CN101339701B - Three freedom degree movement simulation platform - Google Patents
Three freedom degree movement simulation platform Download PDFInfo
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- CN101339701B CN101339701B CN2008100510865A CN200810051086A CN101339701B CN 101339701 B CN101339701 B CN 101339701B CN 2008100510865 A CN2008100510865 A CN 2008100510865A CN 200810051086 A CN200810051086 A CN 200810051086A CN 101339701 B CN101339701 B CN 101339701B
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Abstract
The invention discloses a three-freedom motion simulation platform and provides a three-freedom motion simulation platform which is characterized by low center of gravity, strong carrying capacity, more consideration of passenger safety, great integrated height reduction of a motion simulation system to better meet the motion simulation demands of the fields of vehicles, ships, aircrafts, virtual reality and entertainment industry, etc. The platform mainly consists of a frame, actuators connecting the frame and a servo control system; the frame comprises a lower frame (1), a middle frame (2) and an upper frame (3); central positions of the lower frame (1) and the middle frame (2) are connected by a universal joint (4); the lower frame (1) and the middle frame (2) are connected by two actuators (6, 5); the middle frame (2) and the upper frame (3) are connected by a middle actuator (9) and two straight-line guide rails (8, 7), and the expansion of the three actuators are controlled by the servo control system.
Description
Technical field
The present invention relates to a kind of three freedom degree movement simulation platform and control system thereof, this motion platform has pitching, rolling and front and back translation three degree of freedom, be applicable to the rolling, pitching, acceleration, deceleration, braking on simulating vehicle, aircraft, naval vessel etc., also be applicable to other fields such as virtual reality, show business.
Background technology
Present sport simulated system, mostly at motion simulation objects such as vehicle, boats and ships, aircraft, multiple freedom parallel mechanisms such as employing Stewart (Stewart) platform are as motion simulator, simulator cabin is loaded on the top of the motion platform that parallel institution props up more, such motion simulator overall dimensions is higher, so need be installed in the higher buildings.Its major defect is the center of gravity height, and security is low.
Summary of the invention
The present invention proposes that a kind of center of gravity is low, load-bearing capacity is considered occupant safety by force, more, and reduce the three freedom degree movement simulation platform of sport simulated system whole height significantly, to satisfy the motion simulation demand in fields such as vehicle, boats and ships, aircraft, virtual reality, show business better.
Above-mentioned purpose of the present invention is achieved in that accompanying drawings is as follows:
A kind of three freedom degree movement simulation platform, mainly actuator and the servo-control system by framework, connecting frame constitutes, said framework comprises underframe 1, middle frame 2, upper frame 3, the center of underframe 1, middle frame 2 connects by a universal joint 4, connect by two actuator 5,6 between underframe 1 and the middle frame 2, be connected with two line slideways 7,8 by middle actuator 9 between middle frame 2 and the upper frame 3, actuator 5,6 and middle actuator 9 are flexible by servo-control system control.
Said two actuator 5,6 are vertical and be symmetrically distributed in the platform front side, the one end links to each other with underframe 1 by universal joint 10,12 respectively, the other end links to each other by the sway brace that universal joint 11,13 and middle frame 2 stretch out respectively, by control in the actuator elongation and another is when shortening, motion simulation platform rotates around the longitudinal axis, two actuator are stretched out simultaneously or when withdrawing simultaneously, motion simulation platform rotates around transverse axis.
Said three actuator by servo-control system control can servo apply hydraulic pressure cylinder, pneumatic servo cylinders or are adopted the electrical servo cylinder.
Said servo-control system comprises host computer 16 and motion platform servo controller 24, host computer 16 is sent to motion platform servo controller 24 by the RS485 interface with steering order, be construed to the action command of three electrical servo cylinders by it, and this command signal passed to the servomotor 19 of three electrical servo cylinders, control three electrical servo cylinders and carry out predetermined actions.
Said each electrical servo cylinder is provided with the upper limit position switch 20 and the lower position switch 21 of range, minimum stroke extreme position, motion platform servo controller 24 is provided with scram button 17, on the motion platform servo controller, also be provided with manual adjustment pitching, rolling, and before and after the manual operator group 18 of translation amplitude.
Three degree of freedom motion simulator provided by the present invention by actuator being arranged in around the platform and actuator such as is laterally placed at measure, is reduced to bottom line with the height of platform.Thereby occupant's degree of safety greatly improved when fault was occurred, and had reduced the requirement for height of placing the required buildings of motion simulator, and first the dressing up originally of motion simulator greatly reduced.
