Research On Helicopter Simulator Motion Control Based On Fuzzy Optimization Washout Algorithm

In recent years, the helicopter is used in more and more fields, for its unique maneuverability and flexibility. In the meantime, the demand of helicopter driver training is also increasing. But the real flight training has some advantages, like the high cost of training, hidden danger, always restricted by the conditions of site and weather and so on. Therefore, the helicopter simulator, which is used to replace the real flight training, was born. It has become a hot research area for scientists all around the world recently.Most of the driving simulators use the Steward platform as its motion system. Because of the limitation of motion platform, it cannot reproduce the real motion of vehicles directly. So we need the key technology of motion cueing, the washout algorithm. With washout algorithm, the continuous motion condition is transformed into the motion signal, that conforms to the human perception system and make humans feel like driving the real flight approximately. The fidelity of the transformation is concerned by the rationality of algorithm design. The core research of the paper is design the washout algorithms which can provide high fidelity.The paper analyzed the kinematics of the 6-DOF platform systematically, deduced the process of kinematics positive and inverse solution in detail. Analyzed the relationship between the velocity and acceleration of the platform and the velocity and acceleration of electric cylinders, and solved the parameters of the platform with it.Based on the implementation of classic washout algorithm, the paper proposed a genetic optimize algorithm to optimize filter parameters, and introduced the process of algorithm implementation. Aiming at the fixed parameters disadvantage of classic washout algorithm, proposed a fuzzy optimize washout algorithm which used Particle Swarm optimization(PSO) to complete defuzzification. It introduced the rules and parameter selection principle in fuzzy control, explained the method about concerning fuzzy domain of the natural cut-off frequency and the membership functions of input and output of fuzzy controller in detail. And it also described the application of PSO in it.We constructed the simulation models of classical washout algorithm, genetic optimize washout algorithm and fuzzy optimize algorithm with the Simulink module of Matlab. And verify the effectiveness and feasibility of the proposed algorithms through the simulation experiments.