Research And Optimization On The New Structure Of Six DOF Motion Platform Washout Algorithm

The algorithm can convert real aircraft signals into signals with the same fidelity that can be achieved by flight simulator.The classical algorithm makes Stewart platform lag in motion and fails to make full use of the space range of the platform.In order to obtain higher fidelity of flight simulator,this paper carried out relevant researches on Stewart platform kinematics analysis,algorithm structure design and joint simulation.By analyzing the geometric structure and spatial change matrix of Stewart platform,the velocity and acceleration transformation matrix of electric cylinder is derived.The simulation verification of the inverse position model is carried out,and the modeling and simulation of the classical washing algorithm are carried out,which lays a foundation for the structural design and optimization index of the subsequent algorithm.In order to solve the problems of pilot’s sensory lag and improve the range of motion reachability,a dual-channel fuzzy adaptive washout algorithm was proposed,which combined the dual-channel filter design of the inclined coordination channel and the one-dimensional fuzzy adaptive compensation line displacement prediction algorithm of the high-pass acceleration channel.Aiming at the problem that the phase optimization effect of double-path fuzzy adaptive algorithm is not obvious,a new tilt-coordinated somatosensory algorithm is proposed.Human sensory model to wash out the signal error and change rate as fuzzy controller input offset in the inclined coordinate channel,the input reference signal and high frequency signal difference and translational fuzzy synthetic signal compensation instead of low-pass filter input signal,the combination of translational qualcomm angular acceleration angular displacement and acceleration compensation filter compensation is made to wash the inside limited space to make the result of washing close to the human body perception signal.To further explore the overall coupling simulation effect of the improved algorithm on Stewart platform,PID control and SimMechanics model were introduced for joint simulation.The double-path fuzzy adaptive algorithm is modeled in detail,and the algorithm is simulated and compared under four working conditions,namely longitudinal translation,vertical translation,pitching rotation and longitudinal and pitching,to illustrate the advantages and disadvantages of the improved algorithm.