Stewart six degrees of freedom flight simulation platform under multi-layer closed-loop control strategy

Abstract

The invention discloses a Stewart six degrees of freedom flight simulation platform under a multi-layer closed-loop control strategy. The Stewart six degrees of freedom flight simulation platform under the multi-layer closed-loop control strategy comprises a single degree of freedom position closed loop, a platform position and pose closed loop and an application layer motion-sensing simulation closed loop. The single degree of freedom position closed loop control is the most inner loop of a flight simulation motion system control structure, and the closed-loop control is achieved through a signal fed back by a collection encoder. The platform position closed loop control obtains position information of a platform by using a video target tracking technology, a forward solution is performed on the obtained position information combined with a branch chain and estimated through data fusion, and the authenticity of the position information is improved. The application layer motion-sensing simulation closed loop collects accelerated speed information felt by a pilot as feedback through an accelerometer and an angular accelerometer and sends back to a superior host to form the closed loop, and therefore, the realistic simulation of motion sense is improved. The Stewart six degrees of freedom flight simulation platform of the multi-layer closed-loop control strategy has the advantages that the problem that the platform position can not be accurately calculated caused by factors of installation errors and mechanism deformation is effectively solved, and the control precision is improved.

Description

technical field [0001] The invention relates to a Stewart six-degree-of-freedom platform, belonging to the field of flight simulators, in particular to a multi-layer closed-loop control six-degree-of-freedom electric platform for flight simulators. Background technique [0002] The Stewart six-degree-of-freedom platform can perform single-degree-of-freedom motion with any degree of freedom in the six degrees of freedom in space, and can also perform compound motion with any number of degrees of freedom. The moderate range of motion and clear mechanism topology make it widely used in various training simulators, such as flight simulators, ship simulators, tank simulators, earthquake simulators, and motion-movie performance fields. It can even be used for space rendezvous and docking of spacecraft. At the same time, with the vigorous development of military and civil aviation, the motion control technology of Stewart platform for flight simulator has urgent and extensive need...

AI Technical Summary

Problems solved by technology

That is to say, at the application level, there is no perfect closed-loop control strategy

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