Steering wheel controller system with multi-degree-of-freedom motion platform

Abstract

The invention relates to the technical field of medicine, and discloses a steering wheel controller system with a multi-degree-of-freedom motion platform, and the system comprises an input processing module which is used for receiving vehicle attitude data and steering wheel force feedback data provided by driving simulation software, and generating a rotation matrix of a platform attitude and a force feedback instruction of a steering wheel; and the optimization calculation module is connected with the input processing module, and is used for calculating the target attitude of the motion platform based on the rotation matrix of the vehicle attitude, determining the target stroke length of a plurality of electric cylinders on the motion platform, and carrying out optimization solution on the stroke of the electric cylinders. Through optimization calculation, real-time feedback control and modular design, high-precision reproduction and dynamic stability of the posture of the motion platform are achieved, the sense of reality of force feedback of the steering wheel is remarkably improved, and the problems that in the prior art, posture control is poor in real-time performance, dynamic errors are accumulated, feedback synchronism is poor and system expansibility is insufficient are solved.

Description

Technical Field

[0001] The invention relates to the field of medical technology, and in particular to a steering wheel controller system with a multi-degree-of-freedom motion platform. Background Art

[0002] With the widespread application of driving simulation technology, multi-degree-of-freedom motion platforms and force feedback steering wheels have gradually become core components for improving the simulator experience. In the prior art, the steering wheel mainly provides torque signals through force feedback motors to simulate physical effects such as turning damping and road impact, while the motion platform uses multiple linear electric cylinders to achieve vehicle pitch, roll and other posture changes. However, the traditional motion platform and steering wheel control system operate independently, and there is a lack of linkage between posture adjustment and force feedback, making it difficult to simultaneously meet the needs of high-precision posture control and real physical feedback. This causes the prior art to have obvious functional bottlenecks in complex driving scenarios.

[0003] The motion platform system of the prior art adopts a posture control method of fixed-ratio mapping, and calculates the target stroke of the electric cylinder by inputting the vehicle posture angle. However, this one-way calculation method lacks accuracy and real-time performance when multiple degrees of freedom change dynamically, especially when the pitch and roll angles change simultaneously, it is easy to have posture deviation. In addition, the existing systems mostly adopt open-loop control, relying only on the initial calculation to drive the electric cylinder, without dynamically correcting the actual posture, resulting in error accumulation during operation, and then jitter or uneven movement. The implementation of steering wheel force feedback is mostly separated from the platform posture adjustment, the feedback signal is single and the synchronization is poor, and it is difficult to simulate the real physical sense in complex road or turning scenes. On the other hand, the existing systems are mostly highly coupled single control structures with blurred boundaries between modules. When expanding the degrees of freedom or integrating new functions, it is difficult to meet the flexible application requirements of multiple scenarios. The above problems make it difficult for the existing technology to provide a high-precision and highly immersive driving simulation experience. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a steering wheel controller system with a built-in multi-degree-of-freedom motion platform, which solves the problems in the prior art of insufficient real-time control of the motion platform posture, inability to correct dynamic errors, unrealistic steering wheel force feedback and poor system scalability.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A steering wheel controller system with a multi-degree-of-freedom motion platform, comprising: An input processing module is used to receive vehicle posture data and steering wheel force feedback data provided by the driving simulation software, and generate a rotation matrix of the platform posture and a steering wheel force feedback instruction; An optimization calculation module is connected to the input processing module and is used to calculate the target posture of the motion platform based on the rotation matrix of the vehicle posture, determine the target stroke lengths of multiple electric cylinders on the motion platform, and optimize the stroke of the electric cylinders; The motion execution module is connected to the optimization calculation module, and is used to drive the electric cylinder to extend and retract according to the target stroke length, drive the motion platform to complete the posture adjustment, and drive the servo motor of the steering wheel to produce a force feedback effect; The real-time feedback control module is connected to the motion execution module and the optimization calculation module, and is used to collect the actual state of the motion platform and the electric cylinder execution data in real time, compare the collected data with the target stroke length, and dynamically adjust the control instructions of the electric cylinder stroke.

[0006] Preferably, the vehicle posture data received by the input processing module is expressed in the form of Euler angles, and the Euler angles include a roll angle around an X-axis, a pitch angle around a Y-axis, and a yaw angle around a Z-axis.

