Motion platform for analog simulation and control method thereof

Abstract

The invention provides a motion platform for analog simulation and a control method thereof. The motion platform comprises a base, a first motion platform, a second motion platform and a control system. The first motion platform and the second motion platform are arranged on the base in a stacked mode, each of the first motion platform and the second motion platform is driven by an independent motion mechanism, and motion decoupling is achieved. The first movement platform serves as a middle platform and is connected with the base through the three first movement mechanisms. The second motion platform serves as an upper platform and is connected with the first motion platform through three second motion mechanisms. The control system can control operation of the first movement mechanism and / or the second movement mechanism, so that the position and angle of the first movement platform and / or the second movement platform are changed, and multi-pose simulation is achieved. According to the motion platform, the three-degree-of-freedom design of double-platform superposition is adopted, the structural form is simple, few computing resources are consumed in the settlement control process, and the control precision and efficiency are high.

Description

Technical Field

[0001] The invention relates to the technical field of flight simulators, and in particular to a motion platform for simulation and a control method thereof. Background Art

[0002] Multi-DOF motion platforms are widely used in the fields of industry, simulation, science popularization, leisure and entertainment, such as motion simulation, flight / driving simulation, geological motion simulation, stability compensation, dynamic theater, etc. The two most commonly used forms of multi-DOF motion platforms are six-DOF parallel motion platforms and three-DOF motion platforms. The six-DOF parallel motion platform is mainly used for simulation under complex postures and heavy loads. The structure and control process of the three-DOF motion platform are relatively simple, and are more used in miniaturized simulation, driving leisure and entertainment, and home scenarios, such as rehabilitation training, games, etc.

[0003] Traditional motion platforms usually use an upper platform, a lower platform and are connected by a linear drive unit. The two ends of the linear drive unit are respectively hinged to the upper platform and the lower platform. The position and angle of the upper platform are driven by controlling the movement of multiple linear drive units (motors, electric cylinders, hydraulic cylinders, pneumatic cylinders, etc.) to achieve multi-posture simulation.

[0004] In the existing design, for the simulation scenario of large displacement movement in the vertical and horizontal directions, a double-platform superposition method is also involved, that is, a lower platform cooperates with two upper platforms for motion control. The lower platform is fixed on the ground or other stable base as the basic support part to ensure sufficient rigidity and stability to withstand the force and torque generated by the movement of the upper platform. The main power source and control unit of the drive system are designed to provide power and control signals for the entire motion platform. The first upper platform directly connected to the lower platform can achieve a large range of basic motion freedom, such as translation along the X and Y axes and rotation around the Z axis. A second upper platform is also designed to be superimposed on the first upper platform to achieve more precise motion adjustment and additional degrees of freedom, such as pitch (rotation around the X axis), yaw (rotation around the Y axis), etc. It can be connected to the upper platform (lower layer) through a small electric cylinder or hinge mechanism. For example, for pitching motion, two electric cylinders can be installed on one side of the platform, one end of the electric cylinder is connected to the upper platform (lower layer), and the other end is connected to the upper platform (upper layer), and the upper platform (upper layer) is rotated around the X-axis by controlling the extension and contraction of the electric cylinder. For example, the actuator of the flight simulation device disclosed in the Chinese invention application with publication number CN109615975A in the prior art is composed of a lifting device, a yaw device, a rotation device and a cockpit. The lifting device adopts the traditional scissor-type lifting mechanism design, and the yaw device and the rotation device are realized by two sets of superimposed cross-rotation structures, thereby realizing the simulation of the cockpit climbing, diving, yaw and full-circle rotation and tumbling. However, the scissor-type lifting mechanism design can only realize the vertical lifting of the cockpit, and cannot simulate the movement in the horizontal direction. It can only realize the side rolling and flipping through the yaw device and the rotation device, and the motion simulation posture is limited.

