CN102110383B - Hydraulic simulator platform free from washout algorithm in direction of rotation around Z axis - Google Patents
Hydraulic simulator platform free from washout algorithm in direction of rotation around Z axis Download PDFInfo
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- CN102110383B CN102110383B CN2011100086511A CN201110008651A CN102110383B CN 102110383 B CN102110383 B CN 102110383B CN 2011100086511 A CN2011100086511 A CN 2011100086511A CN 201110008651 A CN201110008651 A CN 201110008651A CN 102110383 B CN102110383 B CN 102110383B
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Abstract
The invention discloses a hydraulic simulator platform free from a washout algorithm in the direction of rotation on a Z axis. A worm gear and an annular guide rail are fixed coaxially at the upper end of a stationary platform foundation sequentially; the lower ends of sliding blocks in six sets of moving components are slidably connected with the annular guide rail respectively; the upper end of the sliding block in each set of moving components is connected with a sliding block fixing plate; a hydraulic motor is mounted on a first fixing plate on one side of the sliding block fixing plate; an output shaft of the hydraulic motor is connected with a worm; the worm is meshed with the worm gear; pulleys, adhered to convex edges of internal and external surfaces of the annular guide rail, are mounted in four corners on the lower side of the sliding block fixing plate respectively; and control lines of a control box mounted in the stationary platform foundation are connected with six servo motors respectively. The simulator platform rotates on the Z axis infinitely to avoid the washout filter algorithm in the direction of rotation on the Z axis, thereby effectively improving the reality of simulation, effectively improving travels in X, Y and Z directions, particularly in the Z direction, and greatly increasing the working space of the simulator.
Description
Technical field
The present invention relates to a kind of drive simulation applicator platform, especially relate to a kind of fluid pressure type avoids washing out algorithm around Z axle sense of rotation simulator platform.
Background technology
Driving simulator is the mechanical hook-up that drive simulating is experienced, and simulates sensation in real equipment (like the vibration of vehicle, climb and fall, turning etc.) as much as possible, is used for indoor training driver, and the driver can be not injured because of the accident in the drive simulating.The characteristic of driving simulator has determined it to have the following advantages: 1) security is good, and the use driving simulator can carry out at a high speed safely, the limit is gone and breakneck safety experiment, can significantly improve the security of training; 2) repdocutbility is good, because factors such as vehicle-state and experiment condition are difficult to control, the real train test repeatability is relatively poor, uses driving simulator then can carry out the selection of data acquisition, auto model and the setting of simulated environment easily, and repdocutbility is good; 3) economy is high, compares with true car test, and driving simulator can be set various experiment conditions and parameter in the software environment, significantly improve the changeability of training effectiveness, various environment and parameter, and cost can not increase; 4) driving simulator helps the research and development of relevant device, helps the deviser to find design defect, mistake rapidly, thereby reduces R&D costs, shortens the construction cycle.
Therefore, driving simulator usually is used for replacing real equipment, with the training and operation person maneuvering capability and the research and development relevant device of real equipment is simulated, and the application of driving simulator in the senior trainings of driver such as aircraft, vehicle and boats and ships is more and more general.
External aspect has just designed first flight driving simulator as far back as the dust German woods gram of the nineteen twenty-nine U.S., and is applied to vehicle driving simulator and navigation driving simulator gradually, in drive simulation and engineering development, is widely used.Domestic aspect: BJ University of Aeronautics & Astronautics, Harbin Institute of Technology etc. has all carried out correlative study to driving simulator, and blue sky, Beijing science and technology of aviation company limited has also developed the flight driving simulator; Jilin University, Nanjing University, also developed automobile driving simulator, armored force engineering institute has developed Water and Land Tank Driving Training Simulator; The Zhejiang University and the Maritime Affairs University Of Dalian have developed jointly navigation driving simulator etc.
