三自由度模拟运动平台洗出算法研究

洪振宇; 杨勇; 张亚伟; 许致华; 张志旭

doi:10.13433/j.cnki.1003-8728.2018.0324

三自由度模拟运动平台洗出算法研究

doi: 10.13433/j.cnki.1003-8728.2018.0324

1.
中国民航大学航空工程学院, 天津 300300;
2.
中国民航大学电子信息与自动化学院, 天津 300300;
3.
中国民航大学基础实验中心, 天津 300300

基金项目:

国家自然科学基金委员会与中国民用航空局联合项目（U1733128）与中央高校基本科研业务费项目中国民航大学专项项目（3122017024、3122017042）资助

详细信息

作者简介:
洪振宇(1978-),教授,博士,研究方向为机构学、机器人学,zyhong@cauc.edu.cn

通讯作者:
张志旭,实验师,硕士,bingyu246@126.com

计量
- 文章访问数: 327
- HTML全文浏览量: 64
- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2017-02-06
- 刊出日期: 2018-03-05

Research on Washout Algorithm of 3-DOF Parallel Motion Platform

1.
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China;
2.
College of Electronic Information and Automation, Civil Aviation University of China, Tianjin 300300, China;
3.
Basic Experimential Center, Civil Aviation University of China, Tianjin 300300, China

摘要

摘要: 为解决经典洗出算法无法在三自由度模拟运动平台上得到很好应用的问题，提出了一种适用于两转一移并联运动平台的新洗出算法。首先建立3-PRS并联机构的运动学模型，其次通过引入牵连运动线速度与欧拉角角速度转换矩阵设计一种新的洗出算法，最后在MATLAB/Simulink中建立人体前庭系统模型和新洗出算法的仿真模型，并进行仿真分析。结果表明，本文提出的三自由度平台洗出算法行之有效，并具有与经典六自由度平台洗出算法相近的动感模拟逼真度。
- 三自由度模拟运动平台 /
- 洗出算法 /
- 前庭系统 /
- 仿真分析 /
- MATLAB
Abstract: Aiming at the problem that classical washout algorithm cannot be applied well in 3-DOF parallel motion platform, a new washout algorithm for 3-DOF parallel motion platform with two rotations and one translation (2R1T) is proposed. Firstly, the kinematic model of 3-PRS mechanism is established. Secondly, a new washout algorithm is formulated by introducing the transfer matrix from parasitic motion to Euler angular velocity. Finally, a model combined the human vestibular system and washout algorithm is established in MATLAB/Simulink to obtain simulation results. It is verified that the new washout algorithm has a fine performance and a close fidelity of cueing motion with the classical washout algorithms for 6-DOF parallel motion platform.
- 3-DOF parallel motion platform /
- washout algorithm /
- vestibular system /
- simulation /
- MATLAB

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参考文献(15)

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