Multi-axis coupling motion singularity control method for continuous load simulator

Abstract

The invention discloses a multi-axis coupling motion singularity control method for a continuous load simulator. The method comprises the following steps: S1, establishing an axis motion mathematicalrelationship of the simulator; S2, decoupling the main arm from other rotating shafts in the Jacobian of attitude control; S3, quantifying the singular degree of the current result; S4, carrying out quick solving on the quantification of the singular degree; and S5, after a singular degree quantification result is solved, designing a singular control module. According to the method, singular pointtransition is carried out under the condition that the shaft motion stroke is fully utilized; and the sudden change of the vicinity of the singular point due to the limitation of the mechanical rangeof the shaft is avoided in a mode of reducing the proportion of the control instruction, so that the stability and fidelity of flight simulation are improved.

Description

technical field [0001] The invention belongs to the technical field of load simulators, and in particular relates to a method for controlling the singularity of multi-axis coupled motion of a continuous load simulator. Background technique [0002] With the development of aviation technology and the improvement of the maneuverability of fighter jets, the problems of acceleration loss of awareness (G-Loc) and space disorientation (SD) have become increasingly prominent, and have become the main factors that endanger the flight safety of countries all over the world. In response to such problems, all major aviation countries in the world are currently using manned centrifuges for training. With the rapid development of manned centrifuges and the demand for equipment for flight training subjects, the current manned centrifuges not only provide continuous overload simulation, but are also rapidly developing in the direction of full-attitude simulation. Loaded flight simulator. ...

AI Technical Summary

Problems solved by technology

For example, in a structure where the outer frame is yaw, the middle frame is roll, and the inner frame is pitch, if the middle frame is rotated to 90°, both the outer frame and the inner frame will only change the pitch state of the cockpit, and cannot change the cockpit through axis movement yaw attitude, at this time, the attitude control of the cockpit loses one degree of freedom

Existing continuous load simulator research also does not address the singularity problem of multi-axis coupling

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