CN106327945A - Crane simulator somatic simulation method and device - Google Patents

Abstract

The invention discloses a somatosensory simulation method and device for a crane simulator. The method includes a closed-loop simulation step, a physical quantity input and output step, and a fuzzy PID control step, which are used to simulate the motion sensation produced by traveling mechanisms such as carts and trolleys during crane operation within a limited stroke and working space, specifically referring to: being able to Simulate the motion sensations of instantaneous acceleration and continuous acceleration consistent with real cranes. The device is a three-degree-of-freedom parallel structure, including the lateral movement of the cart, the longitudinal movement of the trolley and the tilt-compensating rotational movement of the trolley. Based on the theory of human motion perception, through processing the input signal, it can effectively solve the problems of acceleration, deceleration, and centering of the somatosensory simulation during the crane simulation operation process. The invention is beneficial to increase the fidelity of the crane simulator, can meet the requirement of simulated motion sensation in limited stroke and working space, and has important application value for improving the quality and level of the simulator.

Description

A crane simulator somatosensory simulation method and device

technical field

The invention relates to crane simulation, in particular to a somatosensory simulation method suitable for a three-degree-of-freedom motion platform of a crane simulator.

Background technique

The three-degree-of-freedom parallel structure can complete the horizontal and vertical linear motion of the space and the rotational motion of the set angle through the control of the driving equipment. The motion platform is mainly used in the somatosensory simulation of the simulator, simulating the somatosensory produced by the traveling mechanisms such as carts and trolleys during the operation of the crane within a limited stroke and working space. At present, motion platform technology is widely used in flight simulators, environment simulators and other simulators to improve the realistic effect of simulation. However, the existing motion platforms are rarely used in the field of cranes, and their functions do not meet the requirements of crane simulation. Take the Stewart six-degree-of-freedom motion platform as an example. The motion platform is expensive, the system is complex, and often needs further improvement to meet the somatosensory simulation Requirements, there will be a waste of functions in simulators with fewer degrees of freedom requirements. The three-degree-of-freedom motion platform can meet the simulation requirements of the crane simulator. Its simple mechanical structure facilitates the solution of the positive solution of the motion platform pose and improves the accuracy and stability of motion control.

In addition, the motion platform of the crane simulator is mainly used for the simulation of the driver's somatosensory, and forms a closed-loop system with the simulator's visual system, audio system and environment layout of the simulator operating platform to achieve a realistic simulation effect. By analyzing the motion function and motion parameters of the motion platform, the existing control algorithm is not suitable for the control of the motion platform of the crane simulator. According to the mechanical structure of the motion platform, the present invention designs the wash-out algorithm for the motion platform, and optimizes the parameters of the control link in the way of feedback adjustment in the control process, so that the motion platform can achieve a more realistic simulation effect in the existing space and improve the performance of the motion platform. stability.

The invention patent with Chinese application number 201410631816.4 discloses a three-degree-of-freedom motion platform with simple structure and good stability. However, on the one hand, the motion platform has a small field of view and does not meet the requirements of the crane's operating environment. On the other hand, it can only meet the rotational motion at a certain angle, which is difficult to meet the instantaneous acceleration requirements of the crane simulator; the invention patent with the Chinese application number 201510031178.7 has been published A Stewart six-degree-of-freedom motion platform flight simulation platform with a multi-layer closed-loop control strategy avoids errors caused by factors such as installation and mechanism deformation through multi-layer closed-loop control. The field is designed and does not meet the crane simulator functional requirements.

The invention designs the motion platform according to the working characteristics of the real crane, and according to the washing-out algorithm designed according to the mechanical structure of the motion platform, the motion of the mechanism directly simulates the instantaneous acceleration of the crane. Simulation of continuous acceleration by tilt angle. The parallel structure of the motion platform in the present invention simplifies the control complexity of the motion platform, and each mechanism moves independently without interfering with each other, avoiding the cumulative error caused by the error of a single driving device, and improving the position accuracy of the motion platform, which has important advantages Economic value and scientific significance.