[0005] In addition, the Chinese invention application with publication number CN116276907A in the prior art discloses a parallel six-degree-of-freedom motion platform with variable stiffness and stroke and its motion control method, which designs a Stewart parallel design composed of parallel electric cylinders on the base of the motion platform, and adds a swing arm mechanism at the bottom of the electric cylinder. The swing arm mechanism has two rotating joints, which are driven by a motor and a reducer respectively, thereby changing the layout of the lower hinge point of the Stewart parallel design, changing the diameter of the hinge circle and the inclination angle of the electric cylinder, and thereby changing the rotational stiffness, lateral translation stiffness and stroke in all directions of the platform to avoid structural interference. However, the actuator of the six-degree-of-freedom motion control of this design is relatively complex and the solution process is more complex than that of the three-degree-of-freedom platform, requiring more length and computing resources in miniaturized flight simulation and driving simulation scenarios. Summary of the invention

[0006] The object of the present invention is to provide a motion platform for simulation and a control method thereof. The motion platform adopts a three-degree-of-freedom design of double-platform superposition, has a simple structure, consumes less computing resources in the control settlement process, and has high control accuracy and efficiency.

[0007] According to a first aspect of the present invention, a motion platform for simulation is provided, comprising:

[0008] The base, serving as the lower platform;

[0009] A first motion platform, serving as a middle platform, wherein the first motion platform is connected to the base through three first motion mechanisms;

[0010] A second motion platform, serving as an upper platform, wherein the second motion platform is connected to the first motion platform via three second motion mechanisms;

[0011] The first motion mechanism comprises:

[0012] Two slide rails fixedly arranged on the base;

[0013] Two sliding blocks are respectively matched and slidably arranged on the two sliding rails;

[0014] A position control component provided on the slide rail for controlling the position of the slide block;

[0015] Two support arms are arranged obliquely on the upper sides of the two slide rails, and the lower ends of the two support arms are respectively hinged to the two slide blocks;

[0016] A connecting block fixedly connected to the first motion platform, the upper ends of the two support arms being hinged to the connecting block;

[0017] The second motion mechanism adopts a linear electric cylinder, which is tiltedly arranged between the first motion platform and the second motion platform, and both ends of each linear electric cylinder are respectively hinged to the first motion platform and the second motion platform;

[0018] The control system is used to control the operation of the first motion mechanism and / or the second motion mechanism so that the position and angle of the first motion platform and / or the second motion platform change to achieve multi-posture simulation.

[0019] According to a second aspect of the present invention, a motion control method for a motion platform for simulation is provided, the motion control method comprising:

[0020] A) The three linear electric cylinders are used to perform linear telescopic motion to drive the movement of the second motion platform, thereby realizing the simulation of the position and posture change of the second motion platform;

[0021] B) When the second motion platform cannot reach the platform state to be simulated, the posture change of the second motion platform is first completed through the action in step A, and then the operation of the servo motor is further controlled to drive the screw to rotate, and the rotation of the screw further drives the slider to move horizontally, and the horizontal displacement of the slider drives the support arm to change the inclination angle and / or length, and the inclination angle and / or length changes of the multiple support arms drive the movement of the first motion platform to realize the posture change simulation of the first motion platform; the posture change control and simulation of the entire motion platform are realized by superimposing the posture change simulation of the first motion platform and the second motion platform;

[0022] In the process of driving the first motion platform and the second motion platform, the first ranging sensor obtains the vertical displacement length, horizontal displacement length and yaw angle of the corresponding connecting block by detecting the displacement length of the slider, thereby monitoring the movement of the first motion platform; and the second ranging sensor controls the movement position and state of the second motion platform in space by detecting the displacement length of the connecting rod of the linear electric cylinder.

