CN106327945B - A kind of counterweight simulator proprioceptive simulation method and apparatus - Google Patents
A kind of counterweight simulator proprioceptive simulation method and apparatus Download PDFInfo
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- 238000004088 simulation Methods 0.000 title claims abstract description 53
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- 230000000272 proprioceptive effect Effects 0.000 title claims abstract description 35
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- 230000001133 acceleration Effects 0.000 claims abstract description 70
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- 230000008569 process Effects 0.000 claims abstract description 21
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- 230000009916 joint effect Effects 0.000 claims description 53
- 238000004422 calculation algorithm Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 14
- 210000002480 semicircular canal 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
- 238000013461 design Methods 0.000 claims description 9
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- 230000024159 perception of rate of movement Effects 0.000 claims description 2
- 230000001720 vestibular Effects 0.000 claims description 2
- 230000030214 innervation Effects 0.000 description 5
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Abstract
The present invention discloses a kind of counterweight simulator proprioceptive simulation method and apparatus.The method includes closed-loop simulation step, physical quantity input and output step and fuzzy-adaptation PID control steps, the walking mechanisms such as cart, trolley generate during for simulating crane job in limited travel and working space kinaesthesis, in particular to: the kinaesthesis such as the instantaneous acceleration consistent with true crane, long acceleration can be simulated.Described device is freedom degree parallel connection structure, including cart transverse movement, trolley longitudinal movement and trolley slope compensation rotary motion.It can effectively solve the problem that proprioceptive simulation acceleration, deceleration in crane simulation operating process by handling input signal based on human motion perception theory, return the problems such as middle.The present invention is conducive to increase the fidelity of counterweight simulator, can satisfy the requirement of simulation kinaesthesis in limited travel and working space, and for improving simulator quality, level has important application value.
Description
Technical field
It is particularly a kind of suitable for counterweight simulator Three-degree-of-freedom motion platform the present invention relates to crane simulation
Proprioceptive simulation method.
Background technique
Freedom degree parallel connection structure can complete spatially transverse, longitudinal linear motion by the control to driving equipment
With the rotary motion of set angle.Motion platform is mainly used in the proprioceptive simulation of simulator, in limited travel and working space
The body-sensing that the walking mechanisms such as cart, trolley generate during interior simulation crane job.Currently, motion platform technology is widely answered
For improving the vivid effect of simulation in the simulators such as flight simulator, environment simulator.But existing motion platform is in lifting
Machine field using less, and function does not meet crane simulation requirement, should by taking Stewart 6-dof motion platform as an example
Motion platform price is high, system complex, and generally requires to be further improved and be just able to satisfy proprioceptive simulation demand, wants in freedom degree
Function waste can also be generated by asking in few simulator.And the emulation that Three-degree-of-freedom motion platform can expire counterweight simulator is wanted
It asks, simple mechanical structure, convenient for the solution to motion platform direct position analysis, improves the accuracy and stabilization of motion control
Property.
In addition, counterweight simulator motion platform is mainly used in the simulation of driver's body-sensing, the what comes into a driver's system with simulator
System, audio system and simulator operating platform environment arrange to form a closed-loop system, reach simulation effect true to nature.Pass through
The motor function and kinematic parameter of motion platform are analyzed, existing control algolithm does not meet the control of counterweight simulator motion platform
System.The present invention carries out washout algorithm design according to motion platform mechanical structure, to motion platform, and in control process using feedback
The method optimizing controlling unit parameter of adjusting makes motion platform reach simulation effect more true to nature in existing space, improves
The stability of motion platform.
Application No. is 201410631816.4 patents of invention to disclose a kind of Three-degree-of-freedom motion platform, structure letter for China
Single, stability is good.But the motion platform one side field range is small, does not meet crane job environmental demand, on the other hand, only
It is able to satisfy the rotary motion of certain angle, it is difficult to meet the transient acceleration requirement of counterweight simulator；China application No. is
201510031178.7 patent of invention disclose a kind of multilayer Closed-loop Control Strategy Stewart 6-dof motion platform fly
Row analog platform avoids error caused by the factors such as installation, deformation by multilayer closed-loop control, but this method by
It is limited in device, control is complicated, and is designed mainly for aviation field, does not meet counterweight simulator functional requirement.
