Shock-resistant methods, devices, electronic equipment, and storage media for motion platforms

Abstract

This invention provides a method, apparatus, electronic device, and storage medium for shock resistance of a motion platform, applicable to a motion platform including an accumulator, an actuator, and a platform body. The method includes: executing a first process to obtain adjustment parameters for adjusting an initial control signal; generating a target control signal based on the mass change of the platform body and the adjustment parameters when the mass of the platform body changes; and controlling the platform body to perform an action corresponding to the target control signal based on the target control signal. The first process includes: inputting the initial control signal to the actuator; obtaining pressure, displacement, and angle values ​​generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal; and obtaining the adjustment parameters for adjusting the initial control signal based on the pressure, displacement, and angle values.

Description

Technical Field

[0001] This invention relates to the field of electroencephalogram (EEG) signal processing, and more particularly to a method, apparatus, electronic device, and storage medium for shock resistance of a motion platform. Background Technology

[0002] Related technologies generally use impact-resistant materials, such as rubber, to buffer under large impact loads and enhance the impact resistance of the motion platform. However, this method is too costly and has limited impact resistance. Furthermore, with traditional impact-resistant methods, the motion trajectory of the motion platform is greatly affected by the impact, which is not conducive to the stability of the motion platform when it needs to move along a fixed trajectory. Summary of the Invention

[0003] This invention provides a method, device, electronic device, and storage medium for shock resistance of a motion platform, which can significantly reduce the deviation of the motion platform from the set track due to impact during the motion process, and effectively improve the shock resistance of the motion platform.

[0004] This invention provides a shock-resistant method for a motion platform, applicable to a motion platform including an accumulator, an actuator, and a platform body, comprising:

[0005] The first process is executed to obtain the adjustment parameters used to adjust the initial control signal;

[0006] When the mass of the platform changes, a target control signal is generated based on the mass change value of the platform and the adjustment parameters;

[0007] Based on the target control signal, the platform is controlled to perform the action corresponding to the target control signal;

[0008] The first process includes:

[0009] Input an initial control signal to the actuator;

[0010] The pressure value, displacement value, and angle value generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal are obtained.

[0011] Based on the pressure value, displacement value, and obtained angle value, the adjustment parameters used to adjust the initial control signal are obtained.

[0012] According to the shock resistance method for a motion platform provided by the present invention, obtaining the adjustment parameters for adjusting the initial control signal based on the pressure value, displacement value, and obtained angle value includes:

[0013] Based on the displacement value, a first feedback value is obtained through a PID feedback algorithm;

[0014] Based on the pressure value and the obtained angle value, a second feedback value is obtained through a prediction algorithm and a feedforward algorithm based on an AR model;

[0015] Based on the first feedback value and the second feedback value, the adjustment parameters for adjusting the initial control signal are obtained.

[0016] According to the impact resistance method for a motion platform provided by the present invention, the step of obtaining a second feedback value based on the pressure value and the obtained angle value through a prediction algorithm and a feedforward algorithm based on an AR model includes:

[0017] The pressure prediction value and angle prediction value are obtained by using an AR model-based forecasting algorithm after a preset step size.

[0018] After the preset step size, the true pressure value and the true angle value are obtained;

[0019] Based on the predicted pressure value and the predicted angle value, as well as the actual pressure value and the actual angle value, a second feedback value is obtained through a feedforward algorithm.

[0020] According to the impact resistance method for a motion platform provided by the present invention, the step of obtaining a second feedback value based on the pressure value and the obtained angle value through an AR model-based prediction algorithm and a feedforward algorithm further includes:

[0021] Based on the pressure value and the obtained angle value, the mass change value and time delay of the platform are obtained through a parameter identification algorithm;

[0022] Based on the mass change value and time delay of the platform, the second feedback value is obtained through a feedforward algorithm.

[0023] The impact resistance method for a motion platform provided by the present invention further includes:

[0024] The first process is repeated a preset number of times to obtain adjustment parameters for adjusting the initial control signal.

