CN106327945A - Crane simulator somatic simulation method and device - Google Patents
Crane simulator somatic simulation method and device Download PDFInfo
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- CN106327945A CN106327945A CN201610860120.8A CN201610860120A CN106327945A CN 106327945 A CN106327945 A CN 106327945A CN 201610860120 A CN201610860120 A CN 201610860120A CN 106327945 A CN106327945 A CN 106327945A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000004088 simulation Methods 0.000 title claims abstract description 52
- 230000000392 somatic effect Effects 0.000 title abstract 2
- 230000033001 locomotion Effects 0.000 claims abstract description 155
- 230000001133 acceleration Effects 0.000 claims abstract description 70
- 230000035807 sensation Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000008447 perception Effects 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 4
- 230000009916 joint effect Effects 0.000 claims description 56
- 230000000272 proprioceptive effect Effects 0.000 claims description 32
- 230000008569 process Effects 0.000 claims description 26
- 238000004422 calculation algorithm Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 14
- 210000003949 semicircular duct Anatomy 0.000 claims description 12
- 241000356847 Otolithes Species 0.000 claims description 11
- 230000002842 otolith Effects 0.000 claims description 11
- 210000001265 otolithic membrane Anatomy 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 9
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- 238000004364 calculation method Methods 0.000 claims description 7
- 238000013461 design Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000009123 feedback regulation Effects 0.000 claims description 6
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- 238000012546 transfer Methods 0.000 claims description 5
- 102000004310 Ion Channels Human genes 0.000 claims description 4
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- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000013499 data model Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000024159 perception of rate of movement Effects 0.000 claims description 2
- 230000004936 stimulating effect Effects 0.000 abstract 1
- 230000001186 cumulative effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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Abstract
The invention discloses a crane simulator somatic simulation method and device. The method comprises a closed loop simulation step, a physical quantity input and output step, and a fuzzy PID control step, all for simulating the movement sensation of a crane generated from traveling mechanisms such as a big vehicle, a car or the alike during a limited stroke and a working space. More technically, the movement sensation includes instantaneous acceleration, continuous acceleration and the alike which are consistent with those of a real crane. The device is of a three-degree-of-freedom parallel structure, including the lateral movement of the big vehicle, the longitudinal movement of a car, and the tilt compensation and rotation movement of the car. Based on the theory of human body motion perception and through the processing of input signals, it is possible to effectively solve the problems with acceleration, deceleration, back-to-the middle in the stimulated crane operations. According to the invention, the fidelity of a crane stimulator is increased so that it can meet the requirements for stimulating movement sensation in a limited stroke and working space. Therefore, the method and device are of great application significance in improving the quality and the level of stimulators.
Description
Technical field
The present invention relates to crane simulation, a kind of counterweight simulator Three-degree-of-freedom motion platform of being applicable to
Proprioceptive simulation method.
Background technology
Freedom degree parallel connection structure, can complete spatially transverse, longitudinal linear motion by the control to the equipment of driving
Rotary motion with set angle.Motion platform is mainly used in the proprioceptive simulation of simulator, at limited travel and work space
The body-sensing that during interior simulation crane job, the walking mechanism such as cart, dolly produces.At present, motion platform technology widely should
In the simulator such as aviation simulator, environment simulator, improve the vivid effect of simulation.But existing motion platform is in lifting
The application in machine field is less, and function does not meets crane simulation requirement, as a example by Stewart 6-dof motion platform, and should
Motion platform price is high, system complex, and generally requires to improve further and could meet proprioceptive simulation demand, wants at degree of freedom
Ask in few simulator and also can produce function waste.And the emulation that Three-degree-of-freedom motion platform can expire counterweight simulator is wanted
Ask, its simple frame for movement, it is simple to motion platform direct position analysis is solved, improve the accuracy of motor control and stablize
Property.
It addition, counterweight simulator motion platform is mainly used in the simulation of driver's body-sensing, with the what comes into a driver's system of simulator
The environment of system, audio system and simulator operating platform is arranged and is formed a closed loop system, reaches simulation effect true to nature.Pass through
Analyzing motor function and the kinematic parameter of motion platform, existing control algolithm does not meets the control of counterweight simulator motion platform
System.The present invention, according to motion platform frame for movement, carries out washout algorithm design, and uses feedback in the process of control motion platform
The method optimizing controlling unit parameter of regulation, makes motion platform reach simulation effect more true to nature in existing space, improves
The stability of motion platform.