The present invention is designed motion platform according to true crane work characteristics, and is tied according to the machinery of motion platform
The instantaneous acceleration of crane is directly simulated in the washout algorithm of structure design, the movement of mechanism.Continued by tilt angle
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
Movement, it is non-interference, accumulated error caused by single driving equipment error is avoided, the position precision of motion platform is improved,
There are important economic value and scientific meaning.
Summary of the invention
Herein for counterweight simulator, a kind of parallel 3-DOF motion platform is devised, motion platform is improved
Controlling model makes motion platform can satisfy the demand for control of counterweight simulator.Motion platform disclosed herein, according to true
The motion mode and kinematic parameter of real crane are designed.Table 1 designs selected crane movements parameter for motion platform.
Table 1
Since impression of the human body to speed is insensitive but sensitive to the impression of acceleration.And the sensitive acceleration of human body institute
Bottom valve value is 0.2m/s2, according to crane movements parameter, motion platform only need in moving of car direction by slope compensation come mould
Quasi- acceleration of motion sense, motion platform tilt angle are designed according to θ >=0.8 gsin.The movement that the present invention is announced is flat
Platform is made of motion platform lower frame, guide rail bracket, upper frame, joint action table and driving mechanism.Lower frame is fixedly connected with the ground,
For carrying entire platform.Identical guide rail bracket (the lower floor guide rail of three-decker size is successively laid between lower frame and upper frame
Frame, middle layer guide rail bracket, upper strata guide rail frame), the installation for trapped orbit, sliding sleeve and driving device.On the downside of lower floor guide rail frame
Weld together with lower frame, cross slide way is laid on the upside of lower floor guide rail frame, guide rail two sides are equipped under baffle, with middle layer guide rail bracket
The sliding sleeve of side installation matches.Longitudinal rail is laid on the upside of the guide rail bracket of middle layer, guide rail two sides are equipped under baffle, with upper strata guide rail frame
The sliding sleeve of side installation matches.Weld together on the upside of upper strata guide rail frame with upper frame.Joint action table is hinged on 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 guide rail frame, middle layer
Guide rail bracket, upper strata guide rail frame respectively install an electric cylinder, and electric cylinder drive rod is coaxially connected with operating bar, and operating bar is led with middle layer
Rail gantry, upper strata guide rail frame are connected by shaft coupling between joint action table sliding block, and each movement mechanism is non-interference.
Wherein the joint action table is to provide the device of operating function to operator, and joint action table is hinged on frame,
It is moved with upper frame movement.Joint action table is laid with using transparent toughened glass.Its visual field feature are as follows: front, left and right two
Side and underface.
The present invention describes human vestibule system using data model, so as to meet wanting for proprioceptive simulation control process
It asks.Human vestibule system is reduced to semicircular canal and otolith, and semicircular canal is for perceiving angular speed, and otolith is for perceiving linear acceleration.
Semicircular canal and otolith all use the form founding mathematical models of transmission function, design convenient for controlling unit.According to motion platform
Hardware configuration is designed the control structure and washout algorithm of motion platform, establishes earth coordinates, simulator coordinate respectively
System, joint action table coordinate system.It is reference with earth coordinates, input physical quantity is transformed into simulator coordinate by crane 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 vestibular.
The method optimizing controlling unit parameter of feedback regulation is used in control process, to meet the control need of Three-degree-of-freedom motion platform
It asks.
