torque is divided into the reducer inertia moment,the screw inertia moment,the integrated friction torque and the load torque,which are identified respectively. Then,the main dynamic parameters of the platform are identified in two steps according to the load torque. The excitation trajectories are worked out,and the unknown parameters are calculated by means of the weighted least squares. The optimized model is worked out by replacing the original parameters. Finally,the comparison between the experimental results and the ADAMS simulation results shows that the parameter identification method is valid.