[0023] As an optional implementation, the posture change control and simulation of the entire motion platform are realized by superimposing the posture change simulation of the first motion platform and the second motion platform, which specifically includes the following process:

[0024] S1. According to the motion simulation requirements of the second motion platform, the motion strokes of the second motion platform on the three second motion mechanisms are set to be x, y, and z respectively; the motion stroke targets of the second motion platform on the three second motion mechanisms are set to be X, Y, and Z respectively; and x, y, and z correspond to the telescopic lengths of the three linear electric cylinders at the same time;

[0025] S2, receiving the control command sent by the host computer, performing motion calculation according to the control command, determining the motion state required by the second motion platform, determining the amount of motion required by the second motion platform on the three second motion mechanisms, that is, the length change of the three linear electric cylinders, which are the strokes xn, yn, and zn required for motion in the three motion directions, and calculating the expected stroke to the telescopic lengths of the three linear electric cylinders, which are x1, y1, and z1 respectively;

[0026] S3, the telescopic length range threshold of the linear electric cylinder is m, and the relationship between the telescopic displacement length x1, y1, z1 and the threshold m is determined;

[0027] S4, when the telescopic displacement length is less than the threshold value m, that is, the telescopic length of the linear electric cylinder required to complete the movement of the second motion platform is less than the telescopic range threshold, the motion is solved according to the control instruction, and the three linear electric cylinders are driven to telescope according to the actual x1, y1, and z1, so that the movement of the second motion platform can be completed;

[0028] S5. When the telescopic displacement length is greater than the threshold value m, that is, the telescopic length of the linear electric cylinder required to complete the movement of the second motion platform is greater than the telescopic range threshold, the motion solution is performed according to the control instruction. If all of them are greater than m, the difference between x1, y1, z1 and m is calculated. The three linear electric cylinders correspond to m1, m2, and m3 respectively. First, the three linear electric cylinders are controlled to perform telescopic movement according to the threshold value m. After the movement is completed, the lengths m1, m2, and m3 of the vertical position required by the connecting block in the first motion mechanism are calculated to obtain the corresponding displacement lengths l1, l2, and l3 of the slider, and the slider is driven to move by the servo motor;

[0029] S6. If any of the telescopic lengths x1, y1, z1 is greater than the threshold m, and some are less than the threshold m, the corresponding motion mechanism less than the threshold m is controlled according to step S5, and the corresponding motion mechanism greater than the threshold m is controlled according to step S6.

[0030] Compared with the prior art, the motion platform for simulation and the motion control method thereof of the present invention have the following significant advantages:

[0031] (1) In view of the fact that the motion range of a traditional single motion platform is often limited by its own structure and the stroke of the drive device, the present invention adopts two superimposed upper platforms, and independently controls and decouples the two platforms to achieve large-stroke, large-angle platform position and attitude motion control, and in particular, can separate the platform's large-stroke motion and fine motion. For example, the middle platform can simulate movement in a larger plane space, while the upper platform can perform small-range high-precision position adjustment or attitude change based on the large stroke already achieved by the middle platform. It can be especially used in precision machining simulation or aerospace attitude simulation to achieve small-angle (such as less than 10°) pitch, yaw and other attitude adjustments, so that the overall motion range is effectively expanded; at the same time, different degrees of freedom can be allocated to different platforms to achieve flexible platform control and more flexible realization of complex motion combinations;

[0032] (2) In the superimposed design structure of the dual upper platforms, different control strategies and precision requirements can be adopted for each platform, and the motion decoupling of the motion platform can be achieved, the degrees of freedom can be separated to different platforms, the mutual interference between the degrees of freedom can be reduced, and the stability of the overall motion can be improved. When simulating large strokes and complex motions, the structural interference problem between the degrees of freedom of a single platform in the traditional design can be solved (large strokes and complex motions usually require larger electric cylinder designs, which are prone to solving singular positions and mutual structural rigidity interference collisions), thereby reducing the safety risk of platform collision interference.

[0033] It should be understood that all combinations of the aforementioned concepts and the additional concepts described in more detail below can be considered as part of the inventive subject matter of the present disclosure as long as such concepts are not mutually inconsistent. In addition, all combinations of the claimed subject matter are considered as part of the inventive subject matter of the present disclosure.

