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

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

Journal of System Simulation ›› 2021, Vol. 33 ›› Issue (11): 2681-2690.doi: 10.16182/j.issn1004731x.joss.21-FZ0744

Previous Articles Next Articles

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

Abstract

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

CLC Number:

TP335

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.

References

[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.

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

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 0

Recommended Articles

Metrics

Comments