特种车辆模拟驾驶训练中六自由度平台控制研究

doi:10.16182/j.issn1004731x.joss.21-FZ0744

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (11): 2681-2690.doi: 10.16182/j.issn1004731x.joss.21-FZ0744

• 仿真支撑平台/系统技术 • 上一篇下一篇

特种车辆模拟驾驶训练中六自由度平台控制研究

李亦豪¹, 张志利^1,*, 李向阳¹, 龙勇²

1.火箭军工程大学,陕西西安 710025;
2.航天科工系统仿真科技(北京)有限公司,北京 100095

收稿日期:2021-06-01 修回日期:2021-07-24 出版日期:2021-11-18 发布日期:2021-11-17
通讯作者: 张志利(1966-),男,博士,教授,博导,研究方向为导弹发射系统总体与仿真。E-mail：157918018@qq.com
作者简介:李亦豪(1997-),男,硕士生,研究方向为工业设备虚拟仿真与控制。E-mail：790767962@qq.com

Research on Six Degrees of Freedom Platform Control in Special Vehicle Simulated Driving Training

Li Yihao¹, Zhang Zhili^1,*, Li Xiangyang¹, Long Yong²

1. Rocket Army Engineering University, Xi'an 710025, China;
2. China Aerospace Science and Engineering System Simulation Technology Company Ltd, Beijing 100095, China

Received:2021-06-01 Revised:2021-07-24 Online:2021-11-18 Published:2021-11-17

摘要/Abstract

摘要： 为了在有限的空间内,模拟出特种车辆驾驶过程中的各种姿态,研制了一套应用于特种车辆模拟驾驶训练系统的六自由度运动平台。对六自由度运动平台的机械结构进行设计,使其满足运动行驶过程中的运动姿态模拟;通过嵌入式控制系统设计,实现对运动平台中每个自由度的控制;利用逆解算法求得每个电动缸的位移量,利用洗出算法实现加速度和角位移等状态的体感模拟。经验证,该运动平台具有沉浸感强、精度高、低延迟等特点,可有效完成训练任务。

关键词: 模拟驾驶训练, 六自由度平台, 伺服控制, 逆解算法, 洗出算法

Abstract: In order to simulate various postures of driving the special vehicles in a limited space, a set of six-degree-of-freedom motion platform for the simulation driving training system of special vehicles is developed. The mechanical structure of the six-degree-of-freedom motion platform is designed to meet the motion posture simulation requirement. The control of each degree of freedom in the motion platform is realized through the design of the embedded control system. The displacement of each electric cylinder is obtained by inverse solution algorithm, and the somatosensory simulation of acceleration and angular displacement is realized by the wash-out algorithm. It has been verified that the six-degree-of-freedom motion platform is strong immersion, high precision, and low latency, which can effectively fulfil the training tasks.

Key words: simulated driving training, six-degree-of-freedom platform, servo control, inverse solution algorithm, wash-out algorithm

中图分类号:

TP335

李亦豪, 张志利, 李向阳, 龙勇. 特种车辆模拟驾驶训练中六自由度平台控制研究[J]. 系统仿真学报, 2021, 33(11): 2681-2690.

Li Yihao, Zhang Zhili, Li Xiangyang, Long Yong. Research on Six Degrees of Freedom Platform Control in Special Vehicle Simulated Driving Training[J]. Journal of System Simulation, 2021, 33(11): 2681-2690.