Advanced driving simulator generally is made up of the driving cabin of a high emulation and a six-freedom motion analog platform etc.The bearing circle of arranging in the driving cabin, throttle, brake, gear etc. and the object of being simulated be on the layout and almost consistent on the functional performance, and operating personnel are through operating the motion of controlled motion analog platform to it, makes that the people is on the spot in person to obtain real sense organ.The six-freedom motion analog platform all is based on classical Stewart structure; As shown in Figure 1; It comprises moving platform, silent flatform, also is connected with six hydraulic cylinders through hinge or universal joint respectively; Through independent control to six oil cylinders; Can realize moving platform in the moving and rotating of X, Y, three directions of Z,, reach the driver and be sitting in the real equipment the inside and drive the similarly purpose of sensation with the motion of vertical translation, horizontal translation, transverse translation, pitching, inclination and the rotation six-freedom degree of simulating vehicle.
That this six-freedom motion analog platform has is simple in structure, driving-chain short, rigidity is big, light weight, cost are low, controllability, nothing destructiveness, reliability, security and outstanding dynamic performance; Particularly be easy to realize " six-axis linkage "; Have good dynamic characteristics and high advantages such as positional precision, but it have problems such as impulse stroke is short, all directions steering angle is little simultaneously.Its maximum shortcoming is exactly very limited around the angle of Z axle rotation, and is as shown in Figure 2 when it rotates to extreme position, driver's sense of reality when this structure applications greatly reduces the simulation turning when driving simulator.
Simultaneously; Because the movement travel of simulator platform is limited, can not reproduce the movement locus (spending right-angled bends etc. apart from climb and fall, 90) of real equipment fully, therefore in order to produce the continuous sense of reality as long; After accomplishing once motion; Must adopt special algorithm to make simulator platform turn back to meta lentamente, have enough strokes to guarantee next step motion simulation, this algorithm is called as and washes out (Washout) filtering algorithm.
The target that washes out (Washout) filtering algorithm is angular velocity and the power that the people can experience in the reproduction true environment in limited simulator work space; The high and low frequency that human body in the signal of real equipment kinetic model output can't be experienced partly filters; Reduce the actuating quantity of motion platform; And in due course the band of position of platform is got back near the meta, so that bigger work space to be provided.
Owing in vehicle drive, because the restriction of vehicle self, the pitching of road (rotating around the Y axle), inclination (rotating around the X axle) generally can not surpass 30 °, so simulator is simulated pitching, inclination can tally with the actual situation basically; Yet vehicle can not be just when turning angle so, it might be 90 ° of right-angled bends, also might be 180 ° and turn around, simulator driftage (promptly rotating around the Z axle) angle is far smaller than actual demand.
If simulator platform can have bigger driftage angle, then reduced requirement, and more can meet the impression of drive simulating washing out (Washout) filtering algorithm.
Summary of the invention
Can not eliminate the difference between the kinaesthesis of sense of reality and driving simulator to the various filtering algorithms that wash out; Particularly can not the invention provides a kind of fluid pressure type avoids washing out algorithm around Z axle sense of rotation simulator platform around the shortcoming of the continuous rotation of Z-direction.
Technical scheme of the present invention is:
The present invention includes the silent flatform basis, moving platform and the identical leg structure of six nested structures that supports silent flatform basis, moving platform, every cover leg structure comprises hydraulic cylinder upper bed-plate, hydraulic cylinder and hydraulic cylinder lower bottom base.Coaxial successively worm gear and the ring-shaped guide rail of being fixed with in upper end, silent flatform basis; Slide block lower end in the six cover moving-members is slidingly connected with ring-shaped guide rail respectively; The upper end of every cover moving-member is connected with separately hydraulic cylinder lower bottom base respectively; The hydraulic cylinder upper bed-plate of every cover leg structure is evenly distributed on the moving platform, and the upper end of every cover moving-member is connected with separately hydraulic cylinder lower bottom base respectively; The upper end of the slide block in every cover moving-member is connected with the slide block fixed head; First fixed head and second fixed head are vertically mounted on the both sides of slide block fixed head along the ring-shaped guide rail tangential direction respectively; Oil motor is installed on first fixed head; Hydraulic motor output shaft is connected with worm screw, and the worm and wheel engagement, on four angles of slide block fixed head downside pulley is installed respectively; The chimb of the groove of two pulleys and ring-shaped guide rail lateral surface fits, and the chimb of the groove of two other pulley and ring-shaped guide rail medial surface fits; Control line and six servomotors of difference of being installed on hydraulic control box in the silent flatform basis are connected, and hydraulic control box can be followed moving platform around the rotation of Z axle.
