面向动感仿真的6自由度平台实时求解方法  

Real-time Solving Method for Six DOF Platform Facing Dynamic Simulation

作　　者：倪小鹏[1] 林砺宗[1] 潘大亨[1] 傅招国[1] 

机构地区：[1]华东理工大学机械及动力工程学院,上海200237

出　　处：《机床与液压》2012年第13期85-88,共4页Machine Tool & Hydraulics

摘　　要：研究6自由度平台运动求解方法将为动感仿真试验提供新的手段。以改进后的Stewart型6自由度平台为求解数学模型,研究其正解和反解。采用Visual C++编程实现,根据不同平台参数,选择不同函数信号生成运动控制数据;运动控制卡嵌入到工控机中,平台运行时靠程序自动发数据给控制卡;控制卡的输出为模拟电压,经放大器放大后输入比例阀,再由6个比例阀控制6个液压缸的流量,形成闭环控制的数控系统,可实现平台的预期动作。实验结果证明:该方法简单、效率高、易于操作,在3D影院中能伴随影片执行相关动作,同时也可为汽车模拟驾驶测试的路谱提供信号源。Researching the motion solving method for six DOF platform will provide a new method for dynamic simulation experi- ments. Taking the modified six DOF Stewart platform as solving mathematical model, the positive solutions and the anti-positive solutions were studied. Using Visual C ＋＋ programming, depending on different platform parameters and selecting different function signals, the relevant movement control data were generated. Motion control card was embedded into industrial computer, and data were automatically sent to the control card by the program when the platform was running. The output of the control card was analog voltage, and it was amplified to send to the proportional valve, then the flows of six hydraulic cylinders were controlled by the six proportional valves. So a closed-loop control CNC system was formed. The expected action could be realized by the platform. Experimental results prove that the method is simple, efficient and easy to operate. It can not only implement relevant motions accompanying movie in 3D theater, but also provide signal source for the road spectrum of simulated driving test of the automobile.

关 键 词：6自由度平台 动感仿真 正解 反解 实时求解 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]