The patent of invention of China's Application No. 201410631816.4 discloses a kind of Three-degree-of-freedom motion platform, structure letter
Single, good stability.But this motion platform on the one hand field range is little, do not meet crane job environmental demand, on the other hand, only
The rotary motion of certain angle can be met, it is difficult to meet the transient acceleration requirement of counterweight simulator；China's Application No.
201510031178.7 patent of invention disclose the Stewart 6-dof motion platform of a kind of multilamellar Closed-loop Control Strategy and fly
Row analog platform, by multilamellar closed loop control, it is to avoid the error that the factor such as installation, deformation causes, but the method by
Limit in device, control complexity, and be designed mainly for aviation field, do not meet counterweight simulator functional requirement.
Motion platform is designed by the present invention according to true crane work characteristics, and according to the machinery knot of motion platform
The washout algorithm of structure design, the instantaneous acceleration of crane is directly simulated in the motion of mechanism.Carry out continuing by angle of inclination
The simulation of acceleration.The parallel-connection structure of motion platform in the present invention, simplifies the control complexity of motion platform, and each mechanism is independent
Motion, non-interference, it is to avoid the cumulative error that single driving equipment error is caused, improve the positional precision of motion platform,
There are important economic worth and scientific meaning.
Summary of the invention
Herein for counterweight simulator, devise a kind of parallel 3-DOF motion platform, improve motion platform
Controlling model, makes motion platform disclosure satisfy that the demand for control of counterweight simulator.Motion platform disclosed herein, according to very
Motion mode and the kinematic parameter of real crane are designed.The table 1 crane movements parameter selected by motion platform design.
Table 1
Owing to human body is insensitive to the impression of speed, but the impression to acceleration is sensitive.And the sensitive acceleration of human body
Bottom valve value is 0.2m/s2, according to crane movements parameter, motion platform only need to carry out mould in moving of car direction by slope compensation
Intending acceleration of motion sense, motion platform angle of inclination is designed according to g sin θ >=0.8.The motion that the present invention is announced is put down
Platform is made up of motion platform underframe, guide rail bracket, upper frame, joint action table and drive mechanism.Underframe is fixedly connected with the ground,
For carrying whole platform.Three-decker equivalently-sized guide rail bracket (lower floor's guide rail is laid successively between underframe and upper frame
Frame, middle level guide rail bracket, upper strata guide rail bracket), for the installation of trapped orbit, sliding sleeve and driving means.On the downside of lower floor's guide rail bracket
Welding together with underframe, lay cross slide way on the upside of lower floor's guide rail bracket, guide rail both sides are equipped with under baffle plate, with middle level guide rail bracket
The sliding sleeve that side is installed matches.Laying longitudinal rail on the upside of the guide rail bracket of middle level, guide rail both sides are equipped with under baffle plate, with upper strata guide rail bracket
The sliding sleeve that side is installed matches.Weld together with upper frame on the upside of the guide rail bracket of upper strata.Joint action table is hinged on upper frame, linkage
It is sliding bar mechanism below platform, the linear motion of electric cylinder can be converted to the banking motion of joint action table.Lower floor's guide rail bracket, middle level
Guide rail bracket, upper strata guide rail bracket respectively install an electric cylinder, and electric cylinder drive rod is coaxially connected with operating bar, and operating bar is led with middle level
Being connected by shaft coupling between rail gantry, upper strata guide rail bracket, joint action table slide block, each motion is non-interference.
Wherein said joint action table is the device providing operating function to operator, and joint action table is hinged on upper frame,
Move with upper frame motion.Joint action table uses transparent toughened glass to lay.Its visual field feature is: dead ahead, left and right two
Side and underface.
The present invention uses data model to describe human vestibule system such that it is able to meets proprioceptive simulation and controls wanting of process
Ask.Human vestibule system is reduced to semicircular duct and otolith, and semicircular duct is used for perception angular velocity, and otolith is used for perception linear acceleration.
