【作者】 涂朝辉；

【导师】 高英杰；

【作者基本信息】 燕山大学 ， 机械电子工程， 2010， 硕士

【摘要】 飞行模拟器作为一种重要的航空仿真设备,应用于飞行员的训练,可以模拟飞行器的各种复杂的运动状态,为驾驶者提供真实飞行的感觉。与用真实飞机进行飞行试验相比,飞行模拟器具有可控性,无破坏性、经济性等优点。本文中的六自由度飞行模拟器采用Stewart机构作为运动平台,并采用液压驱动方式。通过控制6根阀控液压缸的长度及运动速度来改变上平台的位置和姿态,并可提供6个自由度的瞬时过载功能,从而实现模拟飞机俯仰、滚转、偏航、升降、纵向和侧向移动等运动特征及其动感。本文通过并联机器人的反解方法,考虑Stewart工作空间的影响,利用MATLAB编制运动学反解程序,计算出Stewart六种基本运动下各杆件的长度变化,为实现运动轨迹规划控制提供了基础。应用Pro/ENGINEER软件进行运动仿真,通过对机构进行运动学与动力学分析,借助耦合强度的概念,分析了机构的耦合特性,为实现机构的控制解耦奠定了基础。最后应用PID控制策略对单通道阀控缸系统进行了控制实验研究。通过对Stewart机构及其电液控制系统的研究,研究了机构运动学、动力学、轨迹规划、耦合分析和适应的控制策略等方面的一些关键问题,融合飞行模拟器的机电液系统于一体进行了理论与试验研究,研究结论对提高飞行模拟器的运动控制具有一定的参考价值。更多还原

【Abstract】 Flight Simulator is important aviation simulation equipment, which is used to train pilots. To provide the true feeling of flight, it needs to simulate all kinds of complicated motion state. Compared to the real aircraft, the flight simulator is controllable, non-destructive, economic and other advantages in flight test.This paper takes the six degrees of freedom as a campaign platform Stewart institutions, and adopts the hydraulic-driven approach. By controlling the length of the six hydraulic cylinders on the platform to change the position and attitude, and providing six degrees of freedom instantaneous overload, Flight Simulator can simulate aircraft pitching, trundle, drift, fluctuation, longitudinal and lateral migration.In this paper, parallel robot inverse method, consider the impact of Stewart workspace, using inverse kinematics compiled MATLAB program to calculate the six basic movement Stewart under changes in the length of each bar. And through the application of Pro / ENGINEER finish the simulation of software movement, through institutions kinematics and dynamic analysis, using the concept of coupling strength, analysis of the coupling characteristics of institutions. In the end, Using PID control strategy for single-channel valve-cylinder system, the control experiments.The study conducted by Stewart, has been on the kinematics, dynamics, trajectory planning, and coupling analysis and control strategy for some of the conclusions of the flight simulator studies have a certain reference value.更多还原