Contents of the invention

Aiming at the crane simulator, this paper designs a parallel three-degree-of-freedom motion platform, improves the control model of the motion platform, and makes the motion platform meet the control requirements of the crane simulator. The motion platform announced in this paper is designed according to the motion mode and motion parameters of the real crane. Table 1 shows the motion parameters of the crane selected for the design of the motion platform.

Table 1

Because the human body is not sensitive to the feeling of speed, but sensitive to the feeling of acceleration. The acceleration threshold that the human body can feel is 0.2m/s ² . According to the motion parameters of the crane, the motion platform only needs to simulate the sense of motion acceleration through tilt compensation in the moving direction of the trolley, and the tilt angle of the motion platform is designed according to g·sinθ≥0.8 . The motion platform disclosed by the present invention is composed of a lower frame of the motion platform, a guide rail frame, an upper frame, a linkage table and a driving mechanism. The lower frame is fixedly connected with the ground and is used to carry the whole platform. Between the lower frame and the upper frame, three layers of guide rail frames (lower layer rail frame, middle layer rail frame, and upper layer rail frame) with the same structure and size are successively laid for the installation of fixed rails, sliding sleeves and driving devices. The lower side of the lower guide rail frame is welded with the lower frame, and the upper side of the lower guide rail frame is laid with transverse guide rails, and baffle plates are installed on both sides of the guide rail, which are matched with the sliding sleeves installed on the lower side of the middle guide rail frame. Longitudinal guide rails are laid on the upper side of the middle guide rail frame, and baffle plates are installed on both sides of the guide rail, which match with the sliding sleeves installed on the lower side of the upper guide rail frame. The upper side of the upper rail frame is welded together with the upper frame. The linkage table is hinged on the upper frame, and the slide bar mechanism is located below the linkage table, which can convert the linear motion of the electric cylinder into the tilting motion of the linkage table. The lower rail frame, the middle rail frame, and the upper rail frame are each equipped with an electric cylinder. The electric cylinder drive rod is connected coaxially with the actuating rod. The shaft is connected, and each movement mechanism does not interfere with each other.

The linkage platform mentioned herein is a device providing operation functions for operators, and the linkage platform is hinged on the upper frame and moves with the movement of the upper frame. The linkage platform is paved with transparent tempered glass. Its visual field features are: straight ahead, left and right sides and right below.

The invention adopts the data model to describe the vestibular system of the human body, thereby meeting the requirements of the somatosensory simulation control process. The human vestibular system is simplified into semicircular canals and otoliths, the semicircular canals are used to sense angular velocity, and the otoliths are used to sense linear acceleration. Both the semicircular canal and the otolith adopt the mathematical model of the transfer function to facilitate the design of the control link. According to the hardware structure of the motion platform, the control structure and washout algorithm of the motion platform are designed, and the earth coordinate system, simulator coordinate system and linkage platform coordinate system are respectively established. Taking the earth coordinate system as a reference, the input physical quantity is converted from the crane coordinate to the simulator coordinate, and then converted to the linkage table coordinate system according to the somatosensory simulation hardware system structure, and the physical quantity at the vestibule of the simulator operator is obtained. In the control process, the parameters of the control link are optimized by means of feedback adjustment, so as to meet the control requirements of the three-degree-of-freedom motion platform.

Wherein, the corresponding transfer function of the otolith model is:

${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; \&rsqb;</span>}{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; \&rsqb;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}$

The corresponding transfer function of the semicircular canal model is:

${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; S</span>}\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; C</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}<span\; class="notranslate">\; \&rsqb;</span>}{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; \&omega;</span>}<span\; class="notranslate">\; \&rsqb;</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; the\; s</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}$

