混联结构无人直升机六自由度运动模拟平台设计

为解决传统并联式六自由度运动模拟平台各杆间关联性强、结构正解困难的问题,设计一种基于结构拆分的新构型模拟平台.基于并联结构与串联结构各自的优缺点,提出一种新式混联结构的六自由度构造,将3维线运动与3维角运动相拆分,使其正反解的运算量大大降低.为该运动模拟平台设计相应的控制系统,并进行仿真验证.通过仿真实验得到对应的运动状态反馈数据并用Matlab作图.仿真结果表明:该平台结构符合实际载体平台的运动规律和控制需求,可应用于无人直升机运动半实物闭环仿真实验过程中.

Deign of Unmanned Helicopter Hybrid Structure of Six Degrees Freedom Motion Simulation Platform

For solving problems of high relevancy and difficult positive solution structure of traditional parallel-type six degrees motion simulation platform, design the new structure simulation platform based on structure separation. Based on advantages and disadvantages of parallel-type structure and series connection structure, put forward new hybrid structure six degrees structure, separate three dimensional linear motion and three dimensional angle motion, greatly reduce the computational burden of positive and negative solution. Design relative control system for motion simulation platform, and carry out simulation verification. Through simulation test, acquire relative motion situation feedback data and use Matlab to draw. The simulation results show that the platform structure meets the motion principle and control requirements of practice carrier platform, it can used in simulation test process of unmanned helicopter motion hardware in loop closed loop.