[0025] The present invention also provides a motion platform impact resistance device, comprising:

[0026] The module is used to perform the first training process and obtain the adjustment parameters for adjusting the initial control signal;

[0027] The generation module is used to generate a target control signal based on the mass change value of the platform and the adjustment parameters when the mass of the platform changes.

[0028] The control module is used to control the platform to perform the action corresponding to the target control signal based on the target control signal;

[0029] The first training process includes:

[0030] Input an initial control signal to the actuator;

[0031] The pressure value, displacement value, and angle value generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal are obtained.

[0032] Based on the pressure value, displacement value, and obtained angle value, the adjustment parameters used to adjust the initial control signal are obtained.

[0033] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the motion platform shock resistance method as described above.

[0034] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the motion platform shock resistance method as described above.

[0035] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the motion platform shock resistance method as described above.

[0036] This invention provides a method, apparatus, electronic device, and storage medium for shock resistance of a motion platform. By inputting an initial control signal to the actuator, adjustment parameters for the control signal are obtained. Then, when the mass of the platform changes, a target control signal is generated based on the mass change value and the adjustment parameters, causing the actuator to perform the action corresponding to the target control signal. This can compensate for the impact load on the motion platform, significantly reduce the deviation of the motion platform from the set track due to impact during the motion process, and effectively improve the shock resistance of the motion platform. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is one of the flowcharts illustrating the impact resistance method for a motion platform provided by the present invention;

[0039] Figure 2 This is the second schematic diagram of the motion platform impact resistance method provided by the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of the motion platform impact resistance device provided by the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] Figure 1 This is one of the flowcharts illustrating the impact resistance method for motion platforms provided by this invention, such as... Figure 1 As shown, the method includes the following steps:

[0044] Step 100: Perform the first process to obtain the adjustment parameters used to adjust the initial control signal;

[0045] The first process includes:

[0046] Input an initial control signal to the actuator;

[0047] The pressure value, displacement value, and angle value generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal are obtained.

[0048] Based on the pressure value, displacement value, and obtained angle value, the adjustment parameters used to adjust the initial control signal are obtained.

[0049] Optionally, the present invention uses a strategy that combines hardware and software of energy storage devices and control algorithms to compensate for the impact load on the motion platform, thereby reducing interference such as abnormal shaking caused by the impact load that affects the performance of the motion platform.

[0050] Alternatively, the energy storage device can be an energy storage device such as an energy storage unit, a gas cylinder, or an energy storage motor; the present invention does not limit this.

[0051] Optionally, when the motion platform receives an impact load, the energy can be converted and stored through an energy accumulator to reduce the impact of the impact load on the normal operation of the platform.

[0052] Optionally, in order to compensate for the impact load, the adjustment parameters used to adjust the initial control signal can be determined first.

[0053] Optionally, when determining the adjustment parameters, an initial control signal can be input to the actuator first. This control signal can be a sinusoidal signal, such as sin(Ax+B).

[0054] Optionally, after an initial control signal is input to the actuator, the actuator will respond to the initial control signal and perform the corresponding action, which will generate pressure value, displacement value and angle value.

[0055] Optionally, the generated pressure value, displacement value, and obtained angle value can be obtained, and adjustment parameters for adjusting the initial control signal can be obtained based on the pressure value, displacement value, and obtained angle value.

[0056] Optionally, the adjustment parameter is used to adjust the initial control signal to compensate for the offset caused by the impact load. For example, if the initial control signal is sin(Ax+B), the adjustment parameter can be C, and the adjusted control signal can be sin(Ax+B)+C.

[0057] Step 110: When the mass of the platform changes, a target control signal is generated based on the mass change value of the platform and the adjustment parameters;

[0058] Optionally, after obtaining the adjustment parameters in the first process, in actual application, when the mass of the platform changes, such as when a new object is placed on the platform, the mass change value ΔM of the platform can be obtained, and a target control signal can be generated based on the mass change value and the adjustment parameters.