Semicircular duct and otolith all use the form founding mathematical models of transmission function, it is simple to controlling unit designs.According to motion platform
Hardware configuration, control structure and washout algorithm to motion platform are designed, and set up earth coordinates, simulator coordinate respectively
System, joint action table coordinate system.With earth coordinates as reference, by input physical quantity by crane Coordinate Conversion to simulator coordinate,
It is transformed into joint action table coordinate system further according to proprioceptive simulation hardware system structure, obtains physical quantity at simulator operator's vestibule.
Use the method optimizing controlling unit parameter of feedback regulation in the process of control, thus meet the control need of Three-degree-of-freedom motion platform
Ask.
Wherein, described otolith model respective transfer functions is:
Described semicircular duct model respective transfer functions is:
A kind of proprioceptive simulation method that the present invention is announced, specifically refers to: be input to the output of body-sensing signal for physical quantity
The control of whole process and management, including physical quantity input, body-sensing modeling, coordinate transform, slope compensation, feedback regulation and thing
The controlling units such as reason amount output.The control process of motion platform is: step one: simulator driver, is experienced by visual system
To surrounding enviroment, and after obtaining goal task, motion platform is sent control instruction；Step 2: by Dynamics of Cranes mould
Type, inputs the acceleration of Mechanism of crane motion, and the sensation of acceleration of driver is weighed by specific force, the specific force shape that will obtain
The human body perceptual model that enters through of formula obtains body-sensing specific force, determines the physical quantity at human perception by coordinate transform, i.e.
Motion platform barycenter acceleration is transformed into the acceleration at human vestibule position, at high pass filter contrast force signal
Reason obtains output signal；Step 3: driving equipment is controlled by output signal by control module, it is ensured that each motion
Move in set point；By adjusting motion platform pose, including upper strata guide rail bracket and middle level guide rail bracket linear motion with
And the slope compensation motion of joint action table；Joint action table is hinged on upper frame, and therefore joint action table is with the straight line horizontal, longitudinal of upper frame
Move and move, thus directly simulate instantaneous acceleration during crane, moving of car；Joint action table rotates according to input
Gravitational acceleration component produced by special angle, compensate for long acceleration sensation of movement；The simulator being positioned at joint action table is driven
The superimposed motion of each mechanism kinematic that the person of sailing is experienced, simulates body-sensing effect true to nature；Step 4: by simulator kinetic simulation
After type resume module obtains the movable information of motion platform, by true hoisting box motor message and simulator signal ratio
Right, draw the body-sensing error between true body-sensing and motion platform body-sensing；Using body-sensing error, body-sensing error rate as input
Signal, carries out feedback by fuzzy-adaptation PID control and adjusts control parameter, thus the control parameter of optimal control link, optimize process
Iteration is carried out by acceleration fidelity coefficient, acceleration penalty term coefficient, displacement penalty term coefficient and gain penalty term coefficient
Optimize；Meanwhile, driver, under the physical perception the ordering about with task, re-emits instruction, thus constitutes motion platform
The closed loop system of motion platform；
Described body-sensing error and body-sensing error rate are physical quantitys M produced by true craneA, by body-sensing mould
Type calculates tries to achieve the sensation of movement M that true crane providesR.And the fortune that manipulation simulator driver in motor process experiences
Dynamic feel MSIt is the innervation of manipulation simulator, by MS-MAGained is body-sensing error e, can obtain the rate of change of body-sensing error further
ec。
In described proprioceptive simulation method, washout algorithm is the process processing signal of proprioceptive simulation method, this
Washout algorithm described in literary composition is designed according to the construction features of motion platform, be divided into initial calculation link, filtering link and
Feedback regulation link.Washout algorithm receives the input signal of two passages, respectively cart, two Ion channel kinetics of dolly simultaneously
The input of result of calculation and process.Affected by gravity, driver's sensation of acceleration on manipulation simulator passes through specific force
Weighing, input acceleration a and gravity acceleration g subtract each other and obtain specific force f, are mathematically represented as f=a-g.The specific force shape that will obtain again
Formula enter through human body perceptual model, the corresponding body-sensing specific force obtained by human body perceptual model.Then according to foundation
Coordinate system carries out coordinate transform, and input signal uses second-order linearity high pass filter filters at two passages, will be not required in physical quantity
The signal section wanted is rejected, and finally controls driving equipment and moves, it is ensured that motion platform simulates motion in limited travel
Sensation.In order to reach more preferable proprioceptive simulation effect, the weight coefficient of washout algorithm is optimized by fuzzy-adaptation PID control,
Specifically refer to: the physical quantity that true crane produces is MA, through the fortune that the calculated true crane of body-sensing model provides
Move and be felt as MR；And the sensation of movement that proprioceptive simulation device provides is MS, by MS-MAGained is body-sensing error e, obtains further
Ec is body-sensing error rate.Using body-sensing error e and body-sensing error rate ec as input signal, to controlling process weight
Coefficient carries out Real-time Feedback adjustment, and output fuzzy variable is Kp、KI、KD, the weight coefficient after adjustment improves fidelity of simulation, has
Limit space scope, consistent movement time and the performance of the aspect such as control stability, output response.