Technique effect of the present invention is: compared with prior art the advantage of this three freedom degree movement simulation platform is mainly reflected in two aspects: at first be three freedom degree movement simulation platform provided by the present invention and compare with the motion platform of other type of tonnage, its podium level greatly reduces, and is very favourable to the height that reduces whole sport simulated system; Secondly, the motion amplitude of the front and back translation of three freedom degree movement simulation platform provided by the present invention can be done greatlyyer, and to the acceleration, deceleration of working direction such as vehicle, boats and ships, aircraft, the motion simulation of braking is more favourable.
Description of drawings
The invention will be further described below in conjunction with the accompanying drawing illustrated embodiment.
Fig. 1 is the three freedom degree movement simulation platform structure principle chart;
Fig. 2 is the entity structure example of three freedom degree movement simulation platform;
Fig. 3 is that the three freedom degree movement simulation platform control system is formed example.
Among the figure: 1. in the middle of another line slideways 9. of 7. 1 line slideways of underframe 2. middle frame 3. upper frames, 4. universal joints 5. 1 actuator, 6. another actuator 8. actuator 10～15. for the identical universal joint 16. host computers 17. scram buttons 18. manual operator groups 19. servomotors 20. upper limit position switch 21. lower position switch 22. ball-screws 23. synchronous cog belts 24. motion platform servo controllers 5 of structure ', 6 ', 9 '. be respectively the instruction E. control bus F. position control signal that translation manual operator D. before and after three electric servo cylinder A. pitching manual operator B. rolling manual operator C. come from host computer
Embodiment
Actuator can the servo apply hydraulic pressure cylinder, pneumatic servo cylinder and electrical servo cylinder etc., and actuator adopts the electrical servo cylinder in this example.
Fig. 2 is the entity structure example of motion platform.This motion platform is made up of upper frame 1, middle frame 2 and underframe 3, drive two electrical servo cylinders 5 of dependence ', 6 ' and middle electrical servo cylinder 9 '.Underframe 1 is connected by a universal joint 4 at center position with middle frame 2, the position control of middle frame 2 rely on two electrical servo cylinders 5 ', 6 ' realize, two electrical servo cylinders 5 ', 6 ' respectively link to each other with underframe 1 by universal joint one end, the other end links to each other with the sway brace that middle frame 2 stretches out. Line slideway 7,8 with two parallel placements in front and back between middle frame 2 and the upper frame 3 connects, with line slideway placing abreast an electrical servo cylinder 9 ', one end of this servoBcylinder is connected with middle frame 2 by universal joint, and the other end is connected with upper frame 3 by universal joint.Two electrical servo cylinders 5 ', 6 ' simultaneously when flexible, platform produces luffing, when elongation and another shortened, platform produced rolling movement; Middle electrical servo cylinder 9 ' when stretching, translation motion before and after platform produces.
The control system that Figure 3 shows that this motion platform is formed example.Control system is made of host computer 16 and motion platform servo controller 24.Host computer 16 is sent to motion platform servo controller 24 by the RS485 interface with steering order, be construed to the action command of three electrical servo cylinders by it, then this command signal is passed to the servomotor 19 of three electrical servo cylinders, controlled three electrical servo cylinders and produce predetermined actions.Extreme position limit switch 20,21 when each electrical servo cylinder is provided with range, minimum stroke, after the electrical servo cylinder reached capacity the position, limit switch was summoned the motion that stops this electrical servo cylinder to servo controller.The motion platform servo controller is provided with scram button 17, is used for promptly stopping when facing a danger the motion of platform.On the motion platform servo controller, also be provided with manual adjustment pitching, rolling, and before and after the manual operator group 18 of translation amplitude, use during for the manual adjustment position of platform.
Claims (5)
1. three freedom degree movement simulation platform, mainly by framework, the actuator of connecting frame and servo-control system are formed, it is characterized in that said framework comprises underframe (1), middle frame (2), upper frame (3), underframe (1), the center of middle frame (2) connects by a universal joint (4), pass through two actuator (6 between underframe (1) and the middle frame (2), 5) connect, between middle frame (2) and the upper frame (3) by middle actuator (9) and two line slideways (8,7) connect, three actuator are flexible by servo-control system control, said three actuator servo apply hydraulic pressure cylinders, pneumatic servo cylinder or electrical servo cylinder.