The somatosensory simulation method disclosed in the present invention specifically refers to: the control and management of the entire process from physical quantity input to somatosensory signal output, including physical quantity input, somatosensory modeling, coordinate transformation, tilt compensation, feedback adjustment, and physical quantity output, etc. control link. The control process of the motion platform is as follows: Step 1: The driver of the simulator feels the surrounding environment through the visual system, and after obtaining the target task, sends a control command to the motion platform; Step 2: Inputs the motion of the crane mechanism through the dynamic model of the crane. The acceleration of the driver is measured by the specific force, and the input of the obtained specific force is obtained through the human perception model to obtain the somatosensory specific force, and the physical quantity at the human perception point is determined through coordinate transformation, that is, the acceleration of the center of mass of the motion platform is converted to the human body. The acceleration of the vestibular part is processed by a high-pass filter on the force signal to obtain an output signal; Step 3: The output signal is controlled by the control module to the driving device to ensure that each movement mechanism moves within the set range; by adjusting the position and posture of the movement platform , including the linear motion of the upper rail frame and the middle rail frame and the tilt compensation motion of the linkage table; the linkage table is hinged on the upper frame, so the linkage table moves with the horizontal and vertical linear motion of the upper frame, thus directly simulating the crane cart, The instantaneous acceleration during the movement of the trolley; the gravitational acceleration component generated by the linkage platform according to the input rotation specific angle, which compensates the continuous acceleration motion feeling; the superimposed movement of the movement of each mechanism felt by the simulator driver on the linkage platform simulates a realistic Somatosensory effect; Step 4: After the motion information of the motion platform is obtained by the simulator dynamic model module, the motion signal of the real crane cab is compared with the signal of the simulator to obtain the somatosensory error between the real body sensation and the motion platform body sensation; The somatosensory error and the rate of change of somatosensory error are used as input signals, and the control parameters are adjusted by feedback through fuzzy PID control, thereby optimizing the control parameters of the control link. The optimization process is through the acceleration fidelity coefficient, acceleration penalty item coefficient, displacement penalty item coefficient and gain penalty. At the same time, driven by body perception and tasks, the driver re-issues instructions to the motion platform, thus forming a closed-loop system of the motion platform;

The somatosensory error and the change rate of somatosensory error are the physical quantity M _A produced by the real crane, and the motion sensation M _R provided by the real crane is calculated through the somatosensory model. The motion sensation M _S felt by the driver during the operation of the simulator is the dynamic feeling of the operation simulator, and the result of M _{S -MA} is the somatosensory error e, and the change rate ec of the somatosensory error can be obtained.

In the somatosensory simulation method, the washout algorithm is the process of signal processing in the somatosensory simulation method. The washout algorithm described in this paper is designed according to the structural characteristics of the motion platform, and is divided into initial calculation links, filtering links, and feedback adjustments. link. The washing out algorithm simultaneously receives the input signals of two channels, which are the input and processing of the dynamic calculation results of the two channels of the cart and the trolley respectively. Affected by the gravity, the acceleration feeling of the driver on the operating simulator is measured by the specific force, the input acceleration a is subtracted from the gravitational acceleration g to obtain the specific force f, and the mathematical expression is f=ag. Then input the obtained comparison form through the human perception model, and obtain the corresponding somatosensory comparison through the human perception model. Then coordinate transformation is carried out according to the established coordinate system. The input signal is filtered by a second-order linear high-pass filter in the two channels to remove unnecessary signal parts in the physical quantity. Finally, the driving equipment is controlled to move to ensure that the motion platform simulates within a limited stroke. Motion sensation. In order to achieve a better somatosensory simulation effect, the weight coefficient of the washout algorithm is optimized by fuzzy PID control, specifically: the physical quantity generated by the real crane is M _A , and the motion sensation provided by the real crane calculated by the somatosensory model is M _R ; and the motion sensation provided by the somatosensory simulation device is M _S , the obtained M _{S -MA} is the somatosensory error e, and ec is further obtained as the change rate of the somatosensory error. The somatosensory error e and the somatosensory error change rate ec are used as input signals, and the weight coefficients of the control process are adjusted in real time. The output fuzzy variables are K _p , _KI , and K _D . The adjusted weight coefficients improve simulation fidelity and limited motion space Range, consistent motion time, and performance in terms of control stability, output response, etc.