[0059] Step 120: Based on the target control signal, control the platform to perform the action corresponding to the target control signal;

[0060] Optionally, the generated target control signal can be input into the actuator, causing the actuator to perform the action corresponding to the target control signal, thereby reducing interference from abnormal vibrations caused by impact loads that affect the performance of the motion platform.

[0061] The impact resistance method for motion platforms provided by this invention obtains adjustment parameters for the control signals by inputting an initial control signal to the actuator. Then, when the mass of the platform changes, a target control signal is generated based on the mass change value and the adjustment parameters, so that the actuator performs the action corresponding to the target control signal. This method can compensate for the impact load on the motion platform and reduce interference such as abnormal shaking caused by the impact load that affects the performance of the motion platform.

[0062] Optionally, obtaining the adjustment parameters for adjusting the initial control signal based on the pressure value, displacement value, and obtained angle value includes:

[0063] Based on the displacement value, a first feedback value is obtained through a PID feedback algorithm;

[0064] Based on the pressure value and the obtained angle value, a second feedback value is obtained through a prediction algorithm and a feedforward algorithm based on an AR model;

[0065] Based on the first feedback value and the second feedback value, the adjustment parameters for adjusting the initial control signal are obtained.

[0066] Optionally, the Proportional Integral Differential (PID) algorithm is an algorithm for process control that controls according to the proportional (P), integral (I), and derivative (D) of the deviation. It has the advantages of simple principle, easy implementation, wide applicability, independent control parameters, and relatively simple parameter selection.

[0067] Optionally, the essence of the PID feedback algorithm is to perform calculations based on the input deviation value according to the proportional, integral, and derivative functional relationships, and use the calculation results to control the output.

[0068] Optionally, the displacement value can be input into the PID feedback algorithm, calculated according to the proportional, integral, and derivative functional relationship, and the first feedback value can be output.

[0069] The AR model-based prediction algorithm obtains past motion data from a data acquisition device, obtains approximate curves for these signals through curve fitting, and predicts motion data for the next few steps based on these curves. The specific steps are as follows:

[0070] 1a. Let {θ2(i), i = 1, 2, 3, ..., N} be a zero-mean θ2 data sequence over a period of time. For a real system, the state parameters of the motion platform are essentially constant over a short time period. Therefore, over a short time period, the θ2 generated by the mass change of the motion platform can be regarded as a stationary random process, and we have:

[0071]

[0072] Where: p—the order of the AR model;

[0073] {a j ,j=1,2,...,p}——Autoregressive coefficients of the AR model;

[0074] {ξ(n),n=1,2,...,N}——White noise sequence.

[0075] 2a. Estimate the autoregressive coefficients: Estimate the autoregressive coefficients {a} of the model. j The key to obtaining a highly accurate AR forecast model is the group of elements j = 1, 2, ..., p.

[0076] Let n = p+1, p+2, ..., N, (N ≥ 2p), and substituting into equation (1) yields Np {a} j The system of equations for}:

[0077]

[0078] At this point, define the matrix:

[0079] a = [a1 a2 ... a] p ] T (3)

[0080] ξ=[ξ(p+1) ξ(p+2) ... ξ(N)] T (4)

[0081]

[0082] X N =[θ2(p+1) θ2(p+1) ... θ2(N)] T (6)

[0083] Substituting equations (3) to (6) into equation (2) yields:

[0084] X N =Ψ N a+ξ (7)

[0085] Using the least squares method, estimate the vector 'a' of its autoregressive coefficients. Let the estimated value be... The objective function is then:

[0086]

[0087] Suppose that the estimated value of the autoregressive coefficient vector a obtained using the least squares method is... Then when When J is at its minimum, then:

[0088]

[0089] get:

[0090]

[0091] 3a. Determine the order of the AR model: As can be seen from equation (1), after estimating the autoregressive coefficients and obtaining the estimated values, the order of the AR model must be determined in order to obtain a complete AR forecast model.

