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

作　　者：李亦豪 张志利 李向阳 龙勇 Li Yihao;Zhang Zhili;Li Xiangyang;Long Yong(Rocket Army Engineering University,Xi'an 710025,China;China Aerospace Science and Engineering System Simulation Technology Company Ltd,Beijing 100095,China)

机构地区：[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

出　　处：《系统仿真学报》2021年第11期2681-2690,共10页Journal of System Simulation

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。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.

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 

分 类 号：TP335[自动化与计算机技术—计算机系统结构]