Reseach On The Dynamic Analysis And Optimal Control Of Parallel Six-dof Motion Platform

Flight simulator is a real-time simulation system, which can simulate flight in the air and operation on the ground.The simulator not only administer the sense of operation to the learner,but also be economical and secure.As the coclpit carrier, as well as the main provider of the dynamic motion, the parallel 6-DOF motion platform is a very important component of the flight simulator.The problem of the dynamic and optimal control is the key to develop high-performance 6-DOF motion platform.The first part of this dissertation ananlyze the kinematics and dynamics of the 6-DOF motion platform, build the integrated form of closed loop dynamic equation by Newton-Euler method.Then we build the ADAMS virtual prototype model, according to the 6-DOF motion platform in the laboratory, and comparing to the driving force of the branch impact on the performace of the motor during the motion, analyze the dynamics of the model, and obtain the maxium load of the platform under the maximum alloweable tolerance of the motor.The last part of the dissertation build the united simulation platform by using the he ADAMS/Control module and the MATLAB/Simulink module,for improve the performance of the platform multi-angle from the mechanical system and control system.We apply the PD and computed torque control method on the joint space and task space respectively based on the simulation platform.The control precision of the computed torque control which considering the dynamic model , is higher than the PD control ,but simulation time of the former is longer than the latter. The control precision and stability of the task space control which decouple dynamic model effectively, is better than the joint space conrol.These work laid the foundation for the next improve control system performance of six-DOF motion platform.