Manned submersible simulation training system capable of completely simulating underwater motion state

Abstract

The invention discloses a manned submersible simulation training system capable of completely simulating an underwater motion state. The manned submersible simulation training system comprises a main control platform module, a simulation motion module and a posture adjustment strategy module, the main control platform module comprises a platform instruction input module and a motion scene recognition module; the simulation motion module is used for simulating a manned submersible fusion motion platform; the attitude adjustment strategy module comprises a plurality of angle sensors and a data acquisition and processing unit, and the data acquisition and processing unit is used for acquiring data of the angle sensors located on the manned submersible fusion motion platform and transmitting the data to the main control platform for feedback control; and the simulation motion module is used for simulating postures of the manned submersible fusion motion platform in different scenes. Through a composite structure of the two six-degree-of-freedom motion platforms, the motion posture of the manned submersible during underwater motion can be completely simulated, and through a specific control mode, the response speed of the system can be greatly improved, so that the training effect of the simulated motion platform is greatly enhanced.

Description

Technical Field

[0001] The present invention relates to a simulation training system, in particular to a manned submersible simulation training system that completely simulates underwater motion states and a fusion motion control method. Background Art

[0002] Simulated motion platforms are devices used for research, education, and entertainment. They simulate real-life motion experiences by controlling acceleration, rotation, and vibration. These platforms typically consist of an electronic controller, a power system, and a motion structure, and are used for personnel training in fields such as aviation and navigation. However, existing simulated motion platforms suffer from numerous issues. For example, due to platform mass, a single platform struggles to simulate large-angle motion postures. Furthermore, their system response speed is limited, resulting in poor training effectiveness.

[0003] A general six-degree-of-freedom motion platform consists of six actuators, six universal hinges on the upper and lower platforms, and two upper and lower platforms. The lower platform is fixed to the ground. With the help of the telescopic movement of the six actuators, the upper platform can complete the six degrees of freedom (X, Y, Z, ψ, θ, φ) in space, thereby simulating various spatial motion postures.

[0004] When a traditional single six-degree-of-freedom motion platform simulates the underwater movement of a manned submersible, all movements can only be completed through a single simulation training platform. Due to the large mass of the six-degree-of-freedom platform of the manned submersible simulation training system, it is difficult for the motion platform to complete the simulation of large-angle motion posture adjustments of the manned submersible in real situations. Summary of the Invention

[0005] In order to solve the above shortcomings and improve the training effect of manned submersible operators during simulation training, the present invention proposes a manned submersible simulation training system fusion motion that fully simulates the underwater motion state. This motion can fully simulate the motion posture of the manned submersible during underwater motion through the composite structure of two six-degree-of-freedom motion platforms, and through a specific control method, the response speed of the system can be greatly improved, thereby greatly enhancing the training effect of the simulation motion platform.

[0006] The present invention constructs a composite manned submersible fusion platform and a fusion motion system constructed by two six-degree-of-freedom motion platforms on the basis of the original six-degree-of-freedom motion platform.

[0007] This fusion motion system can achieve large-angle posture adjustment scenario simulation. The present invention adopts a composite structure of two six-degree-of-freedom platforms. By superimposing the angles of the two six-degree-of-freedom platforms, it can easily complete the large-angle motion simulation of a manned submersible in water.

[0008] The fusion motion system is controlled by scenario selection. If the tiny vibrations in the real scene are completed by a single six-degree-of-freedom platform of the simulation training system, it will be greatly restricted by the mass of the platform, resulting in a very slow response speed and extremely poor simulation effect. The fusion motion of the manned submersible simulation training system proposed in the present invention is a composite structure composed of two six-degree-of-freedom platforms, which are divided into a six-degree-of-freedom motion seat with a smaller mass nested in the simulation cabin of the simulation training system, and a six-degree-of-freedom submarine platform with a larger mass. Therefore, for tiny vibrations in the real scene, the fusion motion system can complete the posture adjustment task by selecting the six-degree-of-freedom motion seat with a lighter mass nested in the simulation cabin, with an extremely fast response speed, which can not only complete the posture adjustment task, but also make the simulation scene more realistic.