[0092] The Akaike information criterion (AIC) is used to determine the order of the AR model. To obtain the model order, after obtaining an accurate model, the parameters are estimated using the maximum likelihood method based on the AIC criterion. This method can be expressed as shown in equation (11):

[0093]

[0094] in: —Maximum likelihood function;

[0095] —Estimated parameter values;

[0096] k — The number of independent parameters of the model.

[0097] The AIC criterion number consists of two parts: the number of independent parameters of the model and the goodness of fit of the model. The number of independent parameters of the model is positively correlated with the order, while the goodness of fit of the model is negatively correlated with the order. The maximum likelihood function is expressed as shown in equation (12):

[0098]

[0099] The number of independent parameters of the model can be expressed by the following formula:

[0100]

[0101] In summary, the AIC criterion method for determining the order of a model can be divided into three steps. The first step is to obtain the maximum order M of the model; the second step is to obtain the AIC criterion number from the 1st order AR model to the Mth order AR model; and the third step is to predict the order of the AR prediction model based on the order corresponding to the smallest AIC criterion number.

[0102] 4a. Forecast: Based on the principle of linear minimum variance, motion forecasts are obtained using AR models, providing motion forecast data for the next l steps. for:

[0103]

[0104] Alternatively, the feedforward algorithm can achieve precise control of the system by predicting the system's output and adjusting the input based on the prediction results.

[0105] Optionally, the pressure value and the obtained angle value can be used to obtain a second feedback value through a prediction algorithm and a feedforward algorithm based on an AR model.

[0106] The motion platform shock resistance method provided by this invention uses a PID feedback algorithm, a feedforward algorithm, and an AR model-based prediction algorithm to obtain a first feedback value and a second feedback value, and then obtains adjustment parameters for adjusting the initial control signal.

[0107] Optionally, obtaining the second feedback value based on the pressure value and the obtained angle value using an AR model-based prediction algorithm and a feedforward algorithm includes:

[0108] The pressure prediction value and angle prediction value are obtained by using an AR model-based forecasting algorithm after a preset step size.

[0109] After the preset step size, the true pressure value and the true angle value are obtained;

[0110] Based on the predicted pressure value and the predicted angle value, as well as the actual pressure value and the actual angle value, a second feedback value is obtained through a feedforward algorithm.

[0111] Optionally, the acceleration generated by the impact load on the platform can be predicted using an AR model-based prediction algorithm, and the platform can be actively controlled before the impact load takes effect.

[0112] Optionally, if the predicted value of the AR model-based forecasting algorithm differs too much from the actual value, the relevant parameters of the AR model-based forecasting algorithm need to be adjusted.

[0113] Specifically, the pressure prediction value and angle prediction value can be obtained first after a preset step size is obtained from the prediction algorithm based on the AR model.

[0114] Optionally, the preset step size can be 10 steps, 15 steps, or 20 steps, and each step size can be 50ms. This invention does not limit this.

[0115] Optionally, after obtaining the predicted value of the preset step length, the actual values ​​of pressure and angle can be obtained after the preset step length, and then compared with the predicted value to determine whether they are greater than the preset value.

[0116] Optionally, the present invention does not limit the preset value.

[0117] Alternatively, a second feedback value can be obtained through a feedforward algorithm, such as the Smith feedforward algorithm.

[0118] The impact resistance method for motion platforms provided by this invention compares the pressure value and angle value predicted by the AR model-based prediction algorithm with the actual value. If the difference is too large, the parameters of the AR model-based prediction algorithm are adjusted to enhance its prediction accuracy.

[0119] Optionally, obtaining the second feedback value based on the pressure value and the obtained angle value using an AR model-based prediction algorithm and a feedforward algorithm further includes:

[0120] Based on the pressure value and the obtained angle value, the mass change value and time delay of the platform are obtained through a parameter identification algorithm;

[0121] Based on the mass change value and time delay of the platform, the second feedback value is obtained through a feedforward algorithm.