[0007] Preferably, the optimization calculation module determines the height change values ​​of the four corners of the motion platform through a rotation matrix, and calculates the target stroke lengths of the multiple electric cylinders based on the height change values.

[0008] Preferably, the optimization calculation module constructs an optimization model with the goal of minimizing the electric cylinder stroke length deviation, and introduces a dynamic smoothing constraint term to control the rate of change of the electric cylinder stroke.

[0009] Preferably, the optimization calculation module performs iterative optimization based on an objective function, the objective function including an electric cylinder stroke length deviation term and a dynamic smoothness constraint term, wherein: The electric cylinder stroke length deviation term is used to minimize the difference between the target stroke and the initial stroke; The dynamic smoothness constraint is used to minimize the speed change of the electric cylinder.

[0010] Preferably, the motion execution module drives four linear electric cylinders, and the linear electric cylinders are arranged at four corner points of the motion platform. The coordinates of the four corner points in the initial state of the motion platform are defined by the length and width of the platform.

[0011] Preferably, the driving control signal of the motion execution module is determined by the target stroke length calculated by the optimization calculation module, and is dynamically corrected by the real-time feedback control module according to the error between the actual stroke of the electric cylinder and the target stroke.

[0012] Preferably, the real-time feedback control module performs stability control through a Lyapunov function, and the Lyapunov function includes an error term between the target stroke and the actual stroke of the electric cylinder and a smoothing control term of the electric cylinder speed.

[0013] Preferably, the real-time feedback control module calculates the electric cylinder control law based on the derivative of the Lyapunov function, and the control law includes control parameters for adjusting the electric cylinder acceleration according to the stroke error and adjusting the electric cylinder speed according to the speed error.

[0014] Preferably, the optimization calculation module of the system limits the dynamic change rate of the electric cylinder stroke through a constrained optimization algorithm.

[0015] The present invention provides a steering wheel controller system with a multi-degree-of-freedom motion platform. It has the following beneficial effects: 1. The present invention adopts a technical solution that combines real-time feedback control with optimization calculation, and introduces the Lyapunov control strategy and dynamic error correction mechanism to achieve precise control and dynamic stability of the motion platform posture. Compared with the prior art solution that only relies on a preset model for one-way stroke calculation, it solves the problem of accumulation of posture deviations caused by the inability to adjust the electric cylinder stroke in real time during dynamic changes.

[0016] 2. The present invention adopts a posture mapping method based on Euler angles and rotation matrices to efficiently convert the input vehicle posture data into the target stroke length of the electric cylinder, and solves it in combination with the optimization model. Compared with the method relying on fixed linear proportional mapping in the prior art, it overcomes the limitation of insufficient accuracy under complex multi-degree-of-freedom posture changes, and at the same time significantly improves the efficiency of the electric cylinder drive and the accuracy of platform posture reproduction.

[0017] 3. The present invention achieves the effects of smooth platform movement and reliable steering wheel feedback through the closed-loop servo control technology in the motion execution module, combined with real-time speed constraints and dynamic stroke adjustments. Compared with the existing technology that lacks multi-electric cylinder dynamic coordination and steering wheel physical feedback synchronization, it solves the problem of unrealistic operation caused by inconsistent posture adjustment and feedback delay.

[0018] 4. The present invention adopts a modular system design, independently divides the work of input processing, optimization calculation, motion execution, and real-time feedback control modules, and efficiently collaborates, thereby realizing an organic combination of complex posture motion and multi-degree-of-freedom control. Compared with the single control structure with high functional coupling in the prior art, it overcomes the shortcomings of poor system scalability and difficulty in debugging and upgrading, and provides higher flexibility and reliability for multi-scenario applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Please see attached Figure 1 The embodiment of the present invention provides a steering wheel controller system with a multi-degree-of-freedom motion platform, comprising: An input processing module is used to receive vehicle posture data and steering wheel force feedback data provided by the driving simulation software, and generate a rotation matrix of the platform posture and a steering wheel force feedback instruction; In this embodiment, the optimization calculation module calculates the height change z′ of the four corners of the motion platform by inputting the rotation matrix and vehicle posture information provided by the processing module. i , and maps it to the target stroke length L of the electric cylinder io In the specific implementation, this module is divided into two parts: posture mapping calculation and optimization solution.