[0034] The foregoing and other aspects, embodiments and features of the present invention can be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the present invention, such as the features and / or beneficial effects of the exemplary embodiments, will be apparent from the following description or learned from the practice of the specific embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are not intended to be drawn to scale. In the accompanying drawings, each identical or nearly identical component shown in each figure may be represented by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the present invention will now be described by way of example and with reference to the accompanying drawings.

[0036] Figure 1 It is a schematic diagram of the three-dimensional structure of a motion platform for simulation according to an embodiment of the present invention.

[0037] Figure 2 is based on Figure 1 A schematic structural diagram of a motion platform for simulation in another perspective of an embodiment.

[0038] Figure 3 is based on Figure 1 A schematic structural diagram of a front view of a motion platform for simulation in an embodiment.

[0039] Figure 4 Yes, according to Figure 1 A schematic diagram of a control flow of a motion platform for simulation and emulation according to an embodiment.

[0040] In the accompanying drawings, the definitions of the various reference numerals are as follows:

[0041] 1-base, 2-first motion platform, 3-second motion platform; 4-slide rail, 5-slider, 6-support arm, 7-connecting block, 8-linear electric cylinder, 9-screw, 10-servo motor; 11-first distance measuring sensor, 12-second distance measuring sensor, 20-control system. DETAILED DESCRIPTION

[0042] In order to better understand the technical content of the present invention, specific embodiments are given and described as follows in conjunction with the accompanying drawings.

[0043] Various aspects of the present invention are described in this disclosure with reference to the accompanying drawings, in which many illustrative embodiments are shown. The embodiments of the present disclosure are not necessarily intended to include all aspects of the present invention. It should be understood that the various concepts and embodiments introduced above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed by the present invention are not limited to any implementation. In addition, some aspects disclosed by the present invention can be used alone or in any appropriate combination with other aspects disclosed by the present invention.

[0044] {Example 1}

[0045] Combination Figures 1 to 3 As shown, the motion platform for simulation according to an embodiment of the present invention includes a base 1 , a first motion platform 2 , a second motion platform 3 and a control system 20 .

[0046] The first motion platform 2 and the second motion platform 3 are superimposed on the base 1. As a dual-platform design, each of the first motion platform 2 and the second motion platform 3 is configured to be driven by an independent motion mechanism to achieve motion decoupling.

[0047] Combination Figure 1 , Figure 2 As shown, the base 1 serves as a lower platform and adopts a high-strength metal frame structure, such as a steel welded frame, which is installed on the ground through infrastructure or placement and fixed, and the horizontality is ensured by a level to ensure sufficient rigidity and stability to withstand the force and torque generated when the upper platform moves.

[0048] The first motion platform 2 serves as a middle platform, and the first motion platform 2 is connected to the base 1 through three first motion mechanisms.

[0049] The second motion platform 3 serves as an upper platform, and the second motion platform 3 is connected to the first motion platform 2 through three second motion mechanisms.

[0050] The second motion platform 3 is configured to be able to change state in the motion state already formed by the first motion platform 2. Compared with a single motion platform simulation structure, it can simulate a more complex motion state.

[0051] In an embodiment of the present invention, the control system 20 is used to control the operation of the first motion mechanism and / or the second motion mechanism, so that the position and angle of the first motion platform 2 and / or the second motion platform 3 change to achieve multi-posture simulation.

[0052] In the embodiment of the present invention, the first motion mechanism is used to control the motion of the first motion platform 2 and at the same time plays a supporting and load-bearing role for the entire platform in order to ensure stability and reliability.