The present invention has the following advantages:

1. The motion platform of the present invention is oriented to the crane simulator, and the real instantaneous acceleration can be directly generated through the slide rail, the sliding sleeve and the drive system, and the continuous acceleration can be simulated in combination with the tilt compensation motion of the linkage platform, so that the driver's human body feels more realistic . The visual field of the linkage platform is characterized by front, left and right sides and directly below, which conforms to the working characteristics of real cranes and fills the gap in this field of motion platforms in the existing market. Each motion mechanism of the motion platform has a separate drive and control module. Its parallel structure reduces the complexity of the mechanical structure of the motion platform and reduces the cost of equipment procurement and maintenance. At the same time, the parallel structure reduces the cumulative error caused by the error of the motion mechanism. It provides a good hardware platform for the somatosensory simulation of the crane simulator.

2. According to the hardware structure of the parallel three-degree-of-freedom motion platform, the present invention designs a somatosensory simulation control method and a washing-out algorithm, which can simultaneously accept the input and processing of the dynamic solution results of the two channels of the cart and the trolley. The feedback link is added to the control and washout algorithm, which optimizes the determination process of the weight coefficient, improves the fidelity of the motion platform, and can ensure fast return to the center without exceeding the limit.

Description of drawings

Figure 1 is an exploded view of the crane simulator motion platform structure

Figure 2 is the front view of the motion platform of the crane simulator

Figure 3 is the left view of the crane simulator motion platform

Figure 4 is the control model of the crane simulator motion platform

Figure 5 is a schematic diagram of the washing out algorithm for the motion platform of the crane simulator

In the picture:

1—lower frame 2—lower guide rail frame 3—actuating rod 1 4—transverse guide rail

5—electric cylinder 2 6—transverse sliding sleeve 7—actuating rod 2 8—longitudinal guide rail

9—upper rail frame 10—upper frame pedal 11—upper frame 12—upper frame hinge bearing

13—Linkage table hinge shaft 14—Linkage table 15—Glass window 16—Linkage table slide rod

17—Slide block of linkage table 18—Actuating rod 3 19—Electric cylinder 3 20—Longitudinal sliding sleeve

21—Middle layer guide rail frame 22—Electric cylinder 1

detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

The invention relates to a somatosensory simulation method and device for a crane simulator, comprising a parallel three-degree-of-freedom motion platform, a somatosensory simulation control method, and a washing-out algorithm.

Referring to Fig. 1, the motion mechanisms of the motion platform are realized by the following methods: the parallel three-degree-of-freedom motion platform includes three sets of guide rail frames 2, 21, and 9 with the same size, and the horizontal guide rail 4 laid on the lower rail frame 2 and the middle rail The sliding sleeve 6 installed on the frame 21 cooperates, and the two ends of the transverse guide rail 4 are equipped with baffle plates; the longitudinal rail 8 laid by the middle rail frame 21 cooperates with the sliding sleeve 20 installed on the upper rail frame 9, and the two ends of the longitudinal rail 8 are equipped with baffle plates; The shaft 13 on the linkage table 14 matches the bearing 12 on the upper frame 11; the actuating rod 18 is connected with the slider 17 through a shaft coupling, and the slider 17 cooperates with the slide bar 16 fixed below the linkage platform. Slide on the sliding rod of the linkage table to push the linkage table to rotate and tilt around the hinge point. Electric cylinders 22, 5, and 19 are installed above the three sets of rail frames, and servo motors are installed next to the electric cylinders to connect with ball screws of the electric cylinders. Moving rod 3,7 links to each other with guide rail frame 21,9 above by shaft coupling, and the telescoping of electric cylinder drives moving rod to move. The movements of each organization are independent and do not interfere with each other. The advantage of doing this is to reduce the cumulative error of motion and improve the motion accuracy of the motion platform.