参考文献

[1] Raffin A, Deutschmann B, Stulp F.Fault-Tolerant Six-DoF Pose Estimation for Tendon-Driven Continuum Mechanisms[J]. Frontiers in Robotics and AI (S2296-9144), 2021, 8(3): 443-454.
[2] Stewart D.A Platform with Six Degrees of Freedom[J]. Proceedings of the Institution of Mechanical Engineers (S0020-3483), 2016, 38(4): 30-35.
[3] 李随意. 外军驾驶员模拟训练装备的现状[J]. 国外坦克, 2009, 10(1): 53-56.
Li Suiyi.The Status Quo of Simulation Training Equipment for Foreign Military Pilots[J]. Foreign Tanks, 2009, 10(1): 53-56.
[4] 许猛. 并联三自由度船载稳定平台稳定控制研究[D]. 大连: 大连海事大学, 2020.
Xu Meng.Research on Stability Control of Parallel Three-degree-of-freedom Ship-borne Stabilized Platform[D]. Dalian: Dalian Maritime University, 2020.
[5] 吴晓瑞, 吴志周. 汽车驾驶模拟器在交通安全中的应用综述[J]. 交通信息与安全, 2015, 33(2): 10-19.
Wu Xiaorui, Wu Zhizhou.Overview of the Application of Car Driving Simulator in Traffic Safety[J]. Traffic Information and Safety, 2015, 33(2): 10-19.
[6] Zhou Xiaoguang, Zhu Peng, Zhang Yuanyuan, et al. Design and Implementation of a Six-degree-of-freedom Parachuting Simulation Training System [J/OL]. Journal of System Simulation [2021-07-11]. http://kns.cnki.net/ kcms/detail/11.3092.V. 20210413.1042.002.html.
[7] 仲明. 改进型3-RPS并联机构的设计与研究[D]. 哈尔滨: 哈尔滨工业大学, 2013.
Zhong Ming.Design and Research of Improved 3-RPS Parallel Mechanism[D]. Harbin: Harbin Institute of Technology, 2013.
[8] Hong Z, Gao X, Liu J, et al.Dynamic Modelling and Parameter Identification of a 3-DOF Flight Simulator Platform[J]. Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics (S0957-6509), 2019, 233(4): 968-978.
[9] 王辉, 柳颖涛. 体感模拟算法在运动洗出中的优化[J].机械设计, 2021, 38(3): 119-125.
Wang Hui, Liu Yingtao.Optimization of Somatosensory Simulation Algorithm in Motion Wash-out[J]. Mechanical Design, 2021, 38(3): 119-125.
[10] 李玉昆, 李永泉, 万一心, 等. 液压伺服驱动3-UPS/S并联稳定平台振动响应分析[J]. 中国机械工程, 2019, 30(4): 423-430.
Li Yukun, Li Yongquan, Wan Yixin, et al.Vibration Response Analysis of 3-UPS/S Parallel Stabilized Platform Driven by Hydraulic Servo[J]. China Mechanical Engineering, 2019, 30(4): 423-430.
[11] 许新建, 胡自飞, 周建瑜, 等. 基于嵌入式的六自由度并联机构控制系统设计[J]. 电子技术应用, 2020, 46(10): 110-113.
Xu Xinjian, Hu Zifei, Zhou Jianyu, et al.Design of 6-DOF Parallel Mechanism Control System Based on Embedded[J]. Application of Electronic Technology, 2020, 46(10): 110-113.
[12] Elawady W M, Bouteraa Y, Elmogy A.An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators[J]. Robotics (S0169-1864), 2020, 9(1): 4-32.
[13] Zatarain B, Mikel P, Budak J P, et al.Process Simulation Integrated Tool Axis Selection for 5-axis Tool Path Generation[J]. CIRP Annals (S0007-8506), 2016, 32(65): 381-384.

特种车辆模拟驾驶训练中六自由度平台控制研究

Research on Six Degrees of Freedom Platform Control in Special Vehicle Simulated Driving Training

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 5

编辑推荐

Metrics

本文评价

[1]	王辉, 吕兴顺. 一种改进的萤火虫算法及在洗出优化中的应用[J]. 系统仿真学报, 2021, 33(2): 306-314.
[2]	王辉, 柳颖涛. 基于逻辑控制的双输入运动体感算法研究[J]. 系统仿真学报, 2021, 33(1): 91-98.
[3]	王辉, 张保峰. 基于模糊自适应飞行模拟器体感算法的研究[J]. 系统仿真学报, 2019, 31(10): 2052-2057.
[4]	王辉, 朱道扬, 平凡. 基于模糊逻辑的高逼真度运动体感算法研究[J]. 系统仿真学报, 2017, 29(3): 546-551.
[5]	王辉, 朱道扬, 傅孝靖. 飞行模拟器洗出算法优化设计及仿真[J]. 系统仿真学报, 2017, 29(2): 418-423.