The invention have the advantages that
Motion platform the most of the present invention is towards counterweight simulator, permissible by slide rail and sliding sleeve and drive system
Directly producing real transient acceleration, long acceleration is simulated in the slope compensation motion in conjunction with joint action table, makes driver people
Body-sensing is by more life-like.Joint action table visual field feature is dead ahead, the left and right sides and underface, and the work meeting true crane is special
Point, fills up on existing market motion platform in the blank in this field.The each motion of motion platform has individually driving and controls
Module, its parallel-connection structure makes the complicated in mechanical structure degree of motion platform reduce, and reduces the buying maintenance cost of equipment, the most also
Connection structure reduces the cumulative error that the error of motion is caused, and the proprioceptive simulation for counterweight simulator provides well
Hardware platform.
2. the control method of present invention proprioceptive simulation according to parallel 3-DOF motion platform Design of Hardware Architecture with wash
Go out algorithm, it is possible to accept cart, the input of 2 Ion channel kinetics calculation results of dolly and process simultaneously.Controlling and washing out calculation
Method adds feedback element, optimizes the determination process of weight coefficient, improve the fidelity of motion platform, it is possible to ensure
In quickly returning in the case of not transfiniting.
Accompanying drawing explanation
Fig. 1 is counterweight simulator motion platform structural blast view
Fig. 2 is counterweight simulator motion platform front view
Fig. 3 is counterweight simulator motion platform left view
Fig. 4 is counterweight simulator motion platform Controlling model
Fig. 5 is counterweight simulator motion platform washout algorithm schematic diagram
In figure:
1 underframe 2 lower floor guide rail bracket 3 operating bar 14 cross slide way
5 electric cylinder 26 horizontal sliding sleeve 7 operating bar 28 longitudinal rail
9 upper strata guide rail bracket 10 upper frame pedal 11 upper frame 12 upper frame anchor bearings
13 joint action table jointed shaft 14 joint action table 15 windowpane 16 joint action table slide bars
The longitudinal sliding sleeve of 17 joint action table slide block 18 operating bar 3 19 electric cylinders 3 20
21 middle level guide rail bracket 22 electric cylinders 1
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
One counterweight simulator proprioceptive simulation method and apparatus of the present invention, including parallel 3-DOF motion platform, body
Sense analog control method, washout algorithm.
