All-attitude four-axis turntable frame angle instruction resolving method

Abstract

The invention provides an all-attitude four-axis turntable frame angle instruction resolving method. The method comprises the following steps: establishing a kinematic model of a four-axis turntable frame angle and a total spacecraft attitude angle based on a double-Euler method, initializing the position of each frame angle at the initial moment of simulation, designing a turntable kinematic inverse solution algorithm based on a constraint optimization theory, and according to the kinematic inverse solution algorithm, calculating to obtain each frame angular position instruction of the four-axis turntable at the current moment, and designing a kinematics positive solution algorithm of the four-axis turntable to finally obtain all the instructions of the frame angular positions. By means of the method, it can be guaranteed that on the premise that real-time performance of instruction resolving of the four-axis rotary table is met and kinematics singular positions and the like are effectively avoided, large-amplitude resolving deviation jump in all attitudes is avoided, and the large-amplitude error phenomenon caused by positive solution multiplicity is eliminated.

Description

technical field [0001] The invention belongs to the field of aircraft hardware-in-the-loop simulation technology, and in particular relates to a frame angle instruction calculation method of a full-attitude four-axis turntable. Background technique [0002] In the hardware-in-the-loop simulation and testing of aircraft, the flight simulation turntable is one of the commonly used hardware devices. Among various simulation turntables, the three-axis simulation turntable is the most commonly used, which can accurately simulate the three attitude changes of the aircraft in space: pitch, roll, and yaw. However, due to its own structural characteristics, the three-axis simulation turntable has kinematic singular positions, which cannot meet the new requirements of full-attitude flight simulation. In order to avoid singular positions under the premise of ensuring the attitude of the aircraft in the simulated space, a four-axis turntable scheme was proposed in engineering, and addi...

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Problems solved by technology

This type of scheme designs the optimization variables, constraints, objective functions, and optimization algorithms of the optimization problem according to the user's expected performance indicators, but it is difficult to simultaneously sol...

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