[0009] The fusion motion system adopts a closed-loop follow-up control strategy. In order to fully simulate the underwater motion posture of a manned submersible, the present invention adopts a composite structure of two six-degree-of-freedom platforms. However, due to its mass, the six-degree-of-freedom motion platform with a larger mass responds slowly, while the six-degree-of-freedom motion seat with a smaller mass embedded in the simulation cabin of the simulation training system responds faster. During the system response process, when the larger mass platform is in the initial stage of posture adjustment, the smaller mass platform has already completed the posture adjustment task. The asynchrony of the two platforms affects the training effect. In order to achieve coordinated motion between the two platforms, the present invention introduces the result of comparing the input angle of the six-degree-of-freedom motion platform with the feedback link of the platform in the form of negative feedback to the input end of the six-degree-of-freedom motion seat platform, thereby suppressing the response speed of the six-degree-of-freedom motion seat with a smaller mass embedded in the simulation cabin, ensuring the follow-up effect of posture adjustment between the six-degree-of-freedom motion seat platform and the six-degree-of-freedom motion platform, and enhancing the training effect of the fusion motion system.

[0010] The present invention has the following advantages:

[0011] This invention proposes a manned submersible simulation training system that fully simulates underwater motion, integrating motion and control. The unique composite structure forms a manned submersible fused motion system capable of fully simulating large-angle motion of a manned submersible. Furthermore, a unique scenario-based response mode accelerates the responsiveness of the fused motion system.

[0012] The result of comparing the input angle of the six-degree-of-freedom manned submersible motion platform with the feedback link of the platform is introduced into the input end of the six-degree-of-freedom motion seat platform in the form of negative feedback, thereby suppressing the response speed of the six-degree-of-freedom motion seat with smaller mass nested inside the simulation cabin, ensuring the follow-up effect of the posture adjustment between the six-degree-of-freedom motion seat platform and the six-degree-of-freedom manned submersible motion platform, and enhancing the training effect of the fusion motion system. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the components of a manned submersible simulation training system for simulating underwater motion states according to the present invention;

[0014] Figure 2 This is a schematic structural diagram of a manned submersible fusion motion platform of a manned submersible simulation training system for simulating underwater motion states according to the present invention;

[0015] Figure 3 This is a schematic diagram of a structural model of a dual six-degree-of-freedom fusion motion system of a manned submersible simulation training system for simulating underwater motion states according to the present invention;

[0016] Figure 4 This is a control logic diagram of a manned submersible simulation training system for simulating underwater motion states according to the present invention;

[0017] Figure 5 It is a schematic diagram of a closed-loop follow-up control strategy of a manned submersible simulation training system for simulating underwater motion states according to the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 As shown, the manned submersible simulation training system of the present invention, which fully simulates underwater motion, includes a main control platform module, a simulated motion module, and an attitude adjustment strategy module. The main control platform module includes a platform command input module and a motion scenario recognition module. The simulated motion module simulates the manned submersible's fusion motion platform. It also includes an attitude adjustment strategy module, which includes multiple angle sensors and a data acquisition and processing unit. The data acquisition and processing unit collects data from the multiple angle sensors located on the manned submersible's fusion motion platform and transmits it to the main control platform for feedback control.

[0020] The structure of the manned submersible fusion motion platform is as follows: Figure 2 As shown, it consists of three levels of platforms:

[0021] Platform 1: A six-degree-of-freedom motion seat platform located at the top, designed to quickly respond to small posture adjustments;

[0022] Platform 2: The manned submersible simulation cabin shell is fixedly connected to the seat base, and is connected to the base through six electric cylinders 4 at the bottom, forming a six-degree-of-freedom submarine platform, which is capable of simulating large-angle motion;

[0023] Platform 3: A base fixed to the ground, serving as the reference for the static coordinate system and providing support for Platform 2.

[0024] The manned submersible fusion motion platform structure further includes a three-degree-of-freedom adjustment platform 3 and a life-saving platform 2 located on the base, and a docking skirt 1 located below the cabin body and docked with the life-saving platform 2.