In conjunction with Fig. 1, each motion of motion platform is realized by the following method motion: parallel 3-DOF moves
Platform includes the guide rail bracket 2,21,9 that three sets are equivalently-sized, and the cross slide way 4 that lower floor's guide rail bracket 2 is laid is pacified with middle level guide rail bracket 21
The sliding sleeve 6 of dress coordinates, and cross slide way 4 two ends are equipped with baffle plate；Long rails 8 and the upper strata guide rail bracket 9 that middle level guide rail bracket 21 is laid
The sliding sleeve 20 installed coordinates, and long rails 8 two ends are equipped with baffle plate；Axle 13 on joint action table 14 and bearing 12 phase on upper frame 11
Coordinate；Operating bar 18 is connected with slide block 17 by shaft coupling, and slide block 17 coordinates with the slide bar 16 being fixed on below joint action table, slide block
Joint action table slide bar slides, promotes joint action table to carry out rotating around pin joint.Equipped with electric cylinder above three set guide rail brackets
22,5,19, electric cylinder side is provided with servomotor and is connected with the ball screw of electric cylinder, and operating bar 3,7,18 is respectively with electronic
Cylinder drive rod is coaxially connected, operating bar 3, and 7 are connected with the guide rail bracket 21,9 of top by shaft coupling, the telescopic band action of electric cylinder
Lever is moved.Each mechanism kinematic is independent, does not interfere with each other.Advantage of this is that the cumulative errors reducing motion, improve motion
The kinematic accuracy of platform.
Wherein, joint action table 14 can rotate around pin joint, and joint action table 14 is transported along with the linear motion of upper frame 11
Dynamic.Upper frame 11 is laid steel plate and arranges anti-fall hurdle, and its effect is that driver is current convenient, and is easy to instruct personnel to press close to drive
Member, it is ensured that personal security.The joint action table hanging on upper frame is that simulator provides the position of operating function to operator, linkage
Tread is laid by safety glass, increases the visual field of operator.
As shown in Figure 2.Motion platform structural parameters are underframe 1 height 1190mm, underframe about 1 fulcrum span
1525mm, is provided with three layers of guide rail bracket 2 between underframe 1 and upper frame 11, and 21,9, length and width size is equal with underframe.Upper frame
11 away from ground level 1545mm, upper frame 11 height 915mm.Wherein, when motion platform is in home position, middle level guide rail bracket 21
The spacing of the horizontal sliding sleeve that lower section is installed is 1400mm.Motion platform framework is welded by square steel, and underframe 1 is fixed with ground
Connect, be used for supporting whole platform.
As it is shown on figure 3, motion platform structural parameters are two fulcrum spans 1730mm before and after underframe 1, upper frame is overhanging
It it is joint action table pin joint at 450mm.Joint action table 14 anterior-posterior length 700mm, before and after joint action table 14, effectively plane length is 900mm.
The longitudinal sliding sleeve spacing installed below upper strata guide rail bracket 9 is 1570mm.Pin joint to the vertical dimension of push rod below joint action table is
1030mm, the positive and negative 110mm of electric cylinder operating bar maximal dilation amount below joint action table.
Fig. 4 is the control method of proprioceptive simulation, and control method is input to body-sensing signal for physical quantity and exports whole process
Control and management, including physical quantity input, body-sensing modeling, coordinate transform, slope compensation, feedback regulation and physical quantity export
Etc. controlling unit.The control process of motion platform is realized by the following method:
Step one: simulator driver, experiences surrounding enviroment by visual system, and after obtaining goal task, to fortune
Moving platform sends control instruction；
Step 2: by Dynamics of Cranes model, the acceleration of input Mechanism of crane motion, the acceleration of driver
Sensation is weighed by specific force, the human body perceptual model that enters through of the specific force form obtained is obtained body-sensing specific force, by sitting
Mark conversion determines the physical quantity at human perception, will be transformed into the acceleration at human vestibule position by motion platform barycenter acceleration
Degree, carries out process by high pass filter contrast force signal and obtains output signal；
Step 3: driving equipment is controlled by output signal by control module, it is ensured that each motion is setting
Range of motion；By adjusting motion platform pose, including linear motion and the linkage of upper strata guide rail bracket and middle level guide rail bracket
The slope compensation motion of platform；Joint action table is hinged on upper frame, therefore joint action table with upper frame horizontal, linear longitudinal movement and
Motion, thus directly simulate instantaneous acceleration during crane, moving of car；Joint action table rotates specific angle according to input
The produced gravitational acceleration component of degree, compensate for long acceleration sensation of movement；It is positioned at the simulator driver institute of joint action table
The superimposed motion of each mechanism kinematic of impression, simulates body-sensing effect true to nature；
Step 4: obtained the movable information of motion platform by simulator kinetic model resume module after, is risen by true
Heavy-duty machine cab motions signal and simulator signal fusing, draw the body-sensing error between true body-sensing and motion platform body-sensing；
Using body-sensing error, body-sensing error rate as input signal, carry out feedback by fuzzy-adaptation PID control and adjust control parameter, from
