【摘要】：運(yùn)動(dòng)模擬平臺(tái)是一種用于模擬飛行器及其他交通工具中駕駛?cè)藛T動(dòng)態(tài)感受的地面模擬仿真設(shè)備,能夠讓模擬平臺(tái)上的駕乘人員感受到真實(shí)飛行過(guò)程中相近的瞬時(shí)過(guò)載及姿態(tài)變化。但傳統(tǒng)的六自由度并聯(lián)運(yùn)動(dòng)模擬平臺(tái)及其經(jīng)典洗出算法難以實(shí)現(xiàn)對(duì)真實(shí)瞬時(shí)過(guò)載及姿態(tài)變化的高逼真度模擬。因此基于實(shí)現(xiàn)高逼真度動(dòng)態(tài)模擬的目標(biāo),完成了新型運(yùn)動(dòng)模擬平臺(tái)機(jī)械結(jié)構(gòu)的設(shè)計(jì)工作,并對(duì)高逼真動(dòng)態(tài)模擬算法及運(yùn)動(dòng)模擬平臺(tái)控制系統(tǒng)等一系列問(wèn)題展開了研究。提出了一種四自由度串聯(lián)機(jī)構(gòu)形式的運(yùn)動(dòng)模擬平臺(tái)設(shè)計(jì)方案�；谠O(shè)計(jì)技術(shù)協(xié)議參數(shù),利用Solidworks,Adams,Workbench,ANSYS等軟件完成了運(yùn)動(dòng)模擬平臺(tái)的機(jī)械結(jié)構(gòu)設(shè)計(jì)及優(yōu)化、動(dòng)力學(xué)仿真分析及電機(jī)力矩校核、有限元仿真分析及靜強(qiáng)度校核、剛?cè)狁詈蟿?dòng)力學(xué)仿真分析及動(dòng)強(qiáng)度校核,在追求模擬平臺(tái)輕量化的同時(shí),保證了關(guān)鍵部件的動(dòng)態(tài)強(qiáng)度。動(dòng)態(tài)模擬算法對(duì)運(yùn)動(dòng)模擬平臺(tái)模擬逼真度擁有決定性的影響�；谌梭w前庭器官數(shù)學(xué)模型,建立了動(dòng)態(tài)模擬算法逼真度的客觀評(píng)價(jià)體系,為調(diào)整濾波器參數(shù)提供了依據(jù)。對(duì)動(dòng)態(tài)模擬算法中各個(gè)環(huán)節(jié)的組成進(jìn)行了具體分析,選擇并優(yōu)化了各環(huán)節(jié)傳遞函數(shù)形式及濾波器參數(shù)�？紤]到固定參數(shù)的動(dòng)態(tài)模擬算法對(duì)動(dòng)態(tài)細(xì)節(jié)信息描述不準(zhǔn)確等缺點(diǎn),基于模糊控制理論設(shè)計(jì)了能夠根據(jù)輸入信號(hào)頻率實(shí)時(shí)調(diào)節(jié)動(dòng)態(tài)模擬算法濾波器參數(shù)的新型模糊動(dòng)態(tài)模擬算法。以STM32微控制器為核心,設(shè)計(jì)了豐富的外圍硬件電路。并根據(jù)控制要求,設(shè)計(jì)了控制系統(tǒng)軟件部分,實(shí)現(xiàn)了電機(jī)位置控制功能,優(yōu)化了電機(jī)加減速曲線,結(jié)合串口通信完成了上位機(jī)通過(guò)串口對(duì)運(yùn)動(dòng)模擬平臺(tái)各軸電機(jī)的運(yùn)動(dòng)控制功能。利用卡爾曼濾波對(duì)MPU6050的原始姿態(tài)數(shù)據(jù)進(jìn)行了融合數(shù)據(jù)處理,得到了動(dòng)態(tài)精度較高、噪聲干擾小的運(yùn)動(dòng)模擬平臺(tái)實(shí)時(shí)運(yùn)動(dòng)姿態(tài)數(shù)據(jù),為實(shí)現(xiàn)控制算法性能的閉環(huán)評(píng)估奠定了基礎(chǔ)。搭建了運(yùn)動(dòng)模擬平臺(tái)物理樣機(jī),制作了控制系統(tǒng)PCB板實(shí)物。以汽車駕駛為例,分別使用了經(jīng)典洗出算法和新型模糊動(dòng)態(tài)模擬算法在不同的路況下進(jìn)行了直線加減速、彎道加減速、綜合路況等測(cè)試。通過(guò)與真實(shí)汽車駕駛運(yùn)動(dòng)數(shù)據(jù)進(jìn)行對(duì)比,結(jié)果表明提出的新型模糊動(dòng)態(tài)模擬算法相比經(jīng)典洗出算法對(duì)動(dòng)態(tài)細(xì)節(jié)信號(hào)描述更加準(zhǔn)確,輸出運(yùn)動(dòng)的幅值差與相位差更小,實(shí)現(xiàn)了更高逼真度的動(dòng)態(tài)模擬。
[Abstract]:The motion simulation platform is a ground simulation equipment used to simulate the dynamic feelings of drivers in aircraft and other vehicles. Drivers on the simulation platform can feel the similar instantaneous overload and attitude change during the real flight. However, the traditional parallel motion simulation platform with six degrees of freedom and its classical washing out algorithm are difficult to achieve high fidelity simulation of real instantaneous overload and attitude change. Therefore, based on the goal of realizing high fidelity dynamic simulation, the design of the mechanical structure of a new motion simulation platform is completed, and a series of problems such as high-fidelity dynamic simulation algorithm and motion simulation platform control system are studied. A motion simulation platform with four degrees of freedom in series is proposed. Based on the parameters of the design