Wherein, the linkage table 14 can rotate around the hinge point, and the linkage table 14 moves along with the linear motion of the upper frame 11 . Upper frame 11 is laid steel plate and is provided with anti-fall barrier, and its effect is that driver's traffic is convenient, and is convenient to instruct personnel to be close to driver, guarantees personnel safety. The linkage platform suspended on the upper frame is where the simulator provides operating functions to the operator. The floor of the linkage platform is paved with tempered glass to increase the operator's field of vision.

as shown in picture 2. The structural parameters of the motion platform are that the height of the lower frame 1 is 1190mm, the span of the left and right fulcrums of the lower frame 1 is 1525mm, and there are three layers of guide rail frames 2, 21, 9 between the lower frame 1 and the upper frame 11, and the length and width are equal to the lower frame. The height of the upper frame 11 from the ground is 1545mm, and the height of the upper frame 11 is 915mm. Wherein, when the motion platform is in the original position, the distance between the horizontal sliding sleeves installed under the middle rail frame 21 is 1400mm. The motion platform frame is welded by square steel, and the lower frame 1 is fixedly connected with the ground to support the whole platform.

As shown in Figure 3, the structural parameters of the motion platform are that the span of the two fulcrums at the front and rear of the lower frame 1 is 1730mm, and the 450mm overhang of the upper frame is the hinge point of the linkage platform. The front and rear length of the linkage table 14 is 700mm, and the front and rear effective plane length of the linkage table 14 is 900mm. The longitudinal sliding sleeve pitch installed below the upper strata guide rail frame 9 is 1570mm. The vertical distance from the hinge point to the push rod under the linkage table is 1030mm, and the maximum expansion and contraction of the electric cylinder actuator rod under the linkage table is plus or minus 110mm.

Figure 4 shows the control method of somatosensory simulation. The control method is used to control and manage the entire process from physical quantity input to somatosensory signal output, including control links such as physical quantity input, somatosensory modeling, coordinate transformation, tilt compensation, feedback adjustment, and physical quantity output. The control process of the motion platform is realized by the following methods:

Step 1: The simulator driver senses the surrounding environment through the visual system, and after obtaining the target task, sends a control command to the motion platform;

Step 2: Through the dynamic model of the crane, input the acceleration of the movement of the crane mechanism. The driver's acceleration feeling is measured by the specific force, and the input of the obtained specific force is obtained through the human perception model to obtain the somatosensory specific force, and the human body is determined by coordinate transformation. The physical quantity at the perception point, that is, the acceleration of the center of mass of the motion platform is converted to the acceleration of the vestibular part of the human body, and the output signal is obtained by processing the force signal through a high-pass filter;

Step 3: Control the drive equipment with the output signal through the control module to ensure that each motion mechanism moves within the set range; by adjusting the pose of the motion platform, including the linear motion of the upper rail frame and the middle rail frame and the tilt compensation of the linkage table Movement; the linkage table is hinged on the upper frame, so the linkage table moves with the horizontal and vertical linear motion of the upper frame, thereby directly simulating the instantaneous acceleration during the movement of the crane cart and trolley; the gravity generated by the linkage table rotating at a specific angle according to the input The acceleration component compensates for the continuous acceleration motion sensation; the superimposed motion of the movement of each mechanism felt by the simulator driver on the linkage platform simulates a realistic somatosensory effect;

Step 4: After the motion information of the motion platform is processed by the dynamic model module of the simulator, the motion signal of the real crane cab is compared with the signal of the simulator to obtain the motion sensory error between the real motion sensor and the motion platform motion sensor; , Somatosensory error change rate is used as the input signal, and the control parameters are adjusted through fuzzy PID control feedback to optimize the control parameters of the control link. The optimization process uses the acceleration fidelity coefficient, the acceleration penalty coefficient, the displacement penalty coefficient and the gain penalty coefficient. Iterative optimization; at the same time, driven by body perception and tasks, the driver re-issues instructions to the motion platform, thus forming a closed-loop system of the motion platform;

The description of the specific force is: considering the influence of the gravitational acceleration, the somatosensory simulation adopts the specific force measurement, and the processing method is: the input acceleration a is subtracted from the gravitational acceleration g to obtain the specific force f, and the mathematical expression is f=a-g;

The somatosensory error and the change rate of somatosensory error are the physical quantity M _A produced by the real crane, and the motion sensation M _R provided by the real crane is calculated through the somatosensory model. The motion sensation M _S felt by the driver during the operation of the simulator is the dynamic feeling of the operation simulator, and the result of M _{S -MA} is the somatosensory error e, and the change rate ec of the somatosensory error can be obtained.

