Redundant Drive Control Method Of Cross-axis Oscillating Mechanism

With the rapid development of military and civilian helicopters in China,the demand for daily and special training for helicopter pilots is growing rapidly.However,flight training with real aircraft has low safety factors,high cost and limited weather conditions.Therefore,it is advantageous to use helicopter flight simulators that are flexible,simple to operate and easy to maintain for flight training.In this paper,the redundant drive of the cross-axis oscillation mechanism of the helicopter flight simulator is the main object of study,and the kinematic model and dynamic model of the oscillation mechanism are established,and the drive coordination mechanism of the cross-axis oscillation mechanism is analyzed,and the relevant control strategy of the redundant drive of the cross-axis oscillation mechanism is further explored.The main contents of this paper are as follows:First of all,the number of degrees of the redundant drive of the cross-axis oscillating mechanism is analyzed,the principle parameters of the mechanism are determined,the mathematical model of kinematics is established based on the closed-loop vector method,and the modeling of velocity and acceleration is derived after the inverse solution of the position attitude,and the theoretical basis for dynamics modeling is provided.Secondly,the static equations of the cross-axis oscillating mechanism are established,and the kinetic model of the cross-axis oscillating mechanism is established by using the principle of the virtual work method,and by introducing the definition of virtual work to establish the kinetic energy equation,the velocity mapping matrix for each member of the mechanism is created.The kinetic performance evaluation index with complementarity is proposed to solve the driving moment of the cross-axis oscillating mechanism.In addition,to study the oscillating mechanism control method strategy,the mathematical model of the three-phase AC permanent magnet synchronous motor is established and analyzed,and the current loop,speed loop,and position loop are designed and parameterized.The force/position control system strategy is proposed,and the redundant branches are controlled by force to improve the force distribution problem of each branch and increase the stiffness of the mechanism.By adjusting the driving force,it is beneficial to realize the coordinated motion of the whole mechanism and improve the stability of the system.In the end,the cross-axis oscillating mechanism redundant drive experimental prototype is established,the experimental prototype hardware system and software system are established,and the proposed control method strategy is associated with the experimental prototype.The experimental results show that the control method with a hybrid force/position control strategy can optimize the driving torque and dynamic response performance of the oscillating mechanism.