Research On Some Key Technologies Of Six-DOF Motion Hydraulic Platform

The washout effect of motion platform that flight simulator becomes common pilot training tool is directly related to the driver's dynamic experience.Classical washout algorithm is praised by the pilots and experts in terms of adjusting parameters easily,high structure transparency,feedback speed and execution speed quickly,but there are also poor self-adaptability,invalid workspace utilization and false hints.Based on kinematic analysis of 6-DOF motion platform,dual quaternion transformation matrix is established to solve the problem that space rotation and translation of motion platform is difficult to unity,the reliability of transformation matrix is verified by the inverse solution of motion platform.Secondly,according to the human vestibular model,fuzzy control theory is used to feedback adjust somatosensory errors of washout algorithm.High-pass acceleration channel,tilt coordination channel and high-pass angular velocity channel of washout algorithm are compensated respectively to improve the adaptability of washout algorithm and reduce the range of false hints,increase the dynamic fidelity of motion washout.Finally,tilt coordination channel for classical washout algorithm is improved by redesigning the source of tilt coordination channel acceleration.The part of low-pass acceleration is not fully simulated,which will compensate translation acceleration to eliminate phase delay and false hints,expand the space utilization of motion platform.Through simulation of motion platform inverse solution,the simulation results show that dual quaternion transformation matrix can achieve unity of 6-DOF hydraulic platform space rotation and translation and overcome the singularity of cosine matrix.According to static simulation results of washout algorithm,it shows that fuzzy control washout algorithm can control somatosensory error in the process of washout,reduce amplitude of false hints,and effectively improve the dynamic fidelity and self-adaptability of washout algorithm.The dynamic fidelity and platform space utilization of new tilt coordination washout algorithm are also improved.Finally,according to the three-dimensional solid model of 6-DOF hydraulic platform and SimMechaincs visual real-time dynamic simulation platform verify two improved washout algorithm.The result shows that the improved washout algorithm achieves the expected design requirements and ensures the reliability and effectiveness.