The control module in the control method is realized by computer programming.

Referring to Fig. 5, the washout algorithm is designed according to the structural characteristics of the motion platform, and is divided into an initial calculation link, a filtering link and a feedback adjustment link. The washing out algorithm simultaneously receives the input signals of two channels, which are the input and processing of the dynamic calculation results of the two channels of the cart and the trolley respectively. Affected by gravity, the acceleration feeling of the driver on the operating simulator is measured by the specific force, the input acceleration a is subtracted from the gravitational acceleration g to obtain the specific force f, and the mathematical expression is f=a-g. Then input the obtained comparison form through the human perception model, and obtain the corresponding somatosensory comparison through the human perception model. Then coordinate transformation is carried out according to the established coordinate system. The input signal is filtered by a second-order linear high-pass filter in the two channels to remove unnecessary signal parts in the physical quantity. Finally, the driving equipment is controlled to move to ensure that the motion platform simulates within a limited stroke. Motion sensation. In order to achieve a better somatosensory simulation effect, the weight coefficient of the washout algorithm is optimized by fuzzy PID control.

The control process adopts the fuzzy PID method, and the specific process is: the physical quantity generated by the real crane is M _A , the motion sensation provided by the real crane calculated by the somatosensory model is M _R ; and the motion sensation provided by the somatosensory simulation device is M _S , the result of M _{S -MA} is the somatosensory error e, and ec is further obtained as the rate of change of somatosensory error. The somatosensory error e and the somatosensory error change rate ec are used as input signals, and the weight coefficients of the control process are adjusted in real time. The output fuzzy variables are K _p , _KI , and K _D . The adjusted weight coefficients improve simulation fidelity and limited motion space Range, consistent motion time, and performance in terms of control stability, output response, etc.

The human body perception model is as follows: a data model is used to describe the human body vestibular system, so as to meet the requirements of the somatosensory simulation control process. The human vestibular system is simplified into semicircular canals and otoliths, the semicircular canals are used to sense angular velocity, and the otoliths are used to sense linear acceleration. Semicircular canals and otoliths are mathematically modeled in the form of transfer functions, which facilitates the design of control links. The corresponding transfer function of the otolith model is:

${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; \&rsqb;</span>}{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; \&rsqb;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}$

The corresponding transfer function of the semicircular canal model is:

${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; S</span>}\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; C</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}<span\; class="notranslate">\; \&rsqb;</span>}{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; \&omega;</span>}<span\; class="notranslate">\; \&rsqb;</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; the\; s</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}$

Claims (8)