Hydraulic system in the described hydraulic control box comprises oil motor, hydraulic lock, reversal valve, throttling valve, two retaining valves, surplus valve, hydraulic pump, filtrator, motor and accumulator; Motor is connected with hydraulic pump through shaft coupling, and the inlet port of hydraulic pump is through the filtrator connected tank, the high pressure oil content three tunnel of the oil-out of hydraulic pump; The first via connects accumulator; The second the tunnel connects the oil-in of surplus valve, and the oil-out of surplus valve leads to fuel tank, and Third Road connects the oil-in of first retaining valve; The oil-out of first retaining valve connects the oil-in of reversal valve respectively through second retaining valve and throttling valve; The oil-out of reversal valve leads to fuel tank, and two other hydraulic fluid port of reversal valve connects the oil-in of hydraulic lock, and two oil-outs of hydraulic lock connect oil motor.
The beneficial effect that the present invention has is:
1, the drive simulation applicator platform can infinitely rotate around the Z axle, has avoided the filtering algorithm that washes out around Z axle sense of rotation, thereby improves the authenticity of simulation effectively.
2, X, Y, three directions of Z have been improved effectively, the stroke on the special Z direction.
3, increased the work space of drive simulation applicator platform greatly.
The present invention can be applied to the senior driving simulator of aircraft, various vehicle and boats and ships etc.
Description of drawings
Fig. 1 is classical Stewart simulator platform figure.
Fig. 2 is that classical Stewart simulator platform rotates to extreme position figure.
Fig. 3 is a general illustration of the present invention.
Fig. 4 is an overall construction drawing of the present invention.
Fig. 5 is that the present invention moves the moving-member structural drawing.
Fig. 6 is that the present invention moves the cut-open view of moving-member along the worm screw center.
Fig. 7 is a hydraulic system principle figure of the present invention.
Among the figure: 1, silent flatform basis, 2, moving-member, 3, the hydraulic cylinder lower bottom base, 4, hydraulic cylinder, 5, the hydraulic cylinder upper bed-plate, 6, moving platform, 7, hydraulic control box; 8, first fixed head, 9, worm screw, 10, worm gear, 11, ring-shaped guide rail, 12, slide block, 13, the slide block fixed head; 14, pulley, 15, oil motor, 16, second fixed head, 17, simulator cabin, 18, hydraulic lock, 19, reversal valve; 20, throttling valve, 21, first retaining valve, 22, surplus valve, 23, hydraulic pump, 24, filtrator, 25, fuel tank; 26, motor, 27, accumulator, 28, second retaining valve, 29, hydraulic system, 30, the control box fixed head, 31, rotate basic platform.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further description.
Like Fig. 3, Fig. 4, Fig. 5, Fig. 6, shown in Figure 7; The present invention includes the silent flatform basis; Moving platform and the identical leg structure of six nested structures that supports silent flatform basis, moving platform, every cover leg structure comprises hydraulic cylinder upper bed-plate 5, hydraulic cylinder 4 and hydraulic cylinder lower bottom base 3; It is characterized in that: coaxial successively worm gear 10 and the ring-shaped guide rail 11 of being fixed with in 1 upper end, silent flatform basis; Slide block 12 lower ends in the six cover moving-members 2 are slidingly connected with ring-shaped guide rail 11 respectively; The upper end of every cover moving-member 2 is connected with separately hydraulic cylinder lower bottom base 3 respectively; The hydraulic cylinder upper bed-plate 5 of every cover leg structure is evenly distributed on the moving platform 6, and the upper end of every cover moving-member 2 is connected with separately hydraulic cylinder lower bottom base 3 respectively; The upper end of the slide block 12 in every cover moving-member 2 is connected with slide block fixed head 13; First fixed head 8 and second fixed head 16 are vertically mounted on the both sides of slide block fixed head 13 along ring-shaped guide rail 11 tangential directions respectively; Oil motor 15 is installed on first fixed head 8; The output shaft of oil motor 15 is connected with worm screw 9, and worm screw 9 and worm gear 10 engagements, on four angles of slide block fixed head 13 downsides pulley 14 is installed respectively; The chimb of the groove of two pulleys 14 and ring-shaped guide rail 11 lateral surfaces fits, and the chimb of the groove of two other pulley 14 and ring-shaped guide rail 11 medial surfaces fits; Control line and six servomotors 15 of difference of being installed on hydraulic control box 7 in the silent flatform basis 1 are connected, and hydraulic control box 7 can be followed moving platform 6 around the rotation of Z axle.
