Research On Control Technology Of Omnidirectional Motion Platform

With the development of virtual reality technology and the enrichment of its application scenarios,the way of digital simulation using virtual reality technology has been favored by all walks of life.In order to meet the needs of realism and immersion,the virtual scenes designed are generally much larger than the range provided by the actual venue.In order to solve the infinite motion of limited venues,domestic and foreign scholars have proposed an omnidirectional motion platform program.The omnidirectional motion platform enables the user to achieve infinite motion in a finite space through a displacement cancellation mechanism.However,due to the displacement cancellation mechanism,walking in omnidirectional motion will affect the comfort of the human body.Therefore,how to design the control strategy of the platform makes the displacement cancellation mechanism have less impact on the realism of the user's walking,which is the key to the omnidirectional motion platform.problem.This topic starts with the overall structure of the motion platform,analyzes the structure and principle of the motion platform,and proposes the motion control strategy of the entire motion platform.In order to improve the followability and smoothness of the human body and platform movement and improve the comfort of the human body,this topic mainly has the following three aspects:(1)Analyze the design of the omnidirectional motion platform motion control system framework.Firstly,the composition of the omnidirectional motion platform system framework is introduced,and then the content of each part of the motion framework is analyzed.The three parts of the execution mechanism,the human body information collection system and the transmission processing system are analyzed,and the relationship and principle between each part are analyzed,which provides a basis for proposing a reasonable omnidirectional motion control strategy.(2)Propose the control strategy of the omnidirectional motion platform.For the research of motion platform control strategy,the system control model is first established by analyzing the platform.Then,the control independence and decoupling in the two directions of the omnidirectional motion platform propose a control strategy research scheme from a single direction.Finally,the proposed first-order control,second-order control strategy and introduction of variable reference and variable coefficient control strategies are simulated and analyzed,and the effectiveness of the control algorithm for omnidirectional motion platform motion control is evaluated.(3)Experiment platform construction test and experimental verification of the proposed control algorithm.The omnidirectional motion platform was built and tested for communication between the various parts,testing Ethernet and CAN communication,and adding experimental platform security protection.The proposed control algorithm is tested in a single direction and analyzed in the experimental data to prove the effectiveness of the proposed algorithm for improving platform followability and stationarity.The experimental results show that the proposed first-order control and second-order control of the observer have good control performance on the platform,which can improve the followability and stability of the omnidirectional motion platform system.