六自由度平台车辆运动模拟器变输入洗出算法

为提高六自由度平台车辆模拟器模拟真实车辆运动感觉的逼真度,结合经典洗出算法提出一种变输入洗出算法.根据模拟器运动空间,对经典洗出算法的输入信号按幅值大小进行划分、变换处理.高幅值输入信号采用缩放处理,以防止超出平台运动空间；低幅值输入信号乘上一个时变比例系数,时变比例系数的确定采用模糊自适应算法,根据人体在运动模拟器上的运动感觉、人体在车辆上的运动感觉以及输入信号的情况,选定模糊控制器的输入、输出和模糊控制规则.以车辆纵向加速度的模拟为例进行仿真,仿真结果表明，运用变输入洗出算法,既能将平台限制在平台的运动空间内,又能充分利用平台的运动能力,提高运动感觉模拟的逼真度.

Research on variable input washout algorithm for stewart platform vehicle simulator

For the purpose of enhancing the fidelity of stewart platform vehicle simulator simulating dynamic motions of an actual vehicle, a variable input washout algorithm was proposed in combination with classic washout algorithm. Input signal of classic washout algorithm was differentiated and transformed based on the workspace of the simulator. High amplitude input signal was scaled to restrict the workspace of the simulator within its kinematic limitation. Low amplitude input signal was transformed by multiplying a time-varying proportionality coefficient. The time-varying proportionality coefficient was obtained using fuzzy adaptive algorithm. The inputs,output and rules of the fuzzy controller were set by the relationship between the human perception in the simulator and human perception in the vehicle and the input signal of the classic washout algorithm. The signal was taken as an example to simulate the perception about single degree of vehicle longitudinal motions, which was generated by real time dynamic software of the simulator. It shows that with the presented algorithm the simulator can not exceed the bound of the platform,and at the same time it can exploit the workspace of simulator efficiently and improve the fidelity of stewart platform vehicle simulator simulating dynamic motions of an actual vehicle.