Study On The Motion-Cueing Algorithm For6-DOF Plateform

ABSTRACT:Dynamic simulator is mainly used in ergonomics research, safety and traffic rules education, driver training and commercial entertainment and other fields, and its key technology has been paid more and more attention. As the dynamic simulator actuators, Stewart6-DOF platform is widely used. In addition to the motion control system of dynamic simulator, the core technology is the motion cueing algorithm, which the most classic is washout filter, the research work of this paper mainly around the motion cueing algorithm.This paper firstly research the kinematics of Stewart platform, determine the Stewart platform position relations applying the principle of spatical mechanism and established the mathematical model of platform. On this basis, further study the relation between the speed and acceleration of moving platform and electric cylinder, complete the kinematic analysis of velocity and acceleration of the platform. The control performance of Motion simulation platform is the guarantee of the work of the Stewart platform simulation. The mathematical modeling and kimenatics analysis of Stewart platform for prepare to the control of motion platform,simulation and verfication of motion sensing algorithm.Motion cueing algorithm use platform’s motion features and ergonomic principle to filter linear acceleration and angular velocity signal, as far as possible to reproduce the true driving motion. Because the Stewart platform working space is relatively small,when simulate the most common small linear acceleration will exist certain dead zone,which affect the fidelity of the simulation.To solve this problem, this paper presents an algorithm which is based on classic washout filter not only does not affect the motion workspace but also can improve the dymamic simulation fidelity. This algorith using angular acceleration signal to compensate for linear acceleration signal in order to achieve compensation the dead zone of body feels.Finally, the algorithm is applied to a prototype. Through STM32operate MPU6050chip,measuring platform acceleration before and after improved washout algorithm. Simulation results show that the improved classical washout algorithm for translational instanthe aneous acceleration of the high-pass filter output is below the human perception threshold are improved obviously and improve the simulation fidelity of system.