protocol, the mechanical structure design and optimization of motion simulation platform, dynamic simulation analysis, motor torque check, finite element simulation analysis and static strength check are completed by using SolidworksAdamsn Workbench ANSYS and other softwares. The dynamic simulation analysis and dynamic strength checking of rigid-flexible coupling ensure the dynamic strength of key components while pursuing the lightweight of the simulation platform. Dynamic simulation algorithm has a decisive effect on simulation fidelity of motion simulation platform. Based on the mathematical model of human vestibular organ, an objective evaluation system of the fidelity of the dynamic simulation algorithm is established, which provides the basis for adjusting the filter parameters. The composition of each link in the dynamic simulation algorithm is analyzed in detail, and the form of transfer function and filter parameters are selected and optimized. Considering the shortcomings of dynamic simulation algorithm with fixed parameters, such as inaccurate description of dynamic detail information, Based on the fuzzy control theory, a new fuzzy dynamic simulation algorithm is designed, which can adjust the filter parameters of the dynamic simulation algorithm in real time according to the frequency of the input signal. With STM32 microcontroller as the core, a rich peripheral hardware circuit is designed. According to the control requirements, the software part of the control system is designed, the motor position control function is realized, and the acceleration and deceleration curve of the motor is optimized. Combined with serial communication, the motion control function of each axis motor of the motion simulation platform is completed by the host computer through the serial port. Using Kalman filter to process the original attitude data of MPU6050, the real-time motion attitude data of motion simulation platform with higher dynamic precision and less noise interference are obtained, which lays a foundation for closed-loop evaluation of control algorithm performance. The physical prototype of the motion simulation platform is built and the PCB board of the control system is made. Taking automobile driving as an example, the classical washing out algorithm and the new fuzzy dynamic simulation algorithm are used to test the linear acceleration and deceleration, the curve acceleration and deceleration, and the comprehensive road condition under different road conditions. By comparing with the real driving motion data, the results show that the new fuzzy dynamic simulation algorithm is more accurate than the classical washing out algorithm in describing the dynamic detail signal, and the amplitude difference and phase difference of the output motion are smaller. A higher fidelity dynamic simulation is realized.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH122

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