[0053] As an optional embodiment, the first motion mechanism includes:

[0054] Two slide rails 4 fixedly arranged on the base 1;

[0055] Two sliding blocks 5 are respectively matched and slidably arranged on the two sliding rails 4;

[0056] A position control component provided on the slide rail 4 for controlling the position of the slide block 5;

[0057] Two support arms 6 are arranged obliquely on the upper sides of the two slide rails 4, and the lower ends of the two support arms 6 are respectively hinged to the two slide blocks 5;

[0058] A connecting block 7 is fixedly connected to the first motion platform 2 , and upper ends of the two support arms 6 are hinged to the connecting block 7 .

[0059] Combination Figure 1 , Figure 2 As shown, as an optional embodiment, the aforementioned position control component includes:

[0060] A screw rod 9 is horizontally arranged in the slide rail 4, and both ends of the screw rod 9 are rotatably connected to the slide rail 4;

[0061] A servo motor 10 is fixedly mounted at one end of the slide rail 4, and an output end of the servo motor 10 passes through the slide rail 4 and is coaxially fixedly connected to the screw rod 9;

[0062] The slide rail 5 is threadedly sleeved on the screw rod 9 .

[0063] As an optional embodiment, the servo motor 10 is a stepper motor.

[0064] As an optional embodiment, the two slide rails 4 and the screw rods 9 disposed in the slide rails 4 are arranged in parallel.

[0065] As an optional embodiment, the support arm 6 is a connecting rod type support arm with a fixed length, especially a cylindrical connecting rod support arm made of high-strength steel.

[0066] Therefore, in the design of the first motion mechanism, the load-bearing parts are the support arm, the slider and the slide rail, and the force is avoided from acting on the position control component, thereby improving the control accuracy and system stability.

[0067] As an optional embodiment, in order to increase the motion range of the overall motion platform, the support arm 6 adopts a support arm design with variable length.

[0068] In the embodiment of the present invention, considering the lateral shear stress during the system movement, such as Figure 1 and Figure 2As shown, the second motion mechanism adopts a linear electric cylinder 8, which is tiltedly arranged between the first motion platform 2 and the second motion platform 3, and both ends of each linear electric cylinder 8 are respectively hinged to the first motion platform 2 and the second motion platform 3.

[0069] As an optional embodiment, a first ranging sensor 11 is arranged between one end of the slide rail 4 and the slider 5. Using the laser ranging principle, a laser transmitter and a sensor receiver are arranged at one end of the slide rail 4. The transmitter is used to emit a measuring laser beam toward the slider 5 and receive the laser beam reflected and returned by the slider 5 through the sensor receiver, so as to determine the displacement change of the slider 5 based on TOF.

[0070] Each first distance measuring sensor 11 is electrically connected to the control system 20 .

[0071] As an optional embodiment, the linear electric cylinder 8 is provided with a second ranging sensor 12, which adopts the principle of inductive displacement sensing. The sensor core is installed on the connecting rod, and the sensor coil is fixed on the cylinder body. When the connecting rod moves, the relative position between the core and the coil changes, causing the inductance value of the coil to change. By detecting the change in the inductance value and converting the inductance change into a voltage or current signal through a conversion circuit, the displacement output of the connecting rod can be obtained after signal processing.

[0072] Each second distance measuring sensor 12 is electrically connected to the control system 20 .

[0073] {Example 2}

[0074] Combination Figures 1 to 3 As shown in the figure, the motion platform for simulation and emulation in the above embodiments, and the motion control method thereof includes:

[0075] A) three linear electric cylinders 8 are used to perform linear telescopic motion to drive the movement of the second motion platform 3, thereby realizing the simulation of the position and posture change of the second motion platform 3;

[0076] B) When the second motion platform 3 cannot reach the platform state to be simulated, the posture change of the second motion platform 3 is first completed through the action in step A), and then the operation of the servo motor 10 is further controlled to drive the screw 9 to rotate. The rotation of the screw 9 further drives the slider 5 to move horizontally, and the horizontal displacement of the slider 5 drives the support arm 6 to change the inclination angle and / or length. Through the changes in the inclination angles and / or lengths of multiple support arms 6, the movement of the first motion platform 2 is driven to realize the posture change simulation of the first motion platform 2; the posture change control and simulation of the entire motion platform are realized by superimposing the posture change simulation of the first motion platform 2 and the second motion platform 3;