[0025] refer to Figure 3-4 The simulation motion module is used to simulate the posture of the manned submersible fusion motion platform in different scenarios to obtain the corresponding motion transfer function mathematical model of the manned submersible fusion motion platform; the main control platform module is used to input the tilt angle control parameter to the motion transfer function mathematical model. The motion transfer function mathematical model obtains the adjustment method and adjustment angle of the manned submersible fusion motion platform based on the input tilt angle control parameter, and sends the adjustment method and adjustment angle to the posture adjustment strategy module. The posture adjustment strategy module controls the movement of the corresponding electric cylinder to complete the adjustment of the manned submersible fusion motion platform. The posture adjustment strategy module further collects the signal of the angle sensor on the manned submersible fusion motion platform through the data acquisition and processing module, and performs feedback adjustment until the required adjustment method and adjustment angle are obtained.

[0026] The manned submersible fusion platform has two different scenarios, which are identified by the motion scenario recognition module:

[0027] Scenario 1: Simulates the situation where a manned submersible fusion platform encounters external interference factors such as waves and currents during underwater movement, causing the manned submersible to tilt slightly. The judgment condition is that the tilt angle input to the main control platform module is In this scenario, a separate six-degree-of-freedom motion seat platform completes the motion posture adjustment task.

[0028] Scenario 2: Normal motion attitude adjustment of the manned submersible fusion platform, the judgment condition is the tilt angle input to the main control platform module In this scenario, a fusion system consisting of a six-degree-of-freedom motion seat platform and a six-degree-of-freedom submarine platform performs attitude adjustments. To enhance system response, the present invention assigns more attitude adjustments to the lighter six-degree-of-freedom motion seat platform, while the heavier six-degree-of-freedom submarine platform handles less. The six-degree-of-freedom motion seat platform's angular adjustment is Δθ1, and the six-degree-of-freedom submarine platform's angular adjustment is Δθ2, satisfying the requirement that Δθ1 = K·Δθ2. K is the distribution coefficient, and K is a real number.

[0029] The simulation motion module is used to simulate the above scenario 1, that is, to model the six-degree-of-freedom motion seat platform using the traditional six-degree-of-freedom platform dynamics modeling method.

[0030] The details are as follows:

[0031] The shell of the manned submersible on the second platform always remains stationary, and the static coordinate system O is established with the center of the hinge circle as the reference. p -X p Y p Z p , the center of the hinge circle above establishes the moving coordinate system O q -X q Y q Z q , the static coordinate system always remains stationary relative to the manned submersible shell, and the moving coordinate system will move with the upper platform.

[0032] The translational motion of the moving platform can be described by using the displacement vector t:

[0033] t=[xyz] T (1)

[0034] Where x is platform one and platform two along X q Directional translation;

[0035] y is platform one and platform two along Y q Directional translation;

[0036] z is platform one and platform two along Z q Directional translation;

[0037] The rotational posture is described using Euler angles. The XYZ combined Euler angles describe the platform posture through three rotations:

[0038] (1) Coordinate system O q -X q Y q Z q Around Z q Axis rotation angle ψ, coordinate axis X q becomes X' q ,Y q becomes Y' q ;

[0039] (2) Coordinate system O q -X' q Y' q Z q Around Y' q Axis rotation angle θ, coordinate axis X' q becomes X" q ,Z q becomes Z' q ;

[0040] (3) Coordinate system O q -X" q Y' q Z' q Around Y qAxis rotation angle Coordinate axis Y' q becomes Y" q ,Z' q becomes Z" q ;

[0041] In this way, we get three rotation matrices R Z 、R Y 、R X , multiply them in sequence to get the moving coordinate system O q The rotation matrix R to the static coordinate system:

[0042]

[0043] Let uvw be the velocity components on the x-axis, y-axis and z-axis; let abc be the angular velocity components on the x-axis, y-axis and z-axis;

[0044] According to Newton's second law, the force of translational motion is:

[0045] F=m·a (3)

[0046] Where, is the net external force, is the platform mass, and is the acceleration.

[0047] Rotational motion:

[0048] τ=J·α (4)

[0049] Where τ is the net external torque, J is the moment of inertia, and α is the angular acceleration.

[0050] Resultant external force F = [X YZ] T ; Resulting external torque N = [K WS] T ; J is the rotational inertia.

[0051] Rotational inertia:

[0052]

[0053] Where, J xx 、J yy 、J zz are the components of the moment of inertia about the x, y, and z axes, respectively.