Wherein, the otolith model respective transfer functions are as follows:
The semicircular canal tube model respective transfer functions are as follows:
A kind of proprioceptive simulation method that the present invention is announced, in particular to: be input to the output of body-sensing signal for physical quantity
The control and management of whole process, including physical quantity input, body-sensing modeling, coordinate transform, slope compensation, feedback regulation and object
The controlling units such as reason amount output.The control process of motion platform are as follows: step 1: simulator driver is experienced by visual system
To surrounding enviroment, and after obtaining goal task, control instruction is issued to motion platform；Step 2: pass through Dynamics of Cranes mould
Type, the acceleration of input Mechanism of crane movement, the sensation of acceleration of driver are measured by specific force, the specific force shape that will be obtained
The input of formula obtains body-sensing specific force by human body perceptual model, the physical quantity at human perception is determined by coordinate transform, i.e.,
Motion platform mass center acceleration is transformed into the acceleration at human vestibule position, is compared at force signal by high-pass filter
Reason obtains output signal；Step 3: output signal controls driving equipment by control module, guarantees each movement mechanism
It moves within the set range；By adjusting motion platform pose, the linear motion including upper strata guide rail frame and middle layer guide rail bracket with
And the slope compensation movement of joint action table；Joint action table is hinged on frame, therefore joint action table is with lateral, longitudinal straight line of upper frame
It moves and moves, to directly simulate instantaneous acceleration during crane, moving of car；Joint action table is rotated according to input
Gravitational acceleration component caused by special angle compensates for long acceleration kinaesthesis；Simulator positioned at joint action table is driven
The superimposed motion for 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 motion information of motion platform, pass through true hoisting box's motor message and simulator signal ratio
It is right, obtain 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 adjusting control parameter by fuzzy-adaptation PID control, thus the control parameter of optimal control link, optimization process
Punish that term coefficient, displacement punishment term coefficient and gain punish term coefficient come iteration by acceleration fidelity coefficient, acceleration
Optimization；At the same time, driver re-emits instruction to motion platform, to constitute under the driving of physical perception and task
The closed-loop system of motion platform；
The body-sensing error and body-sensing error rate is the physical quantity M generated by true craneA, pass through body-sensing mould
Type, which calculates, acquires the kinaesthesis M that true crane providesR.And the manipulation simulator fortune that driver experiences during the motion
Innervation feels MSIt is the innervation of manipulation simulator, by MS-MAGained is body-sensing error e, can further obtain the change rate of body-sensing error
ec。
In the proprioceptive simulation method, washout algorithm is the process of proprioceptive simulation method handled signal, this
Washout algorithm described in text is designed according to the design feature of motion platform, be divided into initial calculation link, filtering link and
Feedback regulation link.Washout algorithm receives the input signal in two channels, respectively two cart, trolley Ion channel kinetics simultaneously
The input and processing of calculated result.It is affected by gravity, sensation of acceleration of the driver on manipulation simulator passes through specific force
It measures, input acceleration a and gravity acceleration g subtract each other to obtain specific force f, are mathematically represented as f=a-g.The specific force shape that will be obtained again
The input of formula is by human body perceptual model, the corresponding body-sensing specific force obtained by human body perceptual model.Then according to foundation
Coordinate system is coordinately transformed, and input signal uses second-order linearity high pass filter filters in two channels, will be not required in physical quantity
The signal section wanted is rejected, and is finally controlled driving equipment and is moved, and guarantees that motion platform simulates movement in limited travel
Feel.In order to reach better 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 generates is MA, by the fortune for the true crane offer that body-sensing model is calculated
Innervation feels to be MR；And the kinaesthesis that proprioceptive simulation device provides is MS, by MS-MAGained is body-sensing error e, is further obtained
Ec is body-sensing error rate.Using body-sensing error e and body-sensing error rate ec as input signal, to control process weight
Coefficient carries out Real-time Feedback adjustment, and output fuzzy variable is Kp、KI、KD, weight coefficient adjusted improves fidelity of simulation, has
Limit the performance of space scope, consistent run duration and control stability, output response etc..
The invention has the following advantages that
It, can be with by sliding rail and sliding sleeve and drive system 1. motion platform of the present invention is towards counterweight simulator
True transient acceleration is directly generated, long acceleration is simulated in conjunction with the slope compensation movement of joint action table, makes driver people
Body-sensing is by more life-like.Joint action table visual field feature is front, the left and right sides and underface, and the work for meeting true crane is special
Point fills up on existing market motion platform in the blank in the field.Each movement mechanism of motion platform has individually driving and control
Module, parallel-connection structure reduce the complicated in mechanical structure degree of motion platform, reduce the buying maintenance cost of equipment, while simultaneously
It is coupled structure and reduces accumulated error caused by the error of movement mechanism, is provided well for the proprioceptive simulation of counterweight simulator
Hardware platform.
2. the present invention according to the control method of parallel 3-DOF motion platform Design of Hardware Architecture proprioceptive simulation with wash
Algorithm out can receive the input and processing of 2 cart, trolley Ion channel kinetics calculation results simultaneously.It is calculated controlling and washing out
It joined feedback element in method, optimize the determination process of weight coefficient, improve the fidelity of motion platform, can guarantee
In quickly being returned in the case where not transfiniting.