Fixing worm gear 10 on the silent flatform basis 1, ring-shaped guide rail 11, six cover moving-members 2 are being installed above the worm gear 10 are installed in respectively on the ring-shaped guide rail 11, therefore every cover moving-member 2 can move on ring-shaped guide rail 11.
On every cover moving-member 2 hydraulic cylinder lower bottom base 3 is installed; Hydraulic cylinder lower bottom base 3 is connected with the lower end of hydraulic cylinder 4 through spherical hinge; The upper end of hydraulic cylinder 4 is connected with hydraulic cylinder upper bed-plate 5 through spherical hinge, and six hydraulic cylinder upper bed-plates 5 are installed on the moving platform 6 respectively fifty-fifty.
Linking also and can be connected between hydraulic cylinder lower bottom base 3 and hydraulic cylinder 4, hydraulic cylinder 4 and the hydraulic cylinder upper bed-plate 5 through universal joint.
Moving-member 2 comprises: first fixed head 8, worm screw 9, worm gear 10, ring-shaped guide rail 11, slide block 12, slide block fixed head 13, pulley 14, oil motor 15, second fixed head 16.Slide block 14 in the moving-member 2 is positioned on the ring-shaped guide rail 11, and mainly relies on slide block 12 to bear the vertical acting force that hands down on the moving platform 6, and on ring-shaped guide rail 11, slides.
The upper end of slide block 12 is connected with slide block fixed head 13; On four angles of slide block fixed head 13 downsides four pulleys 14 are installed respectively; The chimb of the groove of pulley 14 and ring-shaped guide rail 11 sides fits; Pulley 14 also can be along the side slip of ring-shaped guide rail 11 like this, and respectively there are two pulleys 14 two sides of ring-shaped guide rail 11, so pulley 14 also can bear the side action power that hands down on the moving platform 6.
Simultaneously; First fixed head 8 and second fixed head 16 are vertically mounted on the both sides of slide block fixed head 13 along ring-shaped guide rail 11 tangential directions respectively; On first fixed head 8 oil motor 15 is installed, the axle of oil motor 15 is connected with worm screw 9, and worm screw 9 and worm gear 10 engagements; Therefore, oil motor 15 rotates and can drive worm screw 9 around worm gear 10 rotations.
Have the control box fixed head 30 of a horizontal positioned to be connected with the rotation basis platform 31 with ring-shaped guide rail through slide block, hydraulic control box 7 is installed on the control box fixed head 30, and the center of control box fixed head 30 downsides is connected with a fixing motor.When the angle of sensor to moving platform 6 rotations; The motor of driver drives hydraulic control box 7 rotates identical angle; Therefore no matter what enclose in moving platform 6 rotations, how many circles hydraulic control box 7 also rotates, and the oil pipe that is connected on the oil motor 15 can not twine even roll into a ball and contract together.