[0077] In the process of driving the first motion platform 2 and the second motion platform 3, the first ranging sensor 11 obtains the vertical displacement length, horizontal displacement length and yaw angle of the corresponding connecting block by detecting the displacement length of the slider 5, thereby monitoring the movement of the first motion platform 2; and the second ranging sensor controls the movement position and state of the second motion platform 3 in space by detecting the displacement length of the connecting rod of the linear electric cylinder 8.

[0078] As an optional embodiment, the posture change control and simulation of the entire motion platform are realized by superimposing the posture change simulation of the first motion platform 2 and the second motion platform 3, which specifically includes the following process:

[0079] S1. According to the motion simulation requirements of the second motion platform 3, the motion strokes of the second motion platform on the three second motion mechanisms are set to be x, y, and z respectively; the motion stroke targets of the second motion platform on the three second motion mechanisms are set to be X, Y, and Z respectively; and x, y, and z correspond to the telescopic lengths of the three linear electric cylinders at the same time;

[0080] S2, receiving the control command sent by the host computer, performing motion calculation according to the control command, determining the motion state required by the second motion platform, determining the amount of motion required by the second motion platform on the three second motion mechanisms, that is, the length change of the three linear electric cylinders, which are the strokes xn, yn, and zn required for motion in the three motion directions, and calculating the expected stroke to the telescopic lengths of the three linear electric cylinders, which are x1, y1, and z1 respectively;

[0081] S3, the telescopic length range threshold of the linear electric cylinder is m, and the relationship between the telescopic displacement length x1, y1, z1 and the threshold m is determined;

[0082] S4, when the telescopic displacement length is less than the threshold value m, that is, the telescopic length of the linear electric cylinder required to complete the movement of the second motion platform is less than the telescopic range threshold, the motion is solved according to the control instruction, and the three linear electric cylinders are driven to telescope according to the actual x1, y1, and z1, so that the movement of the second motion platform can be completed;

[0083] S5. When the telescopic displacement length is greater than the threshold value m, that is, the telescopic length of the linear electric cylinder required to complete the movement of the second motion platform is greater than the telescopic range threshold, the motion solution is performed according to the control instruction. If all of them are greater than m, the difference between x1, y1, z1 and m is calculated. The three linear electric cylinders correspond to m1, m2, and m3 respectively. First, the three linear electric cylinders are controlled to perform telescopic movement according to the threshold value m. After the movement is completed, the lengths m1, m2, and m3 of the vertical position required by the connecting block in the first motion mechanism are calculated to obtain the corresponding displacement lengths l1, l2, and l3 of the slider, and the slider is driven to move by the servo motor;

[0084] S6. If any of the telescopic lengths x1, y1, z1 is greater than the threshold m, and some are less than the threshold m, the corresponding motion mechanism less than the threshold m is controlled according to step S5, and the corresponding motion mechanism greater than the threshold m is controlled according to step S6.

[0085] Therefore, the implementation of the motion platform for simulation and the control method thereof in the embodiment of the present invention realizes posture changes by designing two motion platforms (the first motion platform and the second motion platform) and adopting different driving methods (linear electric cylinder and servo motor-screw-slider-support arm combination). The double-layer design enables motion decoupling between the motion platforms, and flexible control distribution and hierarchical control between different degrees of freedom. The control accuracy is flexibly controlled to adapt to complex simulation needs.

