Research On Control Of Flight Simulator Motion Platform Based On Force Sensor

Flight simulator is the simulation equipment to train pilots, develop new aircraft, analyzeaccident with features of safe, reliable, economical, convenient, efficient and not subject to siteand climatic conditions, which can simulate the moment of the aircraft both in the air and on theground. As an important part,6-DOF motion platform is responsible to provide pilot with thesimilar feeling to the real flying, which is very important to the fidelity and effect of the flightsimulator.Realize the similar feeling to the real flying depends on the tracking and control effect of theexpected indicators especially of the acceleration. Because of the limited motion space, we get theexpected acceleration from the washout filter and integral it into position, then turn into theproblem of the position control, the tracking of the acceleration is very poor.In this paper against the flight simulator “Boat-one”, solve the acceleration based on forcesensor, and studied the control of the motion platform:1. Design and complete the acceleration controller based on inverse dynamics feedforward,which include two parts: the feedback of the motion platform’s state and inverse dynamicsfeedforward. Establish the dynamics model of the motion platform, and derive the relationship ofnot only state of motion and the driving force but also acceleration and force, which is measuredby force sensor.2. Introduced the washout filter algorithm, Classical washout algorithm is Chosen andparameters are optimized according to the theory of matching the available workspace anddemand workspace, which provide the desired trajectory.3. Modular modeling in Matlab, and established the model of the “Boat-one” bySimMechanics, and designed the tracking simulation in both joint space and task space, in order tovalidate the model.4. Integrate washout filter algorithm, SimMechanics model, acceleration controller into awhole servo loop. Design a serious experiment, such as compare with PD controller, parameterchoose, tracking, the result show that the acceleration controller is better than ordinary positioncontroller.The result of this paper provides the theory and practice experience for future work in the thetracking of the acceleration, establishment of dynamic model, washout filter.