[0054] The conversion formula between the dynamic coordinate system and the static coordinate system is:

[0055]

[0056] Substitute each variable into the equation of motion to obtain the expression:

[0057]

[0058] Among them, m is the mass of platform three, uvwabc is the velocity in six directions, is the acceleration, and XYZKWS is the torque.

[0059] Decomposing the force F into the superposition of inertial force and non-inertial force, we can get:

[0060]

[0061] H is the inertial force and I is the non-inertial force.

[0062] Combining the translational motion equation of formula (3), the rotational motion equation of formula (4), the rotational inertia expression of formula (5), the coordinate system conversion formula of formula (6), and the decomposition of inertial force and non-inertial force of formula (8), the transfer function mathematical model 1 of the single six-degree-of-freedom motion seat platform is derived, and its expression is:

[0063]

[0064] The simulated motion module is used to simulate the above scenario 2 to obtain the second mathematical model of motion transfer function:

[0065] That is, the dynamic model of the coordinated motion of two six-degree-of-freedom motion platforms (six-degree-of-freedom motion seat platform and six-degree-of-freedom submarine platform) is established. In scenario 1, the shell of the manned submersible simulation cabin, i.e., platform 2, is considered to be stationary, and the corresponding coordinate system model is established based on this as the static coordinate system. However, in scenario 2, platform 2 becomes a moving coordinate system relative to the base. Therefore, in scenario 2, the static coordinate system is established with the base, i.e., platform 3, as the reference. b -X b Y b Z b , platform 2 establishes a moving coordinate system O p -X p Y p Z p , platform 3 establishes dynamic coordinate system 20 q -X q Y q Z q .

[0066] Euler angles are used to describe the rotational posture of the moving coordinate system. The Euler angles of the XYZ combination describe the platform posture through three rotations:

[0067] (1) Coordinate system O p -X p Y p Z p Around Z q Axis rotation angle ξ, coordinate axis X p becomes X' p ,Y pbecomes Y' p ;

[0068] (2) Coordinate system O p -X' p Y' p Z p Around Y' p Axis rotation angle η, coordinate axis X' p becomes X" p ,Z p becomes Z' p ;

[0069] (3) Coordinate system O p -X" p Y' p Z' p Around Y p Axis rotation angle ζ, coordinate axis Y' p becomes Y" p ,Z' p becomes Z" p ;

[0070] Three rotations give three rotation matrices R Z 、R Y 、R X , multiply them in sequence to get the moving coordinate system O p -X p Y p Z p Rotation matrix R to the static coordinate system p :

[0071]

[0072] The height of the six-degree-of-freedom motion seat platform embedded in the manned submersible is negligible compared to the six-degree-of-freedom manned submersible platform. Continue to use Euler angles to describe the rotation posture of the moving platform coordinate system. X ' Y ' Z 'The combined Euler angles are adjusted for pose by three rotations;

[0073] (1) Coordinate system O q -X q Y q Z q Around Z q Axis rotation angle ψ, coordinate axis X q becomes X' q ,Y q becomes Y' q ;

[0074] (2) Coordinate system O q -X' q Y' qZ q Around Y' q Axis rotation angle θ, coordinate axis X' q becomes X" q ,Z q becomes Z' q ;

[0075] (3) Coordinate system O q -X" q Y' q Z' q Around Y q Axis rotation angle Coordinate axis Y' q becomes Y" q ,Z' q becomes Z" q ;

[0076] Three rotations give three new rotation matrices R Z' 、R Y' 、R X' , multiply them in sequence to get the moving coordinate system O q -X q Y q Z q Rotation matrix R to the static coordinate system q :

[0077]

[0078] Combine the rotation matrix R of the two moving coordinate systems p With R q , combined with the angle tilt control strategy of Δα=KΔβ(K≥1), the rotation matrix R of the moving coordinate system 2 relative to the static coordinate system is obtained through coordinate transformation matrix operation;

[0079]

[0080] Same as model 1, let uvw be the velocity components on the x-axis, y-axis and z-axis; abc be the angular velocity components on the x-axis, y-axis and z-axis; combining the force formula (3) for translational motion and the formula (4) for rotational motion, the net external force F = [X YZ] T , the total external torque N = [K WS] T , the rotational inertia formula (5), and the dual-platform follow-up coordinated motion of the fusion motion platform, the conversion formula between the moving coordinates and the static coordinates (12)

[0081]

[0082] The equation expression of the closed-loop following motion of the fusion platform is obtained:

[0083]

[0084] Among them, m is the mass of platform three, M is the total mass of platform two and platform three, uvwabc is the velocity in six directions, is the acceleration, and XYZKWS is the torque.

