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清华大学学报(自然科学版)  2015, Vol. 55 Issue (7): 709-715    
  机械工程 本期目录 | 过刊浏览 | 高级检索 |
动态飞行模拟器实时运动规划算法
关立文, 刘慧, 付萌
清华大学 机械工程系, 北京 100084
Real-time motion planning algorithm for dynamic flight simulators
GUAN Liwen, LIU Hui, FU Meng
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
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摘要 动态飞行模拟器是一种以离心机作为运动平台的持续过载模拟设备, 其运动规划直接影响过载模拟精度。该文主要针对动态飞行模拟器实时运动规划问题进行研究, 建立了过载模拟模型, 分析了卸载段动态飞行模拟器运动参数无法计算的原因, 在此基础上提出了基于2维插值法的实时运动规划算法, 解决了动态飞行模拟器实时运动规划问题。为了验证算法的准确性, 分别针对纯z向梯形过载曲线和3轴过载曲线进行模拟仿真, 分析算法对过载模拟误差的影响。仿真结果表明: 模拟过载能较好地跟踪理论过载, 算法具有较好的准确性和实用性。
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关立文
刘慧
付萌
关键词 动态飞行模拟器运动规划过载模拟2维插值    
Abstract:Dynamic flight simulators (DFS) use a centrifuge to simulate sustained G-loads. The motion planning for the DFS directly affects the accuracy of the G-load simulations. This paper describes a real-time motion planning algorithm for a flight simulator. The G-load simulation model is given but is difficult to solve when the G-loads are negative. A real-time motion planning algorithm with two-dimensional interpolation is used to generate both a trapezoidal G-load curve and three-axis G-load commands. The simulation results show that the simulated G-loads precisely track the commands. The algorithm is accurate and practical.
Key wordsdynamic flight simulator    motion planning    G-load simulation    two-dimensional interpolation
收稿日期: 2015-01-12      出版日期: 2015-09-18
ZTFLH:  V216.8  
引用本文:   
关立文, 刘慧, 付萌. 动态飞行模拟器实时运动规划算法[J]. 清华大学学报(自然科学版), 2015, 55(7): 709-715.
GUAN Liwen, LIU Hui, FU Meng. Real-time motion planning algorithm for dynamic flight simulators. Journal of Tsinghua University(Science and Technology), 2015, 55(7): 709-715.
链接本文:  
http://jst.tsinghuajournals.com/CN/  或          http://jst.tsinghuajournals.com/CN/Y2015/V55/I7/709
  图1 DFS3维结构图
  图2 飞行员过载方向定义
  图3 过载曲线预处理
  图4 卸载与加载对应关系图解
  图5 δG 、tc 随数据间隔和插值方法的变化
  图6 2维插值原理图
  图7 运动规划算法整体流程
  表1 DFS主要性能和结构参数
  图8 纯z 向梯形过载曲线
  图9 纯z 向梯形过载模拟中DFS运动参数变化情况
  图10 纯z 向梯形过载模拟误差
  图11 飞行员3轴过载曲线
  图12 实际飞行动作3轴过载仿真结果
  图13 3轴过载仿真误差
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