Detailed description of the invention
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-lower frame 2-lower floor guide rail frame 3-operating bar, 1 4-cross slide way
5-electric cylinder 2 6-transverse direction sliding sleeve 7-operating bar, 2 8-longitudinal rails
9-upper strata guide rail framves 10-going up the upper frame 12 of frame pedal 11-- go up frame anchor bearing
13-joint action table articulated shaft 14-joint action table, 15-windowpane, 16-joint action table slide bars
17-3 19-electric cylinder of joint action table 18-operating bar of sliding block, 3 20-longitudinal direction sliding sleeves
21-middle layer 22-electric cylinders of guide rail bracket 1
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
A kind of counterweight simulator proprioceptive simulation method and apparatus of the present invention, including parallel 3-DOF motion platform, body
Feel analog control method, washout algorithm.
In conjunction with Fig. 1, movement is realized by the following method in each movement mechanism of motion platform: parallel 3-DOF movement
Platform includes the identical guide rail bracket 2,21,9 of three sets of sizes, and the cross slide way 4 and middle layer guide rail bracket 21 that lower floor guide rail frame 2 is laid with are pacified
The sliding sleeve 6 of dress cooperates, and 4 both ends of cross slide way are equipped with baffle；The long rails 8 and upper strata guide rail frame 9 that middle layer guide rail bracket 21 is laid with
The sliding sleeve 20 of installation cooperates, and 8 both ends of long rails are equipped with baffle；Axis 13 on joint action table 14 and 12 phase of bearing on upper frame 11
Cooperation；Operating bar 18 is connect by shaft coupling with sliding block 17, and sliding block 17 cooperates with the slide bar 16 being fixed below joint action table, sliding block
It is slided on joint action table slide bar, joint action table is pushed to carry out rotation inclination around hinge joint.Electric cylinder is housed above three sets of guide rail brackets
22,5,19, servo motor is installed beside electric cylinder and is connected with the ball screw of electric cylinder, operating bar 3,7,18 respectively with it is electronic
Cylinder drive rod is coaxially connected, and operating bar 3,7 is connected by shaft coupling with the guide rail bracket 21,9 of top, the telescopic band movement of electric cylinder
Lever movement.Each mechanism kinematic is independent, does not interfere with each other.The advantage of doing so is that reducing the cumulative errors of movement, movement is improved
The kinematic accuracy of platform.
Wherein, joint action table 14 can be rotated around hinge joint, and joint action table 14 is transported with the linear motion of upper frame 11
It is dynamic.Upper frame 11 is laid with steel plate and anti-fall column is arranged, and effect is that driver is current convenient, and is convenient for instructing personnel close to driving
Member guarantees personnel safety.The joint action table for hanging on frame is simulator to the position of operator's offer operating function, is linked
Tread is laid with by tempered glass, increases the visual field of operator.
As shown in Figure 2.Motion platform structural parameters are 1 height 1190mm of lower frame, 1 or so fulcrum span of lower frame
1525mm, between lower frame 1 and upper frame 11 be equipped with three layers of guide rail bracket 2,21,9, length and width dimensions are equal with lower frame.Upper frame
11 away from ground level 1545mm, upper 11 height 915mm of frame.Wherein, when motion platform is in home position, middle layer guide rail bracket 21
The spacing of the lateral sliding sleeve of lower section installation is 1400mm.Motion platform frame is welded by square steel, and lower frame 1 is fixed with ground
Connection, is used to support entire platform.
As shown in figure 3, motion platform structural parameters are 1 two fulcrum span 1730mm of front and back of lower frame, upper frame is overhanging
It is joint action table hinge joint at 450mm.14 anterior-posterior length 700mm of joint action table, 14 front and back of joint action table effectively plane length is 900mm.
The longitudinal sliding sleeve spacing installed below upper strata guide rail frame 9 is 1570mm.The vertical range of hinge joint to push rod below joint action table is
1030mm, the joint action table lower section positive and negative 110mm of electric cylinder operating bar maximal dilation amount.