And the control parameter of optimal control link, optimization process is punished by acceleration fidelity coefficient, acceleration penalty term coefficient, displacement
Term coefficient and gain penalty term coefficient is penalized to carry out iteration optimization；Meanwhile, driver under the ordering about of physical perception and task,
Motion platform is re-emitted instruction, thus constitutes the closed loop system of motion platform；
Described specific force is described as: consider the impact of acceleration of gravity, and proprioceptive simulation uses specific force to weigh, processing mode
For: input acceleration a and gravity acceleration g subtract each other and obtain specific force f, are mathematically represented as f=a-g；
Described body-sensing error and body-sensing error rate are physical quantitys M produced by true craneA, by body-sensing mould
Type calculates tries to achieve the sensation of movement M that true crane providesR.And the fortune that manipulation simulator driver in motor process experiences
Dynamic feel MSIt is the innervation of manipulation simulator, by MS-MAGained is body-sensing error e, can obtain the rate of change of body-sensing error further
ec。
Control module in described control method is realized by computer programming.
In conjunction with Fig. 5, described washout algorithm is designed according to the construction features of motion platform, be divided into initial calculation link,
Filtering link and feedback regulation link.Washout algorithm receives the input signal of two passages, respectively cart, dolly two simultaneously
The input of individual Ion channel kinetics result of calculation and process.Affected by gravity, driver's acceleration on manipulation simulator
Sensation is weighed by specific force, and input acceleration a and gravity acceleration g subtract each other and obtain specific force f, are mathematically represented as f=a-g.Again will
The specific force form obtained enter through human body perceptual model, the corresponding body-sensing specific force obtained by human body perceptual model.So
Carrying out coordinate transform according to the coordinate system set up afterwards, input signal uses second-order linearity high pass filter filters at two passages, will
In physical quantity, unwanted signal part is rejected, and finally controls driving equipment and moves, it is ensured that motion platform is at limited travel
Inside simulate sensation of movement.In order to reach more preferable proprioceptive simulation effect, the weight coefficient of washout algorithm passes through fuzzy-adaptation PID control
It is optimized.
Described control process uses fuzzy mode, and detailed process is: the physical quantity that true crane produces is MA,
The sensation of movement provided through the calculated true crane of body-sensing model is MR；And the kinesthesia that proprioceptive simulation device provides
Feel for MS, by MS-MAGained is body-sensing error e, and obtaining ec further is body-sensing error rate.By body-sensing error e and body-sensing
Error rate ec, as input signal, carries out Real-time Feedback adjustment to controlling process weight coefficient, and output fuzzy variable is Kp、
KI、KD, the weight coefficient after adjustment improves fidelity of simulation, finite motion spatial dimension, consistent movement time and controls steady
The performance of the aspects such as qualitative, output response.
Described human body perceptual model is: use data model to describe human vestibule system such that it is able to meet body-sensing
The requirement of simulation control process.Human vestibule system is reduced to semicircular duct and otolith, and semicircular duct is used for perception angular velocity, and otolith is used
In perception linear acceleration.Semicircular duct and otolith use the form founding mathematical models of transmission function, it is simple to controlling unit designs.Ear
Stone model respective transfer functions is:
Semicircular duct model respective transfer functions is:
Claims (8)
1. a counterweight simulator proprioceptive simulation device, it is characterised in that: described device is freedom degree parallel connection structure, including
Underframe, guide rail bracket, upper frame, joint action table and drive mechanism, drive mechanism includes electric cylinder, servomotor and start
Bar；Underframe is fixedly connected with the ground, and is used for supporting whole platform；Guide rail bracket is for trapped orbit, sliding sleeve and driving means
Installation, weld together with underframe on the downside of lower floor's guide rail bracket, on the upside of lower floor's guide rail bracket lay cross slide way, with middle level guide rail
The sliding sleeve installed on the downside of frame matches, and lays the sliding sleeve phase of installation on the downside of longitudinal rail and upper strata guide rail bracket on the upside of the guide rail bracket of middle level
Coordinate, weld together with upper frame on the upside of the guide rail bracket of upper strata；Joint action table is hinged on upper frame, is slide bar machine below joint action table
Structure, can be converted to the banking motion of joint action table by the linear motion of electric cylinder；Lower floor's guide rail bracket, middle level guide rail bracket, upper strata are led
Rail gantry respectively installs an electric cylinder, and electric cylinder drive rod is coaxially connected with operating bar, operating bar and middle level guide rail bracket, upper strata guide rail
Connected by shaft coupling between frame, joint action table slide block；Three set driving means are independent of one another, and each motion is non-interference；Upper ledge
Frame is used for carrying joint action table, operator；Joint action table is that simulator provides the device of operating function to operator, is fixed on
On framework, move along with upper frame motion.
