Multi-axis coupling motion singularity control method for continuous load simulator

A control method and coupling motion technology, applied in the direction of non-electric variable control, attitude control, control/adjustment system, etc., can solve the problems of changing the yaw attitude of the cockpit and losing the degree of freedom of the cockpit

Active Publication Date: 2020-10-23
GENERAL ENG RES INST CHINA ACAD OF ENG PHYSICS
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Problems solved by technology

For example, in a structure where the outer frame is yaw, the middle frame is roll, and the inner frame is pitch, if the middle frame is rotated to 90°, both the outer frame and the inner frame will only change the pitch state of the cockpit, and cannot change the cockpit through axis movement yaw attitude, at this time, the attitude control of the cockpit loses one degree of freedom
Existing continuous load simulator research also does not address the singularity problem of multi-axis coupling

Method used

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  • Multi-axis coupling motion singularity control method for continuous load simulator
  • Multi-axis coupling motion singularity control method for continuous load simulator
  • Multi-axis coupling motion singularity control method for continuous load simulator

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Embodiment

[0058] The invention mainly solves the singularity problem of four-, five-, and six-axis continuous load simulators, and the most direct manifestation of the singularity problem is the universal lock problem of Euler angles. The universal lock problem can be solved by mathematical transformations such as quaternion and double Euler method on the Euler angle, but under the specific mechanical structure, it is difficult to realize the structural transformation to avoid the singularity, so it needs to be solved through the control algorithm. Singularity avoidance.

[0059] The singularity problem is mainly manifested in the multi-axis coupling control of the continuous load simulator:

[0060] 1. When the structure is at a singularity point, the degree of freedom of the controllable actual operation of the cockpit is reduced, and it is impossible to realize some attitudes that need to be simulated through control inverse calculation;

[0061] 2. When approaching the singular poi...

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Abstract

The invention discloses a multi-axis coupling motion singularity control method for a continuous load simulator. The method comprises the following steps: S1, establishing an axis motion mathematicalrelationship of the simulator; S2, decoupling the main arm from other rotating shafts in the Jacobian of attitude control; S3, quantifying the singular degree of the current result; S4, carrying out quick solving on the quantification of the singular degree; and S5, after a singular degree quantification result is solved, designing a singular control module. According to the method, singular pointtransition is carried out under the condition that the shaft motion stroke is fully utilized; and the sudden change of the vicinity of the singular point due to the limitation of the mechanical rangeof the shaft is avoided in a mode of reducing the proportion of the control instruction, so that the stability and fidelity of flight simulation are improved.

Description

technical field [0001] The invention belongs to the technical field of load simulators, and in particular relates to a method for controlling the singularity of multi-axis coupled motion of a continuous load simulator. Background technique [0002] With the development of aviation technology and the improvement of the maneuverability of fighter jets, the problems of acceleration loss of awareness (G-Loc) and space disorientation (SD) have become increasingly prominent, and have become the main factors that endanger the flight safety of countries all over the world. In response to such problems, all major aviation countries in the world are currently using manned centrifuges for training. With the rapid development of manned centrifuges and the demand for equipment for flight training subjects, the current manned centrifuges not only provide continuous overload simulation, but are also rapidly developing in the direction of full-attitude simulation. Loaded flight simulator. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 罗鹏胡荣华舒杨白俊林刘婷婷宋琼陈文颖
Owner GENERAL ENG RES INST CHINA ACAD OF ENG PHYSICS
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