Fig. 4 is the control method of proprioceptive simulation, and control method is input to body-sensing signal output whole process for physical quantity
Control and management, including physical quantity input, body-sensing modeling, coordinate transform, slope compensation, feedback regulation and physical quantity output
Etc. controlling units.The control process of motion platform is realized by the following method:
Step 1: simulator driver experiences surrounding enviroment by visual system, and after obtaining goal task, to fortune
Moving platform issues control instruction；
Step 2: by Dynamics of Cranes model, the acceleration of Mechanism of crane movement, the acceleration of driver are inputted
Feeling is measured by specific force, and the input of obtained specific force form is obtained body-sensing specific force by human body perceptual model, passes through seat
Motion platform mass center acceleration is transformed into the acceleration at human vestibule position to determine the physical quantity at human perception by mark transformation
Degree compares force signal by high-pass filter and is handled to obtain output signal；
Step 3: output signal controls driving equipment by control module, guarantees that each movement mechanism is being set
Movement in range；By adjusting motion platform pose, linear motion and linkage including upper strata guide rail frame and middle layer guide rail bracket
The slope compensation of platform moves；Joint action table is hinged on frame, thus joint action table with transverse direction, the linear longitudinal movement of upper frame and
Movement, to directly simulate instantaneous acceleration during crane, moving of car；Joint action table rotates specific angle according to input
Gravitational acceleration component caused by spending, compensates for long acceleration kinaesthesis；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: after obtaining the motion information of motion platform by simulator kinetic model resume module, by really rising
Heavy-duty machine cab motions signal and simulator signal fusing, obtain the body-sensing error between true body-sensing and motion platform body-sensing；
Using body-sensing error, body-sensing error rate as input signal, feedback adjusting control parameter is carried out by fuzzy-adaptation PID control, from
And the control parameter of optimal control link, optimization process punish that term coefficient, displacement are punished by acceleration fidelity coefficient, acceleration
Term coefficient and gain is penalized to punish that term coefficient carrys out iteration optimization；At the same time, driver is under the driving of physical perception and task,
Instruction is re-emitted to motion platform, to constitute the closed-loop system of motion platform；
The specific force description are as follows: consider the influence of acceleration of gravity, proprioceptive simulation is measured using specific force, processing mode
Are as follows: input acceleration a and gravity acceleration g subtract each other to obtain specific force f, are mathematically represented as f=a-g；
The body-sensing error and body-sensing error rate is the physical quantity M generated by true craneA, pass through body-sensing mould
Type, which calculates, acquires the kinaesthesis M that true crane providesR.And the manipulation simulator fortune that driver experiences during the motion
Innervation feels MSIt is the innervation of manipulation simulator, by MS-MAGained is body-sensing error e, can further obtain the change rate of body-sensing error
ec。
Control module in the control method is realized by computer programming.
In conjunction with Fig. 5, the washout algorithm is designed according to the design feature of motion platform, be divided into initial calculation link,
Filter link and feedback regulation link.Washout algorithm receives the input signal in two channels, respectively cart, trolley two simultaneously
The input and processing of a Ion channel kinetics calculated result.It is affected by gravity, acceleration of the driver on manipulation simulator
Feel to measure by specific force, input acceleration a and gravity acceleration g subtract each other to obtain specific force f, are mathematically represented as f=a-g.Again will
The input of obtained specific force form is by human body perceptual model, the corresponding body-sensing specific force obtained by human body perceptual model.So
It is coordinately transformed afterwards according to the coordinate system of foundation, input signal uses second-order linearity high pass filter filters in two channels, will
Unwanted signal part is rejected in physical quantity, is finally controlled driving equipment and is moved, and guarantees motion platform in limited travel
Inside simulate kinaesthesis.In order to reach better proprioceptive simulation effect, the weight coefficient of washout algorithm passes through fuzzy-adaptation PID control
It is optimized.
The control process uses fuzzy mode, detailed process are as follows: the physical quantity that true crane generates is MA,
It is M by the kinaesthesis that the true crane that body-sensing model is calculated providesR；And the kinesthesia that proprioceptive simulation device provides
Feel to be MS, by MS-MAGained is body-sensing error e, and further obtaining ec is body-sensing error rate.By body-sensing error e and body-sensing
Error rate ec carries out Real-time Feedback adjustment as input signal, to control process weight coefficient, and output fuzzy variable is Kp、
KI、KD, it is steady that weight coefficient adjusted improves fidelity of simulation, finite motion spatial dimension, consistent run duration and control
The performance of qualitative, output response etc..
