Reasearch On Attitude Control Strategies Of Pneumatic Flight Simulator

The pneumatic artificial muscle is a new type of flexible actuator. It has the advantages of easy maintenance, light-weight, motion smoothness, higher power/weight and power/volume ratios, and cleanness. Recently, pneumatic artificial muscles are widely used in the various fields of bionics robotic hand, bionics robotic joint and industrial production.Based on the unique advantages of pneumatic artificial muscle, a set of pneumatic flight simulator driven by large-size pneumatic artificial muscles is designed in this thesis; in order to overcome the problems of traditional flight simulator driven by hydraulic actuators such as those caused by technical difficulties, high cost, complex structure and leakage problems. And this approach also expands the application field of pneumatic artificial muscle; Furthermore, through theoretical analysis and experimental study, it's explored the large-size pneumatic artificial muscle's control methods and its nonlinear effect on control parameters setting.This thesis focuses on the proposed flight simulator driven by pneumatic artificial muscles. Firstly, the flight platform model is constructed under PRO/E, and the pneumatic flight simulator's architecture is also completed. Secondly, based on the design requirements of pneumatic flight simulator, the appropriate pneumatic components and control components are selected, respectively, and it's also accomplished the design of pneumatic system circuit and control system; in addition, through reading the control signal, all of control functions are realized by control system software in VC++ environment. Thirdly,according to the platform model, it's necessary to commence the research of the system-level and component-level modeling and simulation, respectively. And the modeling and simulation of pneumatic high speed on/off valve, pneumatic artificial muscles and other components are completed, as well as the flight simulator's inverse solutions and positive solutions. Then for the motion characteristics of pneumatic flight simulator, PID and fuzzy-PID control strategies are designed and at the same time the simulation of entire systems is also realized. Finally, under different control strategies, the accuracy of simulation is tested and verified.By experiments carried on pneumatic flight simulator, it can be proved that large-size pneumatic artificial muscle used in the flight simulator is feasible. Meanwhile, for the nonlinear problems of large-size pneumatic artificial muscles, it's conformed that the fuzzy-PID control strategy can receive a better control effect by different tests. And the control strategy provides a theoretical basis and practical guidance for large-size pneumatic artificial muscles'application.