1. A crane simulator somatosensory simulation device is characterized in that: the device is a three-degree-of-freedom parallel structure, including a lower frame, a guide rail frame, an upper frame, a linkage platform and a driving mechanism, and the driving mechanism includes an electric cylinder, a servo motor and The actuating rod; the lower frame is fixedly connected to the ground to support the entire platform; the guide rail frame is used to fix the track, the sliding sleeve and the installation of the driving device. The lower side of the lower rail frame is welded with the lower frame, and the upper side of the lower rail frame is laid The horizontal guide rail is matched with the sliding sleeve installed on the lower side of the middle guide rail frame, the longitudinal guide rail is laid on the upper side of the middle guide rail frame and matched with the sliding sleeve installed on the lower side of the upper guide rail frame, and the upper side of the upper guide rail frame is welded together with the upper frame; linkage The table is hinged on the upper frame, and there is a slide bar mechanism under the linkage table, which can convert the linear motion of the electric cylinder into the tilting motion of the linkage table; the lower rail frame, the middle rail frame, and the upper rail frame are each equipped with an electric cylinder. The driving rod and the actuating rod are connected coaxially, and the actuating rod is connected with the middle rail frame, the upper rail frame, and the slider of the linkage table through couplings; the three sets of driving devices are independent of each other, and each movement mechanism does not interfere with each other; the upper frame It is used to carry the linkage platform and the operator; the linkage platform is a device that provides operating functions for the operator by the simulator. It is fixed on the upper frame and moves with the movement of the upper frame. 2. The somatosensory simulation device of a crane simulator according to claim 1, characterized in that the specific size parameters are: the height of the lower frame is 1190mm, the span of the front and rear fulcrums of the lower frame is 1730mm, the span of the left and right fulcrums of the lower frame is 1525mm, and the horizontal direction installed below the middle rail frame The spacing of the sliding sleeves is 1400mm, and the spacing of the longitudinal sliding sleeves installed under the upper rail frame is 1570mm; the height of the upper frame is 915mm, and the 450mm extension of the upper frame is the hinge point of the linkage table; the left and right width of the linkage table is 1125mm, the front and rear length is 700mm, and the height is 915mm. The vertical distance from the hinge point to the push rod under the linkage table is 1030mm, the maximum telescopic amount of the electric cylinder actuator under the linkage table is plus or minus 110mm; the horizontal stroke of the motion platform is 60mm, the longitudinal stroke is 80mm, and the maximum inclination angle of the linkage table is plus or minus 6 degrees. 3. a crane simulator somatosensory simulation method using the crane simulator somatosensory simulation device as claimed in claim 1 or 2, is characterized in that comprising the following steps: Step 1: The simulator driver senses the surrounding environment through the visual system, and after obtaining the target task, sends a control command to the motion platform; Step 2: Through the dynamic model of the crane, input the acceleration of the movement of the crane mechanism. The driver's acceleration feeling is measured by the specific force, and the input of the obtained specific force is obtained through the human perception model to obtain the somatosensory specific force, and the human body is determined by coordinate transformation. The physical quantity at the perception point, that is, the acceleration of the center of mass of the motion platform is converted to the acceleration of the vestibular part of the human body, and the output signal is obtained by processing the force signal through a high-pass filter; Step 3: Control the drive equipment with the output signal through the control module to ensure that each motion mechanism moves within the set range; by adjusting the pose of the motion platform, including the linear motion of the upper rail frame and the middle rail frame and the tilt compensation of the linkage table Movement; the linkage table is hinged on the upper frame, so the linkage table moves with the horizontal and vertical linear motion of the upper frame, thereby directly simulating the instantaneous acceleration during the movement of the crane cart and trolley; the gravity generated by the linkage table rotating at a specific angle according to the input The acceleration component compensates for the continuous acceleration motion sensation; the superimposed motion of the movement of each mechanism felt by the simulator driver on the linkage platform simulates a realistic somatosensory effect; Step 4: After the motion information of the motion platform is processed by the dynamic model module of the simulator, the motion signal of the real crane cab is compared with the signal of the simulator to obtain the motion sensory error between the real motion sensor and the motion platform motion sensor; , Somatosensory error change rate is used as the input signal, and the control parameters are adjusted through fuzzy PID control feedback to optimize the control parameters of the control link. The optimization process uses the acceleration fidelity coefficient, the acceleration penalty coefficient, the displacement penalty coefficient and the gain penalty coefficient. Iterative optimization; at the same time, driven by body perception and tasks, the driver re-issues instructions to the motion platform, thus forming a closed-loop system of the motion platform; The specific steps of fuzzy PID control are: the physical quantity produced by the real crane is M _A , the motion sensation provided by the real crane calculated by the somatosensory model is M _R ; the motion sensation provided by the somatosensory simulation device is M _S , and M _S -M The result of _A is the somatosensory error e, and further obtained ec is the change rate of somatosensory error; the somatosensory error e and the somatosensory error change rate ec are used as input signals, and the weight coefficients of the control process are adjusted in real time, and the output fuzzy variables are K _p , K _I , K _D , the adjusted weight coefficient improves the performance of simulation fidelity, limited motion space range, consistent motion time, control stability, output response, etc.; The description of the specific force is: considering the influence of the gravitational acceleration, the somatosensory simulation adopts the specific force measurement, and the processing method is: the input acceleration a is subtracted from the gravitational acceleration g to obtain the specific force f, and the mathematical expression is f=a-g; The human perception model is as follows: a data model is used to describe the human vestibular system, thereby meeting the requirements of the somatosensory simulation control process; the human vestibular system is simplified into semicircular canals and otoliths, the semicircular canals are used to perceive angular velocity, and the otoliths are used to perceive linear acceleration; The semicircular canals and otoliths use the form of transfer function to establish a mathematical model, which is convenient for the design of the control link; the corresponding transfer function of the otolith model is: ${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; \&rsqb;</span>}{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; \&rsqb;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&tau;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}$ The corresponding transfer function of the semicircular canal model is: ${\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; S</span>}\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; C</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}<span\; class="notranslate">\; \&rsqb;</span>}{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; \&omega;</span>}<span\; class="notranslate">\; \&rsqb;</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; the\; s</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}$ 4. The somatosensory simulation method of a crane simulator according to claim 3, characterized in that: the instantaneous acceleration motion sensation is directly simulated in the form of mechanism motion, and the horizontal and vertical linear motion of the upper frame simulates the movement of the crane cart and trolley Instantaneous acceleration; continuous acceleration motion feeling is simulated in the form of gravitational acceleration component in a limited working space; tilt compensation is used to rotate the linkage table at a specific angle according to the input to generate gravitational acceleration component, thereby compensating for continuous acceleration motion feeling. 5. The somatosensory simulation method of the crane simulator according to claim 3, characterized in that it simultaneously accepts the input and processing of the dynamic calculation results of the two channels of the cart and the trolley, including but not limited to: acceleration, speed, displacement, Angular velocity, angular displacement. 6. The crane simulator somatosensory simulation method according to claim 3, characterized in that: the input physical quantity is calculated according to the real crane dynamics, and the output somatosensory signal must be able to satisfy the requirements of the real crane driver for the operator on the simulator. Motion sensation; establish the earth coordinate system, simulator coordinate system and linkage platform coordinate system; take the earth coordinate system as a reference, convert the input physical quantity from the crane coordinate system to the simulator coordinate system, and then convert to the linkage platform according to the structure of the somatosensory simulation hardware system The coordinate system is used to obtain the physical quantity at the vestibule of the simulator operator. 7. The somatosensory simulation method of crane simulator according to claim 3, characterized in that: the control process of somatosensory simulation adopts the mode of feedback adjustment to optimize the parameters of the washing out algorithm; the optimization process passes through the acceleration fidelity coefficient, the acceleration penalty term coefficient, The displacement penalty coefficient and the gain penalty coefficient are used for iterative optimization. 8. The somatosensory simulation method of a crane simulator according to claim 5, characterized in that: in the human vestibular system model, the somatosensory simulation takes the human vestibular system as a theoretical basis, and simulates instantaneous acceleration and continuous acceleration within a limited working range and mechanism stroke. The motion sensation of acceleration; the washout algorithm is used to eliminate unnecessary physical quantity signals. When simulating instantaneous acceleration, the signal components below the threshold threshold of human perception are eliminated to reduce the movement displacement of the mechanism; when the mechanism returns to the center, it is greater than the human perception Signal components below the threshold threshold are eliminated to ensure that the human body does not perceive redundant motion; Among them, the instantaneous acceleration channel of the cart adopts a second-order linear high-pass filter, and the starting and braking time of the cart is recommended to be 8-10s; the instantaneous acceleration channel of the trolley adopts a second-order linear high-pass filter, and the acceleration range is recommended to be 0.5-0.7m/s ² , the maximum does not exceed 0.8m/s ² ; the continuous acceleration tilt compensation channel of the trolley adopts a second-order linear low-pass filter, and when the maximum tilt angle is 6 degrees, the maximum acceleration is about 4m/s ² .