The human body perceptual model are as follows: describe human vestibule system, using data model so as to meet body-sensing
Simulate the requirement of control process.Human vestibule system is reduced to semicircular canal and otolith, and semicircular canal is used for perceiving angular speed, otolith
In perception linear acceleration.Semicircular canal and otolith use the form founding mathematical models of transmission function, design convenient for controlling unit.Ear
Stone model respective transfer functions are as follows:
Semicircular canal tube model respective transfer functions are as follows:
Claims (7)
1. a kind of counterweight simulator proprioceptive simulation device, it is characterised in that: described device is freedom degree parallel connection structure, including
Lower frame, guide rail bracket, upper frame, joint action table and driving mechanism, driving mechanism include electric cylinder, servo motor and actuation
Bar；Lower frame is fixedly connected with the ground, and is used to support entire platform；Guide rail bracket is used for trapped orbit, sliding sleeve and driving device
Installation, welded together on the downside of lower floor guide rail frame with lower frame, laying cross slide way on the upside of lower floor guide rail frame, with middle layer guide rail
The sliding sleeve installed on the downside of frame matches, and the sliding sleeve phase installed on the downside of longitudinal rail and upper strata guide rail frame is laid on the upside of the guide rail bracket of middle layer
Cooperation, upper strata guide rail frame upside weld together with upper frame；Joint action table is hinged on frame, is slide bar machine below joint action table
The linear motion of electric cylinder can be converted to the banking motion of joint action table by structure；Lower floor guide rail frame, middle layer guide rail bracket, upper layer are led
Rail gantry respectively installs an electric cylinder, and electric cylinder drive rod is coaxially connected with operating bar, operating bar and middle layer guide rail bracket, upper strata guide rail
It is connected between frame, joint action table sliding block by shaft coupling；Three sets of driving devices are independent of one another, and each movement mechanism is non-interference；Upper ledge
Frame is for carrying joint action table, operator；Joint action table is device of the simulator to operator's offer operating function, is fixed on
On frame, moved with upper frame movement；The counterweight simulator body-sensing of the counterweight simulator proprioceptive simulation device
Analogy method, it is characterised in that the following steps are included:
Step 1: simulator driver experiences surrounding enviroment by visual system, and after obtaining goal task, flat to movement
Platform issues control instruction；
Step 2: by Dynamics of Cranes model, the acceleration of Mechanism of crane movement, the sensation of acceleration of driver are inputted
It is measured by specific force, the input of obtained specific force form is obtained into body-sensing specific force by human body perceptual model, is become by coordinate
The physical quantity at determining human perception is brought, i.e., motion platform mass center acceleration is transformed into the acceleration at human vestibule position,
Force signal is compared by high-pass filter to be handled to obtain output signal；
Step 3: output signal controls driving equipment by control module, guarantees each movement mechanism in setting range
Interior movement；By adjusting motion platform pose, linear motion and joint action table including upper strata guide rail frame and middle layer guide rail bracket
Slope compensation movement；Joint action table is hinged on frame, therefore joint action table is transported with transverse direction, the linear longitudinal movement of upper frame
It is dynamic, to directly simulate instantaneous acceleration during crane, moving of car；Joint action table rotates special angle according to input
Generated gravitational acceleration component compensates for long acceleration kinaesthesis；Simulator driver positioned at joint action table is felt
The superimposed motion for each mechanism kinematic received simulates body-sensing effect true to nature；
Step 4: after obtaining the motion information of motion platform by simulator kinetic model resume module, pass through true crane
Cab motions signal and simulator signal fusing, obtain the body-sensing error between true body-sensing and motion platform body-sensing；By body
Error, body-sensing error rate are felt as input signal, feedback adjusting control parameter are carried out by fuzzy-adaptation PID control, thus excellent
Change the control parameter of controlling unit, optimization process punishes term coefficient, displacement penalty term by acceleration fidelity coefficient, acceleration
Coefficient and gain punishment term coefficient carry out iteration optimization；At the same time, driver is under the driving of physical perception and task, to fortune
Moving platform re-emits instruction, to constitute the closed-loop system of motion platform；
The specific steps of fuzzy-adaptation PID control are as follows: the physical quantity that true crane generates is MA, it is calculated by body-sensing model
The kinaesthesis that true crane provides is MR；And the kinaesthesis that proprioceptive simulation device provides is MS, by MS-MAGained is body
Feel error e, further obtaining ec 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 control process weight coefficient, and output fuzzy variable is Kp、KI、KD, weight system adjusted
Number improves fidelity of simulations, finite motion spatial dimension, consistent run duration and control stability, output response etc.