[0085] Combining the inertial force and non-inertial force formula (8) and the closed-loop following motion equation of the fusion platform (13), the second mathematical model of the motion transfer function of the fusion platform can be further obtained.

[0086] Its expression is:

[0087]

[0088] Where M is the total mass of platform 2 and platform 3, H′ is the inertial force coefficient of the fusion platform, and I′ is the non-inertial force coefficient of the fusion platform.

[0089] Closed-loop servo control of fusion motion platform system

[0090] Since the response speed of the smaller six-degree-of-freedom motion seat platform may be several orders of magnitude higher than that of the larger six-degree-of-freedom manned submersible motion platform, when the two coordinate their movements, it may happen that platform one has completed the required attitude adjustment angle while platform two is just in the initial stage of attitude angle adjustment. This situation will make the training simulation effect extremely poor, so the present invention proposes a closed-loop follow-up control strategy for the fusion motion platform system. The follow-up effect of the two motion platforms can be achieved without affecting the completion of the attitude adjustment tasks of the two six-degree-of-freedom platforms. At the same time, it is only necessary to set the corresponding parameters to be compatible with the separate movement of the six-degree-of-freedom motion seat platform in scenario 1. The specific implementation method is shown in the attached figure. Figure 5 shown.

[0091] Using fractional-order PID control

[0092] PID control is the most widely used and most mature controller in the field of automated production. In analog control systems, the sensor converts the measured parameter into a corresponding electrical signal and transmits it to the regulating mechanism. Its proportional-differential link can enhance the regulating effect and reduce overshoot, while the integral link is mainly used to eliminate errors. The digital PID expression is:

[0093]

[0094] However, PID control is ineffective when dealing with nonlinear, time-varying, and uncertain systems, and requires extensive debugging in complex systems. The proposed integrated manned submersible motion system, constructed from two six-degree-of-freedom platforms, is a typical nonlinear system due to its complex motion. Using traditional classical PID control makes it difficult to achieve precise control of the proposed system.

[0095] To this end, the fusion motion system proposed in this invention uses fractional-order PID control. Fractional-order PID is an improved PID controller that replaces the integer-order integrator in the traditional PID controller with a fractional-order integrator, making it more adaptable to nonlinear, time-varying, and complex control systems. The fractional-order PID expression is:

[0096] C(s)=K p +K i s ―μ +K d s λ

[0097] Where μ and λ are the fractional calculus orders, K p is the proportional coefficient, K i is the integral coefficient, K d is the differential coefficient.

[0098] The target parameters of the dynamic fractional-order parameter fitting process are established, and the optimal solutions of the parameters of the dynamic fractional-order model are obtained through iterative calculation using the PSO particle swarm algorithm.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A manned submersible simulation training system that fully simulates underwater motion, characterized by: Including main control platform module, simulation motion module and posture adjustment strategy module; The main control platform module includes a platform instruction input module and a motion scene recognition module; The simulated motion module is used to simulate the fusion motion platform of a manned submersible; The attitude adjustment strategy module includes multiple angle sensors and a data acquisition and processing unit. The data acquisition and processing unit is used to collect data from multiple angle sensors located on the manned submersible fusion motion platform and transmit it to the main control platform for feedback control; The manned submersible fusion motion platform includes a first platform consisting of a six-degree-of-freedom motion seat platform, a second platform consisting of a six-degree-of-freedom submarine platform consisting of an outer shell of a manned submersible simulation cabin connected to a seat base and six electric cylinders connected below, and a third platform consisting of a base of the manned submersible fusion motion platform in direct contact with the ground. The simulation motion module is used to simulate the posture of the manned submersible fusion motion platform in different scenarios to obtain the corresponding motion transfer function mathematical model of the manned submersible fusion motion platform; the main control platform module is used to input the tilt angle control parameter into the motion transfer function mathematical model, and the motion transfer function mathematical model obtains the adjustment method and adjustment angle of the manned submersible fusion motion platform according to the input tilt angle control parameter, and sends the adjustment method and adjustment angle to the posture adjustment strategy module, and the posture adjustment strategy module controls the corresponding electric cylinder movement to complete the adjustment of the manned submersible fusion motion platform.

