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[1]王晓晨,陈维山.带有补偿环节的串并联混合型飞行模拟器指令分配方法[J].电机与控制学报,2017,21(07):113-120.[doi:10.15938/j.emc.2017.07.016]
 WANG Xiao-chen,CHEN Wei-shan.Command assignment method with compensation unit for serial-parallel hybrid flight simulator [J].,2017,21(07):113-120.[doi:10.15938/j.emc.2017.07.016]
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带有补偿环节的串并联混合型飞行模拟器指令分配方法(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年07
页码:
113-120
栏目:
出版日期:
2017-07-01

文章信息/Info

Title:
Command assignment method with compensation unit for serial-parallel hybrid flight simulator
作者:
?王晓晨12 陈维山2
?( 1. 哈尔滨理工大学自动化学院,黑龙江哈尔滨150080; 2. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001)
Author(s):
?WANG Xiao-chen12 CHEN Wei-shan2
? (1. Department of Automation,Harbin University of Science and Technology,Harbin 150080,China; 2. State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)
关键词:
大角度机动 飞行运动仿真 运动学奇异 指令分配
Keywords:
large angle maneuvering flight motion simulation kinematic singularity command assignment
分类号:
TP 273
DOI:
10.15938/j.emc.2017.07.016
文献标志码:
A
摘要:
提出了一种串并联混合型飞行模拟器,该模拟器结合了串联机构和并联机构的特点,能够实现高动态大角度机动飞行的运动仿真。针对所提出模拟器的指令分配问题,首先基于伪逆和梯度投影法给出了带有加权的速度层最优解。然后针对各个关节的物理约束,基于二次分配的思想
设计了补偿环节,使得当某一个关节指令的速度或加速度超限时,可以利用其他未超限的关节进行补偿,这也使得模拟器能够模拟更高动态的运动。给出的指令分配算法能保证在获得期望位姿指令的同时,避免运动学奇异,同时还能充分发挥系统各关节的驱动能力。
Abstract:
?A serial-parallel hybrid flight simulator was proposed to implement high dynamic and large-angle maneuvering flight simulation. The simulator combines the characteristics of series manipulator and parallel manipulator. For command assignment problem of the serial-parallel hybrid flight simulator, pseudo-inverse and gradient projection methods were used to obtain optimal solution with weighted at the velocity level. Then,a compensation unit of velocity and acceleration was designed for the compensation of the joint velocity and acceleration saