Study On Four Degrees Of Freedom Manned Highly Realistic Motion Simulation Platform

The motion simulation platform is a ground simulation device for simulating the dynamic feelings of the driver in the vehicle and other vehicles,allowing the occupants on the simulation platform to experience similar transient overload and attitude changes during the real flight.However,the traditional 6-DOF parallel motion simulation platform and its classical washing algorithm are difficult to realize real fidelity simulation of real transient overload and attitude change.Therefore,this subject is based on the goal of realizing the dynamic simulation of high fidelity,and completes the design work of the mechanical structure of the new motion simulation platform,and studies a series of problems such as high dynamic simulation algorithm and motion simulation platform control system.This paper presents a four-degree-of-freedom series of motion simulation platform design.Based on the parameters of design technology protocol,the mechanical structure design and optimization of dynamic simulation platform,dynamic simulation analysis and motor torque checking,finite element simulation analysis and static strength checking are completed by Solidworks,Adams,Workbench and ANSYS.Soft coupling dynamics simulation analysis and dynamic strength checking,in the pursuit of lightweight simulation platform at the same time,to ensure the dynamic strength of key components.The dynamic simulation algorithm has a decisive influence on the simulation fidelity of the motion simulation platform.Based on the mathematical model of the vestibular organ of the human body,the objective evaluation system of the fidelity of the dynamic simulation algorithm is established,which provides the basis for adjusting the filter parameters.Secondly,the composition of each link in the dynamic simulation algorithm is analyzed,and the transfer function form and filter parameters are selected and optimized.Finally,a new fuzzy dynamic simulation algorithm based on the fuzzy control theory is designed to adjust the filter parameters of the dynamic simulation algorithm according to the input signal frequency in real time,taking into account the shortcomings of the dynamic simulation algorithm of fixed parameters and the inaccuracy of dynamic detail information description.This paper uses STM32 micro-controller as the core,designed a rich peripheral hardware circuit.According to the control requirements,the control system software part is designed to realize the motor position control function,optimize the motor acceleration / deceleration curve,and combine the serial communication to complete the motion control function of each axis motor of the host computer through the serial port to the motion simulation platform.Finally,Kalman filter is used to fuse the original attitude data of MPU6050.The real-time motion attitude data of motion simulation platform with high dynamic accuracy and low noise disturbance are obtained,which lays the foundation for the closed-loop evaluation of the performance of control algorithm.Finally,the paper set up a sports simulation platform physical prototype,produced a control system PCB board kind.Taking the vehicle driving as an example,the classical washout algorithm and the new fuzzy dynamic simulation algorithm are used to test the linear acceleration and deceleration,the curve acceleration / deceleration,the integrated road condition and so on under different road conditions.Compared with the real vehicle driving motion data,the results show that the proposed new fuzzy dynamic simulation algorithm is more accurate than the classical washing algorithm,and the amplitude difference of the output motion is smaller and the phase difference is smaller Dynamic simulation of degrees.