2. A manned submersible simulation training system that fully simulates underwater motion according to claim 1, characterized in that: The attitude adjustment strategy module further collects signals from the angle sensor on the manned submersible fusion motion platform through the data acquisition and processing module for feedback adjustment until the required adjustment method and adjustment angle are obtained.

3. The manned submersible simulation training system that fully simulates underwater motion according to claim 1, characterized in that: The manned submersible fusion platform has two different scenarios, which are identified by the motion scenario recognition module. When the main control platform module inputs the tilt angle When the motion scene recognition module identifies it as scene 1, it sends a signal to the motion simulation module. After receiving the signal identified as scene 1, the motion simulation module uses a pair of models to simulate the manned submersible fusion platform. The model 1 is a model that simulates a separate six-degree-of-freedom motion seat platform. When the main control platform module inputs the tilt angle The motion scenario recognition module identifies it as scenario 2 and sends a signal to the motion simulation module. After receiving the signal identified as scenario 2, the motion simulation module uses model 2 to simulate the manned submersible fusion platform. Model 2 is a fusion system model consisting of a six-degree-of-freedom motion seat platform and a six-degree-of-freedom submarine platform.

4. The manned submersible simulation training system for fully simulating underwater motion according to claim 3, characterized in that: The lighter six-degree-of-freedom motion seat platform undertakes more posture adjustment tasks, and the heavier six-degree-of-freedom submarine platform undertakes less posture adjustment. The angle adjustment amount of the six-degree-of-freedom motion seat platform is set to Δθ1, and the angle adjustment amount of the six-degree-of-freedom submarine platform is set to Δθ2, and Δθ1=K·Δθ2 is satisfied; where K is the distribution coefficient, and K is a real number.

5. The manned submersible simulation training system that fully simulates underwater motion according to claim 3 is characterized by: The modeling method of the first model is as follows: Assume that the shell of the manned submersible on the second platform always remains stationary, and establish a static coordinate system O with the center of the hinge circle as the reference. p -X p Y p Z p , the center of the hinge circle above establishes the moving coordinate system O q -X q Y q Z q , the static coordinate system always remains stationary relative to the manned submersible shell, and the moving coordinate system will move with the upper platform; The translational motion of the moving platform can be described by using the displacement vector t: t=[x y z] T (1) Where x is platform one and platform two along X q Directional translation; y is platform one and platform two along Y q Directional translation; z is platform one and platform two along Z q Directional translation; The rotational posture is described using Euler angles. The XYZ combined Euler angles describe the platform posture through three rotations: (1) Coordinate system O q -X q Y q Z q Around Z q Axis rotation angle ψ, coordinate axis X q becomes X' q ,Y q becomes Y' q ; (2) Coordinate system O q -X' q Y' q Z q Around Y' q Axis rotation angle θ, coordinate axis X' q becomes X" q ,Z q becomes Z' q ; (3) Coordinate system O q -X" q Y' q Z' q Around Y q Axis rotation angle Coordinate axis Y' q becomes Y" q ,Z' q becomes Z" q ; In this way, we get three rotation matrices R Z 、R Y 、R X , multiply them in sequence to get the moving coordinate system O q The rotation matrix R to the static coordinate system: Let uvw be the velocity components on the x-axis, y-axis and z-axis; let abc be the angular velocity components on the x-axis, y-axis and z-axis; According to Newton's second law, the force of translational motion is: Rotational motion: Resultant external force F = [XYZ] T ; Resulting external torque N = [KWS] T , J is the moment of inertia; Rotational inertia: The conversion formula between the dynamic coordinate system and the static coordinate system is: Substitute each variable into the equation of motion to obtain the expression: Among them, m is the mass of platform three, uvwabc is the velocity in six directions, is the acceleration, X YZ KWS is the torque; Decomposing the force F into the superposition of inertial force and non-inertial force, we can get: H is the inertial force, I is the non-inertial force; Combining the translational motion equation of formula (3), the rotational motion equation of formula (4), the rotational inertia expression of formula (5), the coordinate system conversion formula of formula (6), and the decomposition of inertial force and non-inertial force of formula (8), the transfer function mathematical model 1 of the single six-degree-of-freedom motion seat platform is derived, and its expression is: Where Θ(s) is the platform angle output, F(s) is the input force, H is the inertial force coefficient, I is the non-inertial force coefficient, m is the mass platform, and s is the complex variable (complex frequency) in the Laplace transform.