Fig. 7 is the fundamental diagram of hydraulic system 29 of the present invention, comprising: hydraulic lock 18, reversal valve 19, throttling valve 20, the first retaining valves 21, surplus valve 22, hydraulic pump 23, filtrator 24, fuel tank 25, motor 26, accumulator 27, the second retaining valves 28.Motor 26 drives hydraulic pump 23 and rotates and hydraulic oil is played through filtrator 24; The hydraulic pressure oil content three tunnel of high pressure; One the tunnel leads to accumulator 27 is not less than certain value to guarantee pressure, and another road leads to fuel tank 25 through surplus valve 22 and is not more than certain value to guarantee pressure, and first retaining valve, 21 imports of leading up in addition guarantee that the hydraulic oil of high pressure does not reflux; The outlet of first retaining valve 21 is connected with throttling valve 20; Second retaining valve 28 and the throttling valve 20 parallelly connected effects of playing flow speed control valve, the other end of throttling valve 20 is connected with reversal valve 19, and reversal valve 19 mainly plays locking position, just changes, reverses; The other end of reversal valve 19 is connected with hydraulic lock 18, and the other end of hydraulic lock 18 is connected with oil motor 15.
Whole system has the similar hydraulic system 29 of 12 covers, and wherein 6 covers drive 6 oil motors 15 respectively, and other 6 covers drive 6 hydraulic cylinders 4 (oil motor in the hydraulic system 27 8 is replaced with hydraulic cylinder 4 to get final product) respectively.
The whole system operation flow process is following:
1. COMPUTER DETECTION simulator position, the attitude that should be in, and separate length or the angle of oil motor 15 rotations or both combinations that obtains each hydraulic cylinder 4 elongations through pose is counter; At this moment,, have only hydraulic cylinder 4 flexible, be equivalent to a Stewart platform exactly if oil motor 15 does not rotate; If hydraulic cylinder 4 does not move, have only servomotor 15 rotations, but the also motion of implementation platform six-freedom degree, but work space is just little a lot; If should stretch by hydraulic cylinder 4, also want oil motor 15 rotations, also can satisfy the demand of platform six-freedom degree motion; And the anti-Xie Gengduo that obtains that separates of pose; Can select different separating according to condition of different, promptly how much flexible hydraulic cylinder 4 is, and how many oil motor 15 rotations have more selection;
2. when simulator need be turned; The radius calculation that real equipment need be turned changes simulator cabin 17 and moving platform 6 angle in 1 rotation of silent flatform basis into; Therefore, each moving-member 2 is identical around the angle of identical direction rotation, and promptly the rotation amount of oil motor 15 is identical; At this moment, hydraulic cylinder 4 still keeps constantly stretching state, and other sensation (as: climb and fall pitching, road surface inclination) is similar with real equipment when guaranteeing to turn;
3. owing to rotation has taken place moving platform 6 in this motion process; Sensor is to this rotation; Driver drives the motor that connects control box fixed head 30 immediately and rotates identical angle, guarantees that hydraulic control box 7 is identical around the angle of Z axle rotation with moving platform 6, owing between the moving-member 2 of fixed hydraulic motor 15 and the moving platform 6 through being to be connected through hydraulic cylinder 4; Therefore the maximum distance between them is exactly the length of hydraulic cylinder 4 maximum elongation amounts; And hydraulic control box 7 has kept identical angle with moving platform 6, so the maximum distance of the oil motor 15 on hydraulic control box 7 and the moving-member 2 can confirm that also this maximum distance promptly is the length of the control line of oil motor 15; No matter how how whole flat moves, and this length can guarantee that the control line of oil motor 15 is connected on the hydraulic control box 7;
4. when true equipment moving to different position; Be that position and the attitude of simulator cabin 17 on moving platform 6 is in different state; Only need hydraulic cylinder 4 to elongate or shorten to rotate to different angles to corresponding length or each moving-member 2 to get final product, also can hydraulic cylinder 4 flexible, each moving-member 2 rotation combination motion also can reach and make moving platform 6 be in the different positions and the purpose of attitude; Because the motion that separately rotation of telescopic hydraulic cylinder 4 or oil motor 15 can the implementation platform six-freedom degree, if therefore both are combined, the space of platform has played the effect that adds up, and is bigger than the work space of traditional Stewart platform.