[0086] At the same time, the system uses sensors to monitor the motion of the first motion platform and the second motion platform respectively. The second ranging sensor controls the motion position and state of the second motion platform in space by detecting the displacement length of the connecting rod of the linear electric cylinder, which can realize precise control of the second motion platform. The first ranging sensor monitors the motion of the first motion platform by detecting the displacement length of the slider movement, and then obtains various displacement information of the connecting block. Combined with setting a threshold to determine whether the telescopic length of the linear electric cylinder of the second motion platform is sufficient to complete the simulation task, when the required stroke exceeds the threshold of the electric cylinder telescopic range, the movement of the first motion platform is introduced to compensate, effectively improving the accuracy of the posture change control of the entire motion platform, so as to effectively expand the motion stroke range of the entire motion platform, so that it can simulate a wider range of posture changes with large angles and large displacement movements.

[0087] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. A person with ordinary knowledge in the technical field to which the present invention belongs may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the definition of the claims.

Claims

1. A motion platform for simulation, characterized in that: include: A base (1) serving as a lower platform; A first motion platform (2), serving as a middle platform, wherein the first motion platform (2) is connected to the base (1) via three first motion mechanisms; A second motion platform (3), serving as an upper platform, wherein the second motion platform (3) is connected to the first motion platform (2) via three second motion mechanisms; The first motion mechanism comprises: Two slide rails (4) fixedly arranged on the base (1); Two sliding blocks (5) respectively matched and slidably arranged on the two sliding rails (4); A position control component provided on the slide rail (4) for controlling the position of the slide block (5); Two support arms (6) are arranged obliquely on the upper sides of the two slide rails (4), and the lower ends of the two support arms (6) are respectively hinged to the two slide blocks (5); A connecting block (7) fixedly connected to the first moving platform (2), the upper ends of the two support arms (6) being hinged to the connecting block (7); The second motion mechanism adopts a linear electric cylinder (8), which is arranged obliquely between the first motion platform (2) and the second motion platform (3), and the two ends of each linear electric cylinder (8) are respectively hinged to the first motion platform (2) and the second motion platform (3); The control system (20) is used to control the operation of the first motion mechanism and / or the second motion mechanism, so that the position and angle of the first motion platform (2) and / or the second motion platform (3) are changed to realize multi-posture simulation.

2. The motion platform for simulation according to claim 1, characterized in that: The position control component comprises: A screw rod (9) is horizontally arranged in the slide rail (4), and both ends of the screw rod (9) are rotatably connected to the slide rail (4); A servo motor (10) is fixedly mounted at one end of the slide rail (4), wherein the output end of the servo motor (10) passes through the slide rail (4) and is coaxially fixedly connected to the screw rod (9); The slide rail (5) is threadedly sleeved on the screw rod (9).

3. The motion platform for simulation according to claim 2, characterized in that: The servo motor (10) is a stepping motor.

4. The motion platform for simulation according to claim 2, characterized in that: The two slide rails (4) and the screw rods (9) arranged in the slide rails (4) are arranged in parallel.

5. The motion platform for simulation according to claim 1, characterized in that: The support arm (6) is a connecting rod type support arm with a fixed length.

6. The motion platform for simulation according to claim 1, characterized in that: The support arm (6) is designed to have a variable length.

7. The motion platform for simulation according to claim 1, characterized in that: A first distance measuring sensor (11) is arranged between one end of the slide rail (4) and the slider (5), and adopts the laser distance measuring principle. A laser transmitter and a sensor receiver are arranged at one end of the slide rail (4), and the transmitter is used to transmit a measuring laser beam toward the slider (5) and receive the laser beam reflected and returned by the slider (5) through the sensor receiver, so as to determine the displacement change of the slider (5) based on TOF; Each first distance measuring sensor (11) is electrically connected to the control system (20).

8. The motion platform for simulation according to claim 1, characterized in that: The linear electric cylinder (8) is provided with a second distance measuring sensor (12), which adopts the principle of inductive displacement sensing, wherein the sensor core is mounted on the connecting rod, and the sensor coil is fixed on the cylinder body. When the connecting rod moves, the relative position between the core and the coil changes, causing the inductance value of the coil to change. By detecting the change in the inductance value and converting the inductance change into a voltage or current signal through a conversion circuit, the displacement output of the connecting rod can be obtained after signal processing; Each second distance measuring sensor (12) is electrically connected to the control system (20).