Counterweight simulator proprioceptive simulation device the most according to claim 1, it is characterised in that concrete dimensional parameters is: under
Frame height 1190mm, underframe front and rear fulcrum span 1730mm, underframe left and right fulcrum span 1525mm, under the guide rail bracket of middle level
The spacing of the horizontal sliding sleeve that side installs is 1400mm, and the longitudinal sliding sleeve spacing installed below the guide rail bracket of upper strata is 1570mm；Upper ledge
Frame height 915mm, is joint action table pin joint at the overhanging 450mm of upper frame；Joint action table left and right width 1125mm, the longest 700mm,
High 915mm, below pin joint to joint action table, the vertical dimension of push rod is 1030mm, and below joint action table, electric cylinder operating bar maximum is stretched
The positive and negative 110mm of contracting amount；Motion platform infeed stroke is 60mm, longitudinal stroke 80mm, positive and negative 6 degree of joint action table allowable angle of inclination.
3. the crane simulation body using counterweight simulator proprioceptive simulation device as described in claim 1 or 2
Sense analogy method, it is characterised in that comprise the following steps:
Step one: simulator driver, experiences surrounding enviroment by visual system, and after obtaining goal task, flat to motion
Platform sends control instruction；
Step 2: by Dynamics of Cranes model, the acceleration of input Mechanism of crane motion, the sensation of acceleration of driver
Weighed by specific force, the human body perceptual model that enters through of the specific force form obtained is obtained body-sensing specific force, is become by coordinate
Bring the physical quantity determined at human perception, the acceleration at human vestibule position will be transformed into by motion platform barycenter acceleration,
Carry out process by high pass filter contrast force signal and obtain output signal；
Step 3: driving equipment is controlled by output signal by control module, it is ensured that each motion is at set point
Interior motion；By adjusting motion platform pose, including the linear motion of upper strata guide rail bracket and middle level guide rail bracket and joint action table
Slope compensation moves；Joint action table is hinged on upper frame, and therefore joint action table is transported with horizontal, the linear longitudinal movement of upper frame
Dynamic, thus directly simulate instantaneous acceleration during crane, moving of car；Joint action table rotates special angle according to input
Produced gravitational acceleration component, compensate for long acceleration sensation of movement；The simulator driver being positioned at joint action table is felt
The superimposed motion of each mechanism kinematic being subject to, simulates body-sensing effect true to nature；
Step 4: obtained the movable information of motion platform by simulator kinetic model resume module after, by true crane
Cab motions signal and simulator signal fusing, draw the body-sensing error between true body-sensing and motion platform body-sensing；By body
Sense error, body-sensing error rate as input signal, carry out feedback by fuzzy-adaptation PID control and adjust control parameter, thus excellent
Changing the control parameter of controlling unit, the process that optimizes is by acceleration fidelity coefficient, acceleration penalty term coefficient, displacement penalty term
Coefficient and gain penalty term coefficient carry out iteration optimization；Meanwhile, driver is under the physical perception the ordering about with task, to fortune
Moving platform re-emits instruction, thus constitutes the closed loop system of motion platform；
Concretely comprising the following steps of fuzzy-adaptation PID control: the physical quantity that true crane produces is MA, calculated through body-sensing model
The sensation of movement that true crane provides is MR；And the sensation of movement that proprioceptive simulation device provides is MS, by MS-MAGained is body
Sense error e, obtaining ec further is body-sensing error rate；Using body-sensing error e and body-sensing error rate ec as input
Signal, carries out Real-time Feedback adjustment to controlling process weight coefficient, and output fuzzy variable is Kp、KI、KD, weight system after adjustment
Number improves fidelity of simulation, finite motion spatial dimension, consistent movement time and the aspect such as control stability, output response
Performance；
