摘要
针对模拟驾驶器对动感逼真度和平台工作空间的需求,将基于洗出算法的体感模拟控制策略应用于6自由度并联式运动模拟器.首先对系统进行了整体设计及数学建模,然后通过分析人体感知机理,提出了基于加速度控制的体感模拟洗出算法;随后具体研究了模拟驾驶过程中可能存在的多种复杂工况及对应的加速度控制模式;最后,通过联合仿真与实验验证了所提出控制算法的可行性及控制效果,结果显示平台在有限运动范围内动感逼真度得到了显著提升.
Aiming at the needs for dynamic fidelity and platform s workspace,a somatosensory control strategy based on washout algorithm was applied to the six-degree-of-freedom paralleled motion simulator.First,the system was designed and its mathematical model was created.Then,by analyzing Human s perception mechanism,an acceleration-control based somatosensory simulation algorithm was put forward.Then,many possibly existed complicated working conditions in simulation driving and corresponding acceleration control modes were specifically studied.Finally,unity simulation and experiments were carried out to verify the feasibility of the proposed control algorithm and the control performance.The results show the significant improvement of platform s dynamic fidelity in limited motion range.
作者
王军政
蒋铄
汪首坤
沈伟
WANG Junzheng;JIANG Shuo;WANG Shoukun;SHEN Wei(Key Laboratory of Complex Systems Intelligent Control and Decision,School of Automation,Beijing Institute of Technology,Beijing 100081,China;Key Laboratory of Servo Motion System Drive and Control,School of Automation,Beijing Institute of Technology,Beijing 100081,China)
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2021年第7期728-733,共6页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(61773060)。
关键词
体感模拟算法
6自由度平台
模拟驾驶
加速度控制
somatosensory simulation algorithm
six-degree-of-freedom platform
simulated driving
acceleration control