[0022] As a possible implementation method, the optimization calculation module first calculates the coordinate changes of the four corners of the platform based on the geometric parameters of the platform and the rotation matrix. The coordinates of the four corner points of the motion platform in the initial state are defined as: in, L and W represents the length and width of the platform respectively.

[0023] The rotation matrix R generated by the input processing module is used to describe the posture change of the platform, and its form is: R=R z (ψ)·R y (θ)·R x (φ), in, φ is the roll angle, θ is the pitch angle, ψ is the yaw angle.

[0024] Specifically, the optimization calculation module calculates the rotated position of each corner point using the following formula: in, (x i ,y i ,z i ) is the initial coordinate of the corner point, (x′ i ,y′ i,z′ i ) is the new coordinate of the corner point after rotation, z′ i is the change in height that the cylinder needs to compensate for.

[0025] Electric cylinder target stroke calculation In general, in order to ensure that the platform’s posture changes are consistent with the vehicle’s input data, the optimization calculation module calculates the height change value z′ of each corner point i Mapped to the target stroke length L of the corresponding electric cylinder i。 The calculation formula for the target stroke of the electric cylinder is: L i =L0+S·z′ i , in: L i : The target stroke length of the electric cylinder, in meters; L0: initial length of the electric cylinder (neutral position), in meters; S: scaling factor, used to map the platform's height range to the cylinder's mechanical travel range; z′ i : The height change of the corner point, in meters.

[0026] In one possible implementation, the scaling factor S is calculated by the following formula: in: L max : Maximum stroke length of the electric cylinder, in meters; L min : The minimum stroke length of the electric cylinder, in meters; z max : The maximum height change allowed by the platform, in meters.

[0027] Through the above calculation, the target stroke length of the electric cylinder L i Always keep within the mechanical travel range of the electric cylinder to avoid overtravel or mechanical failure.

[0028] Construction and solution of optimization model In this embodiment, the optimization calculation module realizes global optimization of the electric cylinder stroke configuration by designing the objective function. The main purpose of the objective function is to minimize the stroke deviation of the electric cylinder while ensuring the smoothness of the electric cylinder movement under the premise of meeting the platform posture requirements.

[0029] As an option, the objective function of the optimization model can be expressed as: in: The first item (L i -L0) 2 : Used to minimize the stroke deviation of the electric cylinder and ensure that the electric cylinder is always close to the initial position; Item 2 Used to control the speed change of the electric cylinder to avoid drastic dynamic changes; λ: Weight factor of dynamic smoothing control, used to balance the weight between stroke deviation and dynamic smoothing.

[0030] The optimization calculation module uses the gradient descent method to iteratively solve the objective function. In each iteration, the module updates the target stroke of the electric cylinder according to the gradient of the objective function: in: The target stroke of the electric cylinder after the k+1th iteration; The target stroke of the electric cylinder after the kth iteration; η: learning rate, used to control the step size of gradient descent.

[0031] In a possible implementation, the solution of the optimization model can also be combined with constraints, such as: L min ≤L i ≤L max . By introducing constraints, the optimization calculation module can effectively prevent the target stroke from exceeding the mechanical limitations of the electric cylinder.

[0032] Connection with subsequent modules The output of the optimization calculation module is the target stroke lengths L1, L2, L3, and L4 of the four electric cylinders. These target strokes will be directly transmitted to the motion execution module to drive the electric cylinders to achieve dynamic adjustment of the platform posture.

[0033] To ensure the reliability of the data, the optimization calculation module will verify the target travel each time it is calculated. For example, in some embodiments, the module can limit the dynamic change rate of the target travel to ensure a smooth transition process of the platform attitude and avoid sudden changes.

[0034] In addition, the optimization calculation module will regularly exchange data with the real-time feedback control module. The feedback control module collects the actual stroke of the electric cylinder, compares it with the target stroke, and transmits the error data back to the optimization calculation module, thereby realizing closed-loop control of the optimization process.

[0035] Through the above-mentioned technical implementation, the optimization calculation module not only realizes the efficient mapping between vehicle posture and platform travel, but also ensures the accuracy and dynamic consistency of posture control through the optimization algorithm, providing technical support for the stable operation of the entire system.