6. The manned submersible simulation training system that fully simulates underwater motion according to claim 3, characterized in that: The modeling method of the second model is as follows: The simulation motion module is used to establish a dynamic model for the coordinated motion of the six-degree-of-freedom motion seat platform and the six-degree-of-freedom submarine platform; a static coordinate system is established based on the base and the platform. b -X b Y b Z b , platform 2 establishes a moving coordinate system O p -X p Y p Z p , platform 3 establishes dynamic coordinate system 20 q -X q Y q Z q ; Euler angles are used to describe the rotational posture of the moving coordinate system. The Euler angles of the XYZ combination describe the platform posture through three rotations: (1) Coordinate system O p -X p Y p Z p Around Z q Axis rotation angle ξ, coordinate axis X p becomes X' p ,Y p becomes Y' p ; (2) Coordinate system O p -X' p Y' p Z p Around Y' p Axis rotation angle η, coordinate axis X' p becomes X" p ,Z p becomes Z' p ; (3) Coordinate system O p -X" p Y' p Z' p Around Y p Axis rotation angle ζ, coordinate axis Y' p becomes Y" p ,Z' p becomes Z" p ; Three rotations give three rotation matrices R Z 、R Y 、R X , multiply them in sequence to get the moving coordinate system O p -X p Y p Z p Rotation matrix R to the static coordinate system p : The height of the six-degree-of-freedom motion seat platform embedded in the manned submersible is negligible compared to the six-degree-of-freedom manned submersible platform. We continue to use Euler angles to describe the rotation posture of the moving platform coordinate system. X ' Y ' Z 'The combined Euler angles are adjusted for pose by three rotations; (1) Coordinate system O q -X q Y q Z q Around Z q Axis rotation angle ψ, coordinate axis X q becomes X' q ,Y q becomes Y' q ; (2) Coordinate system O q -X' q Y' q Z q Around Y' q Axis rotation angle θ, coordinate axis X' q becomes X" q ,Z q becomes Z' q ; (3) Coordinate system O q -X" q Y' q Z' q Around Y q Axis rotation angle Coordinate axis Y' q becomes Y" q ,Z' q becomes Z" q ; Three rotations give three new rotation matrices R Z' 、R Y' 、R X' , multiply them in sequence to get the moving coordinate system O q -X q Y q Z q Rotation matrix R to the static coordinate system q : Combine the rotation matrix R of the two moving coordinate systems p With R q , combined with the angle tilt control strategy of Δα=KΔβ(K≥1), the rotation matrix R of the moving coordinate system 2 relative to the static coordinate system is obtained; Same as model 1, let uvw be the velocity components on the x-axis, y-axis and z-axis; abc be the angular velocity components on the x-axis, y-axis and z-axis; combining the force formula (3) for translational motion and the formula (4) for rotational motion, the net external force F = [XYZ] T , the total external torque N = [KWS] T , the rotational inertia formula (5), and the dual-platform follow-up coordinated motion of the fusion motion platform, the conversion formula between the moving coordinates and the static coordinates (12) The equation expression of the closed-loop following motion of the fusion platform is obtained: Among them, m is the mass of platform three, M is the total mass of platform two and platform three, uvwabc is the velocity in six directions, is the acceleration, XYZKWS is the torque; Combining the inertial force and non-inertial force formula (8) and the closed-loop following motion equation of the fusion platform (13), the second mathematical model of the motion transfer function of the fusion platform can be further obtained; its expression is: Where M is the total mass of platform 2 and platform 3, H′ is the inertial force coefficient of the fusion platform, and I′ is the non-inertial force coefficient of the fusion platform.

7. The manned submersible simulation training system that fully simulates underwater motion according to claim 6 is characterized by: The Fusion Motion system uses fractional-order PID control.

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