| 动态飞行模拟器实时运动规划算法 |
| 关立文, 刘慧, 付萌 |
| 清华大学 机械工程系, 北京 100084 |
| Real-time motion planning algorithm for dynamic flight simulators |
| GUAN Liwen, LIU Hui, FU Meng |
| Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China |
摘要:
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| 摘要动态飞行模拟器是一种以离心机作为运动平台的持续过载模拟设备, 其运动规划直接影响过载模拟精度。该文主要针对动态飞行模拟器实时运动规划问题进行研究, 建立了过载模拟模型, 分析了卸载段动态飞行模拟器运动参数无法计算的原因, 在此基础上提出了基于2维插值法的实时运动规划算法, 解决了动态飞行模拟器实时运动规划问题。为了验证算法的准确性, 分别针对纯z向梯形过载曲线和3轴过载曲线进行模拟仿真, 分析算法对过载模拟误差的影响。仿真结果表明: 模拟过载能较好地跟踪理论过载, 算法具有较好的准确性和实用性。 | |||
| 关键词 ：动态飞行模拟器,运动规划,过载模拟,2维插值 | |||
| Abstract：Dynamic flight simulators (DFS) use a centrifuge to simulate sustained G-loads. The motion planning for the DFS directly affects the accuracy of the G-load simulations. This paper describes a real-time motion planning algorithm for a flight simulator. The G-load simulation model is given but is difficult to solve when the G-loads are negative. A real-time motion planning algorithm with two-dimensional interpolation is used to generate both a trapezoidal G-load curve and three-axis G-load commands. The simulation results show that the simulated G-loads precisely track the commands. The algorithm is accurate and practical. | |||
| Key words：dynamic flight simulatormotion planningG-load simulationtwo-dimensional interpolation | |||
| 收稿日期: 2015-01-12 出版日期: 2015-09-18 | |||
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| 引用本文: |
| 关立文, 刘慧, 付萌. 动态飞行模拟器实时运动规划算法[J]. 清华大学学报（自然科学版）, 2015, 55(7): 709-715. GUAN Liwen, LIU Hui, FU Meng. Real-time motion planning algorithm for dynamic flight simulators. Journal of Tsinghua University(Science and Technology), 2015, 55(7): 709-715. |
| 链接本文: |
| http://jst.tsinghuajournals.com/CN/或 http://jst.tsinghuajournals.com/CN/Y2015/V55/I7/709 |
图表:
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| 图1 DFS3维结构图 |
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| 图2 飞行员过载方向定义 |
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| 图3 过载曲线预处理 |
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| 图4 卸载与加载对应关系图解 |
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| 图5 δG 、tc 随数据间隔和插值方法的变化 |
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| 图6 2维插值原理图 |
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| 图7 运动规划算法整体流程 |
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| 表1 DFS主要性能和结构参数 |
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| 图8 纯z 向梯形过载曲线 |
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| 图9 纯z 向梯形过载模拟中DFS运动参数变化情况 |
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| 图10 纯z 向梯形过载模拟误差 |
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| 图11 飞行员3轴过载曲线 |
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| 图12 实际飞行动作3轴过载仿真结果 |
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| 图13 3轴过载仿真误差 |
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