[0036] An optimization calculation module is connected to the input processing module and is used to calculate the target posture of the motion platform based on the rotation matrix of the vehicle posture, determine the target stroke lengths of multiple electric cylinders on the motion platform, and optimize the stroke of the electric cylinders; In this embodiment, the optimization calculation module calculates the height change z′ of the four corners of the motion platform by inputting the rotation matrix and vehicle posture information provided by the processing module. i , and maps it to the target stroke length L of the electric cylinder i In the specific implementation, this module is divided into two parts: posture mapping calculation and optimization solution.

[0037] As a possible implementation method, the optimization calculation module first calculates the coordinate changes of the four corners of the platform based on the geometric parameters of the platform and the rotation matrix. The coordinates of the four corner points of the motion platform in the initial state are defined as: in, L and W represents the length and width of the platform respectively.

[0038] The rotation matrix R generated by the input processing module is used to describe the posture change of the platform, and its form is: R=R z (ψ)·R y (θ)·R x (φ), in, is the roll angle, θ is the pitch angle, ψ is the yaw angle.

[0039] Specifically, the optimization calculation module calculates the rotated position of each corner point using the following formula: in, (x i ,y i ,z i ) is the initial coordinate of the corner point, (x′ i ,y′ i ,z′ i ) is the new coordinate of the corner point after rotation, z′ i is the change in height that the cylinder needs to compensate for.

[0040] Electric cylinder target stroke calculation In general, in order to ensure that the platform’s posture changes are consistent with the vehicle’s input data, the optimization calculation module calculates the height change value z′ of each corner point i Mapped to the target stroke length L of the corresponding electric cylinder i The calculation formula for the target stroke of the electric cylinder is: L i =L0+S·z′ i , in: L i : The target stroke length of the electric cylinder, in meters; L0: initial length of the electric cylinder (neutral position), in meters; S: scaling factor, used to map the platform's height range to the cylinder's mechanical travel range; z′ i : The height change of the corner point, in meters.

[0041] In one possible implementation, the scaling factor S is calculated by the following formula: in: L max : Maximum stroke length of the electric cylinder, in meters; L min : The minimum stroke length of the electric cylinder, in meters; z max : The maximum height change allowed by the platform, in meters.

[0042] Through the above calculation, the target stroke length L of the electric cylinder i Always keep within the mechanical travel range of the electric cylinder to avoid overtravel or mechanical failure.

[0043] Construction and solution of optimization model In this embodiment, the optimization calculation module realizes global optimization of the electric cylinder stroke configuration by designing the objective function. The main purpose of the objective function is to minimize the stroke deviation of the electric cylinder while ensuring the smoothness of the electric cylinder movement under the premise of meeting the platform posture requirements.

[0044] As an option, the objective function of the optimization model can be expressed as: in: The first item (L i -L0) 2 : Used to minimize the stroke deviation of the electric cylinder and ensure that the electric cylinder is always close to the initial position; Item 2 Used to control the speed change of the electric cylinder to avoid drastic dynamic changes; λ: Weight factor of dynamic smoothing control, used to balance the weight between stroke deviation and dynamic smoothing.

[0045] The optimization calculation module uses the gradient descent method to iteratively solve the objective function. In each iteration, the module updates the target stroke of the electric cylinder according to the gradient of the objective function: in: No. The target stroke of the electric cylinder after k+1 iterations; The target stroke of the electric cylinder after the kth iteration; η: learning rate, used to control the step size of gradient descent.

[0046] In a possible implementation, the solution of the optimization model can also be combined with constraints, such as: L min ≤L i ≤L max . By introducing constraints, the optimization calculation module can effectively prevent the target stroke from exceeding the mechanical limitations of the electric cylinder.

[0047] Connection with subsequent modules The output of the optimization calculation module is the target stroke lengths L1, L2, L3, and L4 of the four electric cylinders. These target strokes will be directly transmitted to the motion execution module to drive the electric cylinders to achieve dynamic adjustment of the platform posture.

[0048] To ensure the reliability of the data, the optimization calculation module will verify the target travel each time it is calculated. For example, in some embodiments, the module can limit the dynamic change rate of the target travel to ensure a smooth transition process of the platform attitude and avoid sudden changes.

[0049] In addition, the optimization calculation module will regularly exchange data with the real-time feedback control module. The feedback control module collects the actual stroke of the electric cylinder, compares it with the target stroke, and transmits the error data back to the optimization calculation module, thereby realizing closed-loop control of the optimization process.

