Real-Time Motion Planning Algorithm For High Dynamic Flight Simulator

As we all know,with the continuous development of contemporary science and technology and the gradual increase in people's needs,the performance of new highperformance aircraft is getting better and better.During flight in the air,it has the characteristics of maintaining high acceleration for a long time and changing dramatically.Therefore,the quality requirements for pilots who drive modern aircraft are getting higher and higher.They must be able to withstand overloads that are far too high in gravity for a long time,and they must respond quickly to various situations.Therefore,it has become urgent to develop a mature simulated overload simulator that can train pilots on the ground.Its most important indicator is the simulation accuracy of overload in real flight,which indicates the degree of consistency of the experimenter's feelings in real flight and simulator.The flight simulator not only provides assurance for pilot training,but also helps the development of new aircraft.The object studied in this paper is a dynamic flight simulator that can carry out threeaxis rotating motion.Through the analysis of the simulation principle of the simulator,according to the established mathematical model,the various motion parameters are planned in real time and three Influencing factors are analyzed.The details are as follows:Firstly,the kinematic principle of the simulator is analyzed,and a model is established using the Newton-Euler method.It is analyzed that under the operating state of the flight simulator,the pilot receives three different rotation angles with the boom main shaft,the middle frame rolling shaft,and the cockpit pitch axis.Shaft overload changes.Then we establish a coordinate system based on human thoracodorsal,left and right,and cephalic and to define the overload and analyze its theory.According to the conditions of real flight and simulator simulation,the mathematical model of overload on each component of the simulator is established and used.Jacobi elliptic function of the angular velocity equation of the main shaft deformation,so that the equation can be analytical solution to solve the overload rate of change is negative,the boom speed can not solve the problem.Simulation overload simulation was performed for two cases,namely oneway trapezoidal overload and three-axis complex flight overload.The resulting simulation curve was basically in line with expectations,reflecting the practicality of the algorithm.Then,one of the influencing factors and geometric errors were analyzed.The factors that caused the geometric errors were modeled.The homogeneous transformation was used as a mathematical tool to analyze the influence of each error source on the overload simulation accuracy.At last,the two pairs of servo systems in the middle frame and cockpit are analyzed,the mathematical model of the motor and system is established,and the commonly used PID control method is used to analyze the response speed and stability of the system.According to the analysis of the impact of analog overload accuracy,the friction feed forward compensation is added to verify,which is effective to reduce the simulation error.