Described specific force is described as: consider the impact of acceleration of gravity, and proprioceptive simulation uses specific force to weigh, and processing mode is: defeated
Enter acceleration a and gravity acceleration g to subtract each other and obtain specific force f, be mathematically represented as f=a-g；
Described human body perceptual model is: employing data model is to describe human vestibule system, thus meets proprioceptive simulation control
The requirement of process；Human vestibule system is reduced to semicircular duct and otolith, and semicircular duct is used for perception angular velocity, and otolith is used for perception line
Acceleration；Semicircular duct and otolith use the form founding mathematical models of transmission function, it is simple to controlling unit designs；Otolith model phase
Should transmit function is:
Semicircular duct model respective transfer functions is:
Counterweight simulator proprioceptive simulation method the most according to claim 3, it is characterised in that: instantaneous acceleration kinesthesia
Feel directly uses the form simulation of mechanism kinematic, the linear motion that upper frame is horizontal, longitudinal, simulation crane, dolly fortune
Instantaneous acceleration during Dong；Long acceleration sensation of movement uses the form of gravitational acceleration component in limited operation space
Simulation；Slope compensation, for joint action table is rotated special angle according to input, produces gravitational acceleration component, thus compensates and continue
Acceleration movement is felt.
Counterweight simulator proprioceptive simulation method the most according to claim 3, it is characterised in that simultaneously accept cart, little
The input of 2 Ion channel kinetics calculation results of car and process, include but not limited to: acceleration, speed, displacement, angular velocity, position, angle
Move.
Counterweight simulator proprioceptive simulation method the most according to claim 3, it is characterised in that: input physical quantity be according to
True Dynamics of Cranes is calculated, and output body-sensing signal is wanted to meet the operator being positioned on simulator and is obtained in that very
The sensation of movement of real hoister；Set up earth coordinates, simulator coordinate system and joint action table coordinate system；With earth coordinates
For reference, input physical quantity is transformed into simulator coordinate system by crane coordinate system, ties further according to proprioceptive simulation hardware system
Structure is transformed into joint action table coordinate system, draws physical quantity at simulator operator's vestibule.
Counterweight simulator proprioceptive simulation method the most according to claim 3, it is characterised in that: the control of proprioceptive simulation
The parameter of the method optimizing washout algorithm of Cheng Caiyong feedback regulation；Optimization process is punished by acceleration fidelity coefficient, acceleration
Term coefficient, displacement penalty term coefficient and gain penalty term coefficient is penalized to carry out iteration optimization.
Counterweight simulator proprioceptive simulation method the most according to claim 5, it is characterised in that: human vestibule system model
In, proprioceptive simulation is with human vestibule system as theoretical basis, in limited operating range and actuator travel, simulates instantaneous acceleration
Sensation of movement with long acceleration；Washout algorithm is for rejecting unnecessary physical quantity signal, when simulating instantaneous acceleration,
Disallowable less than human perception threshold threshold signal below component, reduce mechanism kinematic displacement；When mechanism returns middle, more than people
Body-sensing knows that threshold threshold signal below component is disallowable, it is ensured that human perception is less than unnecessary motion；
Wherein, cart instantaneous acceleration passage uses second-order linearity high pass filter, and it is 8-that cart starts with braking time suggestion
10s；Dolly instantaneous acceleration passage uses second-order linearity high pass filter, and acceleration range is advised at 0.5-0.7m/s2Between,
Maximum less than 0.8m/s2；Dolly long acceleration slope compensation passage uses second-order linearity low pass filter, allowable angle of inclination
When being 6 degree, the maximum of acceleration is about 4m/s2。
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