Research On Somatosensory Algorithm Of A Snowboard Simulation Platform

With the successful bid of 2022 Beijing Winter Olympic Games,skiing sports have been widely spread in China,and the whole nation has set off a wave of "ice and snow sports".In order to facilitate primary ski lovers to experience the fun of ice and snow,and to meet the physical exercise and daily training requirements of skiers,a hybrid ski simulator based on Stewart parallel platform is designed in this paper.The washout algorithm is used to process the signals in the limited motion space of the ski simulator to enhance the dynamic fidelity.Firstly,according to the principle of skiing,this paper designs and introduces the prototype of the movement platform of the snowboard hybrid ski simulator.The kinematics inverse solution of the parallel mechanism and the forward kinematics solution of the series mechanism are solved for the prototype,and the kinematics inverse solution of the hybrid model is calculated.Secondly,the perception mechanism of human vestibular system is introduced,the perception model is given,and the filter transfer function of the classical washout algorithm is designed respectively.The fuzzy control theory is used to optimize the filter cutoff frequency of the high-pass acceleration channel and the inclined coordination channel.The simulation analysis is carried out by minimizing the difference between the input signal and the perceived acceleration.In order to improve the authenticity of motion,a model predictive control optimization algorithm was adopted to process the washout signal.The vestibular perception system model was added to the algorithm,and the difference between the perceived vestibular signal and the real motion signal was minimized as the optimization objective.Constraints were added and a cost function was established.Seek the optimal solution of the objective function,and then use Matlab/Simulink module to establish the model predictive control washout algorithm model,and simulation.Finally,the prototype was used to verify the washing algorithm,and the components of the ski simulation platform were introduced.The Speed Goat controller was used to control the prototype,and the process of converting the analog filter into digital filter was deduced.The fidelity of the washout algorithm was verified by real-time online simulation.