Claims (1)
1. a fluid pressure type centers on the simulator platform that Z axle sense of rotation avoids washing out algorithm; Comprise the silent flatform basis; Moving platform and the identical leg structure of six nested structures that supports silent flatform basis, moving platform, every cover leg structure comprises hydraulic cylinder upper bed-plate (5), hydraulic cylinder (4) and hydraulic cylinder lower bottom base (3); It is characterized in that: coaxial successively worm gear (10) and the ring-shaped guide rail (11) of being fixed with in upper end, silent flatform basis (1); Slide block (12) lower end in the six cover moving-members is slidingly connected with ring-shaped guide rail (11) respectively; The upper end of every cover moving-member (2) is connected with separately hydraulic cylinder lower bottom base (3) respectively; The hydraulic cylinder upper bed-plate (5) of every cover leg structure is evenly distributed on the moving platform (6), and the upper end of every cover moving-member (2) is connected with separately hydraulic cylinder lower bottom base (3) respectively; The upper end of the slide block (12) in every cover moving-member (2) is connected with slide block fixed head (13); First fixed head (8) is vertically mounted on the both sides of slide block fixed head (13) along ring-shaped guide rail (11) tangential direction respectively with second fixed head (16); Oil motor (15) is installed on first fixed head (8); The output shaft of oil motor (15) is connected with worm screw (9), and worm screw (9) and worm gear (10) engagement, on four angles of slide block fixed head (13) downside pulley is installed respectively; The chimb of the groove of two pulleys and ring-shaped guide rail (11) lateral surface fits, and the chimb of the groove of two other pulley and ring-shaped guide rail (11) medial surface fits; The control line that is installed on the interior hydraulic control box in silent flatform basis (1) (7) is connected with six servomotors respectively, and hydraulic control box (7) can be followed moving platform (6) around the rotation of Z axle;
Hydraulic system (29) in the described hydraulic control box (7); Comprise oil motor (15), hydraulic lock (18), reversal valve (19), throttling valve (20), two retaining valves (21,28), surplus valve (22), hydraulic pump (23), filtrator (24), motor (26) and accumulator (27); Motor (26) is connected with hydraulic pump (23) through shaft coupling, and the inlet port of hydraulic pump (23) is through filtrator (24) connected tank (25), the high pressure oil content three tunnel of the oil-out of hydraulic pump (23); The first via connects accumulator (27); The second the tunnel connects the oil-in of surplus valve (22), and the oil-out of surplus valve (22) leads to fuel tank, and Third Road connects the oil-in of first retaining valve (21); The oil-out of first retaining valve (21) connects the oil-in of reversal valve (19) respectively through second retaining valve (28) and throttling valve (20); The oil-out of reversal valve (19) leads to fuel tank, and two other hydraulic fluid port of reversal valve (19) connects the oil-in of hydraulic lock (18), and two oil-outs of hydraulic lock (18) connect oil motor (8).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100086511A CN102110383B (en) | 2011-01-17 | 2011-01-17 | Hydraulic simulator platform free from washout algorithm in direction of rotation around Z axis |
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| CN2011100086511A CN102110383B (en) | 2011-01-17 | 2011-01-17 | Hydraulic simulator platform free from washout algorithm in direction of rotation around Z axis |
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| CN102110383A CN102110383A (en) | 2011-06-29 |
| CN102110383B true CN102110383B (en) | 2012-05-02 |
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| CN105845011A (en) * | 2015-01-14 | 2016-08-10 | 天津工大瑞工光电技术研究院有限公司 | Spatial topological motion simulation platform |
| CN108803378B (en) * | 2018-08-08 | 2019-07-26 | 四川大学 | Data processing method, device, flight simulator and storage medium |
| CN112827153A (en) * | 2020-12-25 | 2021-05-25 | 苏州衡品医疗科技有限公司 | Active self-adaptive system for human body function training and control method thereof |
| CN113431701B (en) * | 2021-04-28 | 2022-07-15 | 中国航发沈阳发动机研究所 | Pipeline connection structure and spherical surface convergence vectoring nozzle structure thereof |
| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放军火箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
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