A crane simulator somatosensory simulation method and device

Abstract

The invention discloses a crane simulator somatic simulation method and device. The method comprises a closed loop simulation step, a physical quantity input and output step, and a fuzzy PID control step, all for simulating the movement sensation of a crane generated from traveling mechanisms such as a big vehicle, a car or the alike during a limited stroke and a working space. More technically, the movement sensation includes instantaneous acceleration, continuous acceleration and the alike which are consistent with those of a real crane. The device is of a three-degree-of-freedom parallel structure, including the lateral movement of the big vehicle, the longitudinal movement of a car, and the tilt compensation and rotation movement of the car. Based on the theory of human body motion perception and through the processing of input signals, it is possible to effectively solve the problems with acceleration, deceleration, back-to-the middle in the stimulated crane operations. According to the invention, the fidelity of a crane stimulator is increased so that it can meet the requirements for stimulating movement sensation in a limited stroke and working space. Therefore, the method and device are of great application significance in improving the quality and the level of stimulators.

Description

technical field [0001] The invention relates to crane simulation, in particular to a somatosensory simulation method suitable for a three-degree-of-freedom motion platform of a crane simulator. Background technique [0002] The three-degree-of-freedom parallel structure can complete the horizontal and vertical linear motion of the space and the rotational motion of the set angle through the control of the driving equipment. The motion platform is mainly used in the somatosensory simulation of the simulator, simulating the somatosensory produced by the traveling mechanisms such as carts and trolleys during the operation of the crane within a limited stroke and working space. At present, motion platform technology is widely used in flight simulators, environment simulators and other simulators to improve the realistic effect of simulation. However, the existing motion platforms are rarely used in the field of cranes, and their functions do not meet the requirements of crane s...

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Problems solved by technology

However, on the one hand, the motion platform has a small field of vision and does not meet the requirements of the crane's operating environment. On the other hand, it can only meet the rotational motion at a certain angle, which is difficult to meet the instantaneous acceleration requirements of the crane simulator; the invention patent with the Chinese application number 201510031178.7 has been published A Stewart six-degree-of-freedom motion platform flight simulation platform with a multi-layer closed-loop control strategy avoids errors caused by factors such as installation and mechanism deformation through multi-layer closed-loop control. field design, does not meet the crane simulator functional requirements

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