[0122] Optionally, the pressure value and the obtained angle value can be input into the parameter identification algorithm to obtain the platform mass change value and time delay output by the parameter identification algorithm.

[0123] Optionally, after obtaining the platform mass change value and time delay output by the parameter identification algorithm, the platform mass change value and time delay can be input into the feedforward algorithm to obtain the second feedback value. Then, based on the first feedback value and the second feedback value, the adjustment parameter used to adjust the initial control signal can be obtained.

[0124] The motion platform impact resistance method provided by the present invention first obtains the mass change value and time delay of the platform based on the pressure value and the obtained angle value through a parameter identification algorithm when obtaining the second feedback value, and then obtains the second feedback value through a feedforward algorithm.

[0125] Optionally, the method further includes:

[0126] The first process is repeated a preset number of times to obtain adjustment parameters for adjusting the initial control signal.

[0127] Optionally, in order to optimize the adjustment parameters and obtain better adjustment parameters to better reduce the impact of impact load on the normal operation of the platform, the first process can be executed multiple times. In each first process, the previous adjustment parameters are input to the actuator, and the process is iterated continuously to obtain the final adjustment parameters.

[0128] Optionally, the preset number of times can be 10 times, 20 times, or 30 times, and the present invention does not limit this.

[0129] The motion platform impact resistance method provided by the present invention obtains multiple adjustment parameters by inputting different initial control signals to the actuator multiple times. Based on the multiple adjustment parameters, the optimal adjustment parameters can be determined to better reduce the impact of impact load on the normal operation of the platform.

[0130] The impact-resistant device for motion platforms provided by the present invention is described below. The impact-resistant device for motion platforms described below can be referred to in correspondence with the impact-resistant method for motion platforms described above.

[0131] Figure 3This is a schematic diagram of the impact-resistant device for motion platforms provided by the present invention, as shown below. Figure 3 As shown, the device includes an acquisition module 310, a generation module 320, and a control module 330, wherein:

[0132] The acquisition module 310 is used to perform the first training process and obtain the adjustment parameters for adjusting the initial control signal;

[0133] The generation module 320 is used to generate a target control signal based on the mass change value of the platform and the adjustment parameters when the mass of the platform changes.

[0134] The control module 330 is used to control the platform to perform the action corresponding to the target control signal based on the target control signal.

[0135] The motion platform impact resistance device provided by the present invention obtains adjustment parameters for the control signal by inputting an initial control signal to the actuator. Then, when the mass of the platform changes, a target control signal is generated based on the mass change value and the adjustment parameters, so that the actuator performs the action corresponding to the target control signal. This can compensate for the impact load on the motion platform and reduce the interference that affects the motion platform performance, such as abnormal shaking caused by the impact load.

[0136] It is understood that the motion platform impact resistance device provided by the present invention corresponds to the motion platform impact resistance method provided in the above embodiments. The relevant technical features of the motion platform impact resistance device provided by the present invention can be referred to the relevant technical features of the motion platform impact resistance method provided in the above embodiments, and will not be repeated here.

[0137] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4As shown, the electronic device may include a processor 410, a communications interface 420, a memory 430, and a communication bus 440, wherein the processor 410, communications interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute an emotion recognition method, which includes: executing a first process to obtain adjustment parameters for adjusting an initial control signal; generating a target control signal based on the mass change value of the platform and the adjustment parameters when the mass of the platform changes; and controlling the platform to perform an action corresponding to the target control signal based on the target control signal. The first process includes: inputting the initial control signal to the actuator; obtaining pressure values, displacement values, and obtained angle values ​​generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal; and obtaining the adjustment parameters for adjusting the initial control signal based on the pressure values, displacement values, and obtained angle values.