2. three freedom degree movement simulation platform according to claim 1, it is characterized in that said two actuator (6,5) are vertical and be symmetrically distributed in the platform front side, one end of two actuator links to each other with underframe (1) by universal joint (12,10) respectively, the other end links to each other with the sway brace that middle frame (2) stretches out by universal joint (11,13) respectively, by control in the actuator elongation and another is when shortening, motion simulation platform rotates around the longitudinal axis, two actuator are stretched out simultaneously or when withdrawing simultaneously, motion simulation platform rotates around transverse axis.
3. three freedom degree movement simulation platform according to claim 1, it is characterized in that said in the middle of actuator (9) and two line slideways (8,7) along front and back and be placed in parallel in middle frame (2) and upper frame (3) between, one end of middle actuator (9) links to each other with middle frame (2) by universal joint (14), the other end links to each other with upper frame (3) by universal joint (15), by controlling the flexible of this actuator, can make upper frame (3) produce the front and back translation motion with respect to middle frame (2).
4. three freedom degree movement simulation platform according to claim 1, it is characterized in that said servo-control system comprises host computer (16) and motion platform servo controller (24), host computer (16) is sent to motion platform servo controller (24) by the RS485 interface with steering order, be construed to the action command of three electrical servo cylinders by it, and this command signal passed to by servomotor (19) drive three electrical servo cylinders, control three electrical servo cylinders and carry out predetermined actions.
5. according to claim 1 or 4 described three freedom degree movement simulation platforms, it is characterized in that said each electrical servo cylinder is provided with the upper limit position switch (20) and the lower position switch (21) of range, minimum stroke extreme position, motion platform servo controller (24) is provided with scram button (17), the manual operator group (18) of translation amplitude before and after also being provided with on the motion platform servo controller and adjusting pitching, rolling, reaching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100510865A CN101339701B (en) | 2008-08-18 | 2008-08-18 | Three freedom degree movement simulation platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100510865A CN101339701B (en) | 2008-08-18 | 2008-08-18 | Three freedom degree movement simulation platform |
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| CN101339701A CN101339701A (en) | 2009-01-07 |
| CN101339701B true CN101339701B (en) | 2011-06-08 |
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| CN2008100510865A Active CN101339701B (en) | 2008-08-18 | 2008-08-18 | Three freedom degree movement simulation platform |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101710457B (en) * | 2009-08-31 | 2011-08-17 | 中国人民解放军第三军医大学第二附属医院 | Vehicle movement training simulation platform |
| CN102013188B (en) * | 2010-12-06 | 2012-07-18 | 河海大学 | Centrifugal machine based flight simulation system and method thereof |
| CN102830699B (en) * | 2012-09-21 | 2014-06-18 | 山东大学 | Robot single joint hydraulic pressure and position control test platform |
| EP2584551B2 (en) * | 2012-12-12 | 2020-11-04 | Moog B.V. | Simulator |
| CN103287587B (en) * | 2013-06-17 | 2015-10-07 | 西北工业大学 | A kind of vertical take-off and landing aircraft (VTOL aircraft) ground simulated flight test platform |
| CN103886782B (en) * | 2014-04-09 | 2016-06-01 | 陈京波 | A kind of 360 degree of omnidirectionals overload type of flight simulator |
| CN104976488B (en) * | 2015-07-22 | 2016-12-21 | 湖南科技大学 | A kind of Three Degree Of Freedom Active Vibration Isolation Platform |
| CN105913717B (en) * | 2016-07-01 | 2018-08-31 | 上海海事大学 | A kind of big displacement six-degree of freedom vibration platform |
| CN108230802B (en) * | 2017-12-14 | 2020-08-11 | 李明泽 | Safety protection system of three-degree-of-freedom swing platform |
| CN108227517A (en) * | 2017-12-14 | 2018-06-29 | 李明泽 | Three Degree Of Freedom tilter |
| GB2585945B (en) * | 2019-07-26 | 2021-07-28 | Kirkman Tech Ltd | Motion platform |
| CN111382502B (en) * | 2020-02-25 | 2023-05-02 | 智慧航海（青岛）科技有限公司 | Ship simulation platform motion protection method and mechanism |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201255936Y (en) * | 2008-08-18 | 2009-06-10 | 吉林大学 | Three degree of freedom motion simulation platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201255936Y (en) * | 2008-08-18 | 2009-06-10 | 吉林大学 | Three degree of freedom motion simulation platform |
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