Configuration Design And Washout Algorithm Optimization Of Primary-secondary Motion Decoupling Hybrid Driving Simulator

With the development of computer science and virtual reality technology,driving simulators have gradually expanded from traditional high-end fields such as military and aerospace to civil applications.They have been widely used in traffic safety,auxiliary development,leisure and entertainment and other fields.At present,the demand for driving simulator is increasing,but it is difficult to popularize because of its high cost and poor experience.Among them,the coupling of main and secondary motion simulation and the singularity of body feeling simulation algorithm become one of the main reasons limiting its development.In terms of structure,most of the movements in nature are divided into primary and secondary movements under certain rules.Analyzing and using this "primary and secondary movement" can often be close to the real movement situation;At the same time,a reasonably designed hybrid mechanism can integrate the advantages of series mechanism and parallel mechanism,and effectively avoid the disadvantages of a single mechanism,which has a great development prospect.In terms of control,the optimal design of washout algorithm based on human-machine-ring two-way interaction can improve the driving simulation experience effect under different working conditions to a certain extent.Combining the above two ideas,this article conducts research on the configuration design and washing out algorithm optimization of the primary and secondary motion decoupling hybrid driving simulator from two aspects of structure and control.The primary and secondary motion decoupling hybrid mechanism is introduced into the field of driving simulators,with the aim of achieving collaborative design of driving simulator motion and force.This paper qualitatively and quantitatively explores the mapping relationship between the primary and secondary motions of driving simulation,creatively proposes a synthesis method of primary and secondary motion decoupling hybrid mechanism based on the series parallel composition principle and primary and secondary motion decoupling,and conducts kinematics solution and structural parameter optimization analysis for the new hybrid simulator configuration;Establish a switching control system based on multiple operating conditions analysis and a new washout algorithm,and verify the economy and realism of driving simulator motion simulation under multiple operating conditions through prototype experiments.It mainly includes the following content:Firstly,based on the analysis of primary and secondary motion of driving simulation,starting from the distribution of degrees of freedom between series-parallel and primary and secondary motion,and taking the principle of primary and secondary motion decoupling as the cornerstone,the configuration design of series motion module and partially decoupled parallel motion module is carried out respectively,and the configuration synthesis method of primary and secondary motion decoupling hybrid driving simulator is proposed.Then,in combination with the three representative driving simulator configurations synthesized above,the kinematics solution,structural parameter optimization and workspace verification are carried out for the selected hybrid mechanism to further understand its kinematic characteristics and lay a foundation for the subsequent structural design and prototype construction.Additionally,in the face of the defects of traditional body feeling simulation algorithm in general conditions,such as fixed parameters,low space utilization,phase delay and false hints,and no special body feeling simulation under special conditions,the corresponding simulation model is proposed for different special conditions,and the structure optimization of washout algorithm in general conditions and corresponding joint simulation evaluation verification are carried out,and a switching control method of driving simulator based on the new washout algorithm is proposed.Finally,according to the aforementioned configuration analysis and control methods,the structure design and control system construction of the driving simulator are carried out,and the trajectory planning considering acceleration and deceleration is carried out,and the multi-mode experiment is designed to verify the rationality and practicability of the configuration synthesis,mechanism design and switching control algorithm.In order to solve the bottleneck problem faced by the promotion and application of the traditional driving simulator,this topic has realized the subjective and objective unity of the structure and control design,which not only proposes a new idea of the type synthesis of the primary and secondary motion decoupling hybrid mechanism,but also provides an optimization method for improving the driving simulation experience.