六自由度坦克模拟驾驶仪时间和冲击综合轨迹规划  

Time-Jerk synthetic a 6-DOF tank trajectory planning for driving simulator

作　　者：丛明[1] 温海营[1] 刘冬[1] 杜宇[1] 伍英华[1] 于俊发 

机构地区：[1]大连理工大学机械工程学院,大连116024 [2]65053部队,大连116031

出　　处：《高技术通讯》2011年第7期726-733,共8页Chinese High Technology Letters

基　　金：国家自然科学基金（50675027）资助项目.

摘　　要：为确保坦克模拟驾驶仪运动平稳性和动作实时性，提出了一种在笛卡儿空间基于Stewart机构的时间和冲击综合优化轨迹规划方法。建立了六自由度运动平台运动学模型，利用分段三次样条曲线对坦克姿态点进行插补，以六自由度运动平台速度、加速度为约束条件，以时间和冲击为优化目标，对样条曲线进行控制，规划出满足模拟驾驶仪运动要求的轨迹曲线。在优化插补点时间间隔的非线性规划时，采用实时的可行方向法（MFD）来处理。仿真和试验结果表明，该轨迹规划方法可以使模拟驾驶仪实时平稳地跟踪视景系统给定的任意运动勤挤．In order to ensure the running stability and timeliness of tank driving simulators, a new time-jerk synthetic optimization method for trajectory planning based on Cartesian space of the Stewart parallel mechanism was proposed. The kinematic model of a 6-DOF platform was built. With the purpose of getting the optimized trajectory, the piecewise cubic spline curve is used to interpolate tank pose series, which was controlled by a set of appropriate constraints such as veloc- ity, acceleration, jerk and time intervals. A real-time method of feasible directions （MFD） was proposed to solve the nonlinear prograrmning problem of optimizing the time interval of the interpolation points. The simulation and experimental results show that the proposed trajectory planning algorithm can make a tank driving simulator track any trajectories given by the visual system smoothly and real-timely.

关 键 词：坦克模拟驾驶仪 轨迹规划 时间和冲击 六自由度平台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]