[0138] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the emotion recognition method provided by the above methods. The method includes: performing a first process to obtain adjustment parameters for adjusting an initial control signal; generating a target control signal based on the mass change value of the platform and the adjustment parameters when the mass of the platform changes; and controlling the platform to perform an action corresponding to the target control signal based on the target control signal. The first process includes: inputting an initial control signal to the actuator; obtaining a pressure value, a displacement value, and an angle value generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal; and obtaining the adjustment parameters for adjusting the initial control signal based on the pressure value, displacement value, and angle value.

[0140] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the emotion recognition method provided by the above methods. The method includes: performing a first process to obtain adjustment parameters for adjusting an initial control signal; generating a target control signal based on the mass change value of the platform and the adjustment parameters when the mass of the platform changes; and controlling the platform to perform an action corresponding to the target control signal based on the target control signal. The first process includes: inputting the initial control signal to the actuator; obtaining a pressure value, a displacement value, and an angle value generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal; and obtaining the adjustment parameters for adjusting the initial control signal based on the pressure value, displacement value, and angle value.

[0141] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0142] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shock-resistant method for a motion platform, applied to a motion platform including an accumulator, an actuator, and a platform body, characterized in that, include: The first process is executed to obtain the adjustment parameters used to adjust the initial control signal; When the mass of the platform changes, a target control signal is generated based on the mass change value of the platform and the adjustment parameters; Based on the target control signal, the platform is controlled to perform the action corresponding to the target control signal; The first process includes: Input an initial control signal to the actuator; The pressure value, displacement value, and angle value generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal are obtained. Based on the pressure value, displacement value, and obtained angle value, the adjustment parameters used to adjust the initial control signal are obtained.

2. The impact resistance method for a motion platform according to claim 1, characterized in that, The process of obtaining the adjustment parameters for adjusting the initial control signal based on the pressure value, displacement value, and obtained angle value includes: Based on the displacement value, a first feedback value is obtained through a PID feedback algorithm; Based on the pressure value and the obtained angle value, a second feedback value is obtained through a prediction algorithm and a feedforward algorithm based on an AR model; Based on the first feedback value and the second feedback value, the adjustment parameters for adjusting the initial control signal are obtained.

3. The impact resistance method for a motion platform according to claim 2, characterized in that, The process of obtaining a second feedback value based on the pressure value and the obtained angle value, using an AR model-based prediction algorithm and a feedforward algorithm, includes: The pressure prediction value and angle prediction value are obtained by using an AR model-based forecasting algorithm after a preset step size. After the preset step size, the true pressure value and the true angle value are obtained; Based on the predicted pressure value and the predicted angle value, as well as the actual pressure value and the actual angle value, a second feedback value is obtained through a feedforward algorithm.

4. The impact resistance method for a motion platform according to claim 2 or 3, characterized in that, The process of obtaining a second feedback value based on the pressure value and the obtained angle value, using an AR model-based prediction algorithm and a feedforward algorithm, further includes: Based on the pressure value and the obtained angle value, the mass change value and time delay of the platform are obtained through a parameter identification algorithm; Based on the mass change value and time delay of the platform, the second feedback value is obtained through a feedforward algorithm.

5. The impact resistance method for a motion platform according to claim 1, characterized in that, The execution of the first process, obtaining adjustment parameters for adjusting the initial control signal, includes: The first process is repeated a preset number of times to obtain adjustment parameters for adjusting the initial control signal.

6. An impact-resistant device for a motion platform, characterized in that, The device includes: The acquisition module is used to perform the first training process and obtain the adjustment parameters for adjusting the initial control signal; The generation module is used to generate a target control signal based on the mass change value of the platform and the adjustment parameters when the mass of the platform changes. The control module is used to control the platform to perform the action corresponding to the target control signal based on the target control signal; The first training process includes: Input the initial control signal to the actuator; The pressure value, displacement value, and angle value generated by the actuator performing the action corresponding to the initial control signal based on the initial control signal are obtained. Based on the pressure value, displacement value, and obtained angle value, the adjustment parameters used to adjust the initial control signal are obtained.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the motion platform shock resistance method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the motion platform shock resistance method as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the motion platform shock resistance method as described in any one of claims 1 to 5.

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