9. A motion control method based on the motion platform for simulation according to claim 1, characterized in that: The motion control method comprises: A) driving the movement of the second motion platform (3) by performing linear telescopic motions through three linear electric cylinders (8), thereby realizing a simulation of position and posture changes of the second motion platform (3); B) When the second motion platform (3) cannot reach the platform state to be simulated, the posture change of the second motion platform (3) is first completed through the action in step A), and then the operation of the servo motor (10) is further controlled to drive the screw rod (9) to rotate, and the rotation action of the screw rod (9) further drives the slider (5) to move horizontally, and the horizontal displacement of the slider (5) drives the support arm (6) to change the inclination angle and / or length, and through the change of the inclination angle and / or length of multiple support arms (6), the movement of the first motion platform (2) is driven to realize the simulation of the posture change of the first motion platform (2); by superimposing the posture change simulation of the first motion platform (2) and the second motion platform (3), the posture change control and simulation of the entire motion platform are realized; In the process of driving the first motion platform (2) and the second motion platform (3), the first distance measuring sensor (11) detects the displacement length of the slider (5) to obtain the vertical displacement length, horizontal displacement length and yaw angle of the corresponding connecting block, thereby monitoring the movement of the first motion platform (2); and the second distance measuring sensor detects the displacement length of the connecting rod of the linear electric cylinder (8) to control the movement position and state of the second motion platform (3) in space.

10. The motion control method according to claim 9, characterized in that: The control and simulation of the posture change of the entire motion platform are realized by superimposing the posture change simulation of the first motion platform (2) and the second motion platform (3), and specifically includes the following process: S1. According to the motion simulation requirements of the second motion platform (3), the motion strokes of the second motion platform on the three second motion mechanisms are set to be x, y, and z respectively; the motion stroke targets of the second motion platform on the three second motion mechanisms are set to be x, y, and z respectively; and x, y, and z correspond to the telescopic lengths of the three linear electric cylinders at the same time; S2, receiving the control command sent by the host computer, performing motion calculation according to the control command, determining the motion state required by the second motion platform, determining the amount of motion required by the second motion platform on the three second motion mechanisms, that is, the length change of the three linear electric cylinders, which are the strokes xn, yn, and zn required for motion in the three motion directions, and calculating the expected stroke to the telescopic lengths of the three linear electric cylinders, which are x1, y1, and z1 respectively; S3, the telescopic length range threshold of the linear electric cylinder is m, and the relationship between the telescopic displacement length x1, y1, z1 and the threshold m is determined; S4, when the telescopic displacement length is less than the threshold value m, that is, the telescopic length of the linear electric cylinder required to complete the movement of the second motion platform is less than the telescopic range threshold, the motion is solved according to the control instruction, and the three linear electric cylinders are driven to telescope according to the actual x1, y1, and z1, so that the movement of the second motion platform can be completed; S5. When the telescopic displacement length is greater than the threshold value m, that is, the telescopic length of the linear electric cylinder required to complete the movement of the second motion platform is greater than the telescopic range threshold, the motion solution is performed according to the control instruction. If all of them are greater than m, the difference between x1, y1, z1 and m is calculated. The three linear electric cylinders correspond to m1, m2, and m3 respectively. First, the three linear electric cylinders are controlled to perform telescopic movement according to the threshold value m. After the movement is completed, the lengths m1, m2, and m3 of the vertical position required by the connecting block in the first motion mechanism are calculated to obtain the corresponding displacement lengths l1, l2, and l3 of the slider, and the slider is driven to move by the servo motor; S6. If any of the telescopic lengths x1, y1, z1 is greater than the threshold m, and some are less than the threshold m, the corresponding motion mechanism less than the threshold m is controlled according to step S5, and the corresponding motion mechanism greater than the threshold m is controlled according to step S6.

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