[0050] Through the above-mentioned technical implementation, the optimization calculation module not only realizes the efficient mapping between vehicle posture and platform travel, but also ensures the accuracy and dynamic consistency of posture control through the optimization algorithm, providing technical support for the stable operation of the entire system.

[0051] The motion execution module is connected to the optimization calculation module, and is used to drive the electric cylinder to extend and retract according to the target stroke length, drive the motion platform to complete the posture adjustment, and drive the servo motor of the steering wheel to produce a force feedback effect; In this embodiment, the motion execution module mainly includes four linear electric cylinders and a control unit for driving a steering wheel servo motor.

[0052] Generally, four linear electric cylinders are installed at the four corners of the motion platform. The stroke length of the electric cylinder is calculated by the optimization calculation module, and its telescopic action is used to adjust the attitude height of the platform. For example, when the input attitude is a positive pitch angle, the stroke length of the electric cylinder on the front side of the platform will increase, while the stroke length of the electric cylinder on the rear side will decrease, thereby simulating the uphill state of the vehicle.

[0053] As an option, the linear axis is controlled by a servo drive motor, and its extension length can be calculated according to the following formula: ΔL i =L i -L i,current , in: L i : Optimize the target stroke length output by the calculation module; L i,current : Current stroke length of the electric cylinder; ΔL i : The telescopic length of the electric cylinder that needs to be adjusted.

[0054] In one possible implementation, the extension and retraction of the electric cylinder is driven by a closed-loop servo control system. The closed-loop control system includes a position sensor and a speed sensor, which are used to monitor the current state of the electric cylinder in real time and compare it with the target value. Specifically, the servo controller adjusts the action of the electric cylinder according to the following control formula: in: F motor : Output control force of servo motor; k p : Position control gain, used to adjust the response strength of position error; k d : Speed ​​control gain, used to adjust the response intensity of speed error; t: time variable.

[0055] Through the above control algorithm, the actual movement of the electric cylinder can closely follow the changes in the target stroke, ensuring the accuracy and dynamic stability of the platform posture adjustment.

[0056] Multi-degree-of-freedom motion of motion platforms The linear electric cylinder driven by the motion execution module realizes multi-degree-of-freedom motions such as pitch and roll of the platform through telescopic movements.

[0057] Specifically, the change in pitch angle is controlled by the height difference between the two groups of electric cylinders at the front and rear of the platform. For example, when the pitch angle is positive, the target stroke length of the front electric cylinder increases, while the target stroke length of the rear electric cylinder decreases. The change in roll angle is controlled by the height difference between the two groups of electric cylinders at the left and right. For example, when the roll angle is negative, the target stroke length of the left electric cylinder decreases, while the target stroke length of the right electric cylinder increases.

[0058] As an option, the motion execution module supports multi-axis joint control of electric cylinders. In order to ensure the smoothness of the platform movement, the module will constrain the dynamic change rate of the four electric cylinders. For example, by limiting the speed of the electric cylinder, it is possible to avoid violent jitter of the platform posture due to excessive extension and retraction of the electric cylinder. The formula for speed constraint is: in: The actual speed of the electric cylinder; Maximum permissible speed of the cylinder.

[0059] Through the above speed constraints, the movement of the electric cylinder can remain stable and the dynamic changes of the platform posture are smoother.

[0060] Implementation of steering wheel force feedback In this embodiment, the motion execution module is also responsible for generating a force feedback signal of the steering wheel. The force feedback of the steering wheel is driven by a servo motor, and the control signal of the servo motor is provided by the optimization calculation module. Specifically, the force feedback of the steering wheel is closely related to the dynamic state of the vehicle, such as the damping force when turning or the vibration of the steering wheel caused by road bumps.

[0061] As a possible implementation method, the calculation formula for steering wheel force feedback is: in: T wheel : feedback torque of the steering wheel; θ wheel : The current deflection angle of the steering wheel; The current rotation speed of the steering wheel; k res : Damping coefficient of feedback torque; k damp : Inertia coefficient of feedback torque.

[0062] In a possible implementation, the servo motor of the steering wheel can also generate additional vibration feedback in combination with the input signal of the road surface state. For example, when the vehicle is driving on a bumpy road, the servo motor will generate a corresponding steering wheel vibration effect according to the input vibration frequency and amplitude, so that the driver can truly feel the roughness of the road surface.