Performance；
The specific force description are as follows: consider the influence of acceleration of gravity, proprioceptive simulation is measured using specific force, processing mode are as follows: defeated
Enter acceleration a and gravity acceleration g subtracts each other to obtain specific force f, is mathematically represented as f=a-g；
The human body perceptual model are as follows: human vestibule system is described using data model, to meet proprioceptive simulation control
The requirement of process；Human vestibule system is reduced to semicircular canal and otolith, and semicircular canal is for perceiving angular speed, and otolith is for perceiving line
Acceleration；Semicircular canal and otolith use the form founding mathematical models of transmission function, design convenient for controlling unit；Otolith model phase
Answer transmission function are as follows:
Semicircular canal tube model respective transfer functions are as follows:
2. counterweight simulator proprioceptive simulation device according to claim 1, it is characterised in that specific size parameter are as follows: under
Frame height 1190mm, lower frame front and rear fulcrum span 1730mm, lower frame or so fulcrum span 1525mm, under the guide rail bracket of middle layer
The spacing for the lateral sliding sleeve just installed is 1400mm, and the longitudinal sliding sleeve spacing installed below upper strata guide rail frame is 1570mm；Upper ledge
It is joint action table hinge joint at frame height 915mm, the upper overhanging 450mm of frame；Joint action table or so width 1125mm, the long 700mm in front and back,
The vertical range of high 915mm, hinge joint to joint action table lower section push rod are 1030mm, and electric cylinder operating bar maximum is stretched below joint action table
The positive and negative 110mm of contracting amount；Motion platform infeed stroke be 60mm, longitudinal stroke 80mm, positive and negative 6 degree of joint action table allowable angle of inclination.
3. counterweight simulator proprioceptive simulation device according to claim 1, it is characterised in that: instantaneous acceleration kinesthesia
Feel the form simulation for directlying adopt mechanism kinematic, the linear motion of upper frame laterally, longitudinal, simulation crane, trolley fortune
Instantaneous acceleration during dynamic；Long acceleration kinaesthesis uses the form of gravitational acceleration component in limited operation space
Simulation；Slope compensation is used to joint action table rotating special angle according to input, generates gravitational acceleration component, so that compensation continues
Acceleration movement is felt.
4. counterweight simulator proprioceptive simulation device according to claim 1, which is characterized in that while receiving cart, small
The input and processing of 2 Ion channel kinetics calculation results of vehicle, including but not limited to: acceleration, speed, displacement, angular speed, angle position
It moves.
5. counterweight simulator proprioceptive simulation device according to claim 1, it is characterised in that: input physical quantity be according to
True Dynamics of Cranes is calculated, and output body-sensing signal, which will be able to satisfy the operator on simulator, can obtain very
The kinaesthesis of real hoister；Establish 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, further according to proprioceptive simulation hardware system knot
Structure is transformed into joint action table coordinate system, obtains physical quantity at simulator operator's vestibular.
6. counterweight simulator proprioceptive simulation device according to claim 1, 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 punishment term coefficient and gain punishment term coefficient is penalized to carry out iteration optimization.
7. counterweight simulator proprioceptive simulation device according to claim 4, it is characterised in that: human vestibule system model
In, proprioceptive simulation is using human vestibule system as theoretical basis, in limited operating range and actuator travel, simulates instantaneous acceleration
With the kinaesthesis of long acceleration；Washout algorithm is for rejecting unnecessary physical quantity signal, when simulating instantaneous acceleration,
It is removed less than human perception threshold threshold signal component below, reduces mechanism kinematic displacement；When in mechanism time, it is greater than people
Body-sensing knows that threshold threshold signal component below is removed, and guarantees human perception less than extra movement；
Wherein, cart instantaneous acceleration channel uses second-order linearity high-pass filter, and it is 8- that cart, which is started with braking time suggestion,
10s；Trolley instantaneous acceleration channel uses second-order linearity high-pass filter, and acceleration range suggestion is in 0.5-0.7m/s2Between,
Maximum is no more than 0.8m/s2；Trolley long acceleration slope compensation channel uses second-order linearity low-pass filter, allowable angle of inclination
When being 6 degree, the maximum value of acceleration is about 4m/s2。
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| CN111596591A (en) * | 2020-05-28 | 2020-08-28 | 浙江禾川科技股份有限公司 | Motion control method, device and system of motion sensing game equipment and storage medium |
| CN111785124B (en) * | 2020-07-27 | 2022-04-05 | 中国工程物理研究院总体工程研究所 | Motion perception simulation fidelity evaluation method for continuous load simulator |
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