[0063] Connection with front and rear modules The motion execution module receives the target stroke of the electric cylinder output by the optimization calculation module, and maintains data interaction with the real-time feedback control module. The real-time feedback control module collects the actual stroke data of the electric cylinder and adjusts the control parameters of the motion execution module through closed-loop control. For example, when the real-time feedback module detects a deviation between the actual stroke of the electric cylinder and the target stroke, it sends a correction instruction to the motion execution module to adjust the output force of the servo motor to eliminate the stroke error.

[0064] In addition, the steering wheel feedback signal output by the motion execution module will also be transmitted to the input processing module in real time to dynamically adjust the virtual state of the vehicle to make the overall operation of the system more coordinated.

[0065] Through the above technology, the motion execution module can accurately drive the linear electric cylinder to complete the multi-degree-of-freedom posture adjustment of the platform, while providing a highly realistic force feedback effect for the steering wheel. This module combines servo control technology and dynamic optimization algorithms to provide important support for the high precision and high dynamic response of the system.

[0066] The real-time feedback control module is connected to the motion execution module and the optimization calculation module, and is used to collect the actual state of the motion platform and the electric cylinder execution data in real time, compare the collected data with the target stroke length, and dynamically adjust the control instructions of the electric cylinder stroke.

[0067] In this embodiment, the main function of the real-time feedback control module is to collect and analyze the dynamic state of the motion platform, and adjust the electric cylinder stroke and the steering wheel feedback signal in real time according to the collected data.

[0068] Generally, the real-time feedback control module collects actual operation data through a variety of sensors installed on the motion platform and electric cylinder. These sensors include but are not limited to: Position sensor: used to detect the real-time stroke length of each electric cylinder; Speed ​​sensor: used to monitor the dynamic change speed of the electric cylinder; Attitude sensors: such as gyroscopes and accelerometers, used to capture the actual attitude of the motion platform; Steering wheel force feedback sensor: used to record the current torque state of the steering wheel.

[0069] As an option, the real-time feedback control module will periodically compare the collected data with the target data output by the optimization calculation module and calculate the error of the current system. The error calculation formula is: in: Optimize the target stroke length of the i-th electric cylinder output by the calculation module; L i : The actual stroke length of the i-th electric cylinder; ΔL i : The error between the target stroke and the actual stroke.

[0070] Closed-loop control strategy The real-time feedback control module dynamically adjusts the stroke control command of the electric cylinder and the feedback signal of the steering wheel through a closed-loop control strategy. To achieve high-precision control, the module adopts a control method based on the Lyapunov function.

[0071] In one possible implementation, the Lyapunov function V is defined to evaluate the stability of the system: in: ΔL i : The error between the target travel and the actual travel; Real-time speed of the electric cylinder; α: Speed ​​control weight, used to balance stroke error and dynamic response.

[0072] In general, the stability of the system requires that the time derivative of the Lyapunov function satisfies: That is, the control strategy needs to ensure that the error decreases gradually over time and the system tends to be stable.

[0073] Specifically, the real-time feedback control module realizes dynamic adjustment of the electric cylinder through the following control law: in: The acceleration control signal of the i-th electric cylinder; k1: Position control gain, used to adjust the response of stroke error; k2: Speed ​​control gain, used to adjust the smoothness of dynamic response.

[0074] The above control law can ensure that the actual stroke of the electric cylinder quickly approaches the target stroke and avoid violent oscillations during the dynamic process.

[0075] Feedback control of platform attitude adjustment In some embodiments, the real-time feedback control module also adjusts the overall posture of the platform. The platform posture is determined by the height combination of the four electric cylinders, and its dynamic changes are described by the following formula: z platform =f(L1,L2,L3,L4), in: z platform : height distribution of platform posture; L1, L2, L3, L4: stroke lengths of the four electric cylinders.

[0076] The error between the platform attitude and the target data is calculated as: in: Optimize the target platform posture output by the calculation module; z platform : The actual collected platform posture.

[0077] The real-time feedback control module adjusts the height distribution of the electric cylinders to gradually bring the platform attitude closer to the target state. For example, when the target pitch angle is positive, the module automatically increases the height of the front electric cylinder and decreases the height of the rear electric cylinder.

[0078] Dynamic adjustment of steering wheel force feedback The real-time feedback control module also monitors the actual torque feedback status of the steering wheel and compares it with the target torque value. When an error is detected, the module dynamically adjusts the output signal of the servo motor. For example: in: Target steering wheel torque; T wheel : actual steering wheel torque; ΔT wheel : Torque error.

[0079] By adjusting the control signal of the servo motor, the real-time feedback control module can make the actual feedback of the steering wheel consistent with the target state. For example, when simulating a bumpy road, the module will increase the vibration intensity of the steering wheel according to the dynamic input data, thereby enhancing the driving experience.

[0080] Connection with front and rear modules The real-time feedback control module works closely with the optimization calculation module and the motion execution module. After the optimization calculation module outputs the target travel and posture data, the real-time feedback control module monitors the actual status and adjusts the control signals of the electric cylinder and steering wheel according to the real-time error.

[0081] As a possible implementation method, the real-time feedback control module will also feed back the corrected electric cylinder stroke data to the optimization calculation module for input into the next calculation, thereby realizing a closed-loop update of the data.

[0082] Through the above technical implementation, the real-time feedback control module can effectively reduce the system error and ensure the dynamic response of the motion platform posture adjustment and steering wheel feedback. At the same time, through the Lyapunov control method, the stability of the system is further improved, providing a highly reliable operation guarantee for the present invention.

[0083] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steering wheel controller system with a multi-degree-of-freedom motion platform, characterized in that: include: An input processing module is used to receive vehicle posture data and steering wheel force feedback data provided by the driving simulation software, and generate a rotation matrix of the platform posture and a steering wheel force feedback instruction; An optimization calculation module is connected to the input processing module and is used to calculate the target posture of the motion platform based on the rotation matrix of the vehicle posture, determine the target stroke lengths of multiple electric cylinders on the motion platform, and optimize the stroke of the electric cylinders; The motion execution module is connected to the optimization calculation module, and is used to drive the electric cylinder to extend and retract according to the target stroke length, drive the motion platform to complete the posture adjustment, and drive the servo motor of the steering wheel to produce a force feedback effect; The real-time feedback control module is connected to the motion execution module and the optimization calculation module, and is used to collect the actual state of the motion platform and the electric cylinder execution data in real time, compare the collected data with the target stroke length, and dynamically adjust the control instructions of the electric cylinder stroke.

2. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 1, characterized in that: The vehicle posture data received by the input processing module is expressed in the form of Euler angles, and the Euler angles include a roll angle around an X-axis, a pitch angle around a Y-axis, and a yaw angle around a Z-axis.

3. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 1, characterized in that: The optimization calculation module determines the height change values ​​of the four corners of the motion platform through the rotation matrix, and calculates the target stroke lengths of the multiple electric cylinders based on the height change values.

4. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 3, characterized in that: The optimization calculation module constructs an optimization model with the goal of minimizing the electric cylinder stroke length deviation, and introduces a dynamic smoothing constraint term to control the electric cylinder stroke change rate.

5. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 4, characterized in that: The optimization calculation module performs iterative optimization based on the objective function, which includes the electric cylinder stroke length deviation term and the dynamic smoothness constraint term, wherein: The electric cylinder stroke length deviation term is used to minimize the difference between the target stroke and the initial stroke; The dynamic smoothness constraint is used to minimize the speed change of the electric cylinder.

6. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 1, characterized in that: The motion execution module drives four linear electric cylinders, which are arranged at four corner points of the motion platform. The coordinates of the four corner points in the initial state of the motion platform are defined by the length and width of the platform.

7. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 6, characterized in that: The driving control signal of the motion execution module is determined by the target stroke length calculated by the optimization calculation module, and is dynamically corrected by the real-time feedback control module according to the error between the actual stroke of the electric cylinder and the target stroke.

8. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 1, characterized in that: The real-time feedback control module performs stability control through a Lyapunov function, wherein the Lyapunov function includes an error term between a target stroke of the electric cylinder and an actual stroke and a smoothing control term of the electric cylinder speed.

9. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 8, characterized in that: The real-time feedback control module calculates the electric cylinder control law based on the derivative of the Lyapunov function, and the control law includes control parameters for adjusting the electric cylinder acceleration according to the stroke error and adjusting the electric cylinder speed according to the speed error.

10. The steering wheel controller system with a multi-degree-of-freedom motion platform according to claim 1, characterized in that: The optimization calculation module of the system limits the dynamic change rate of the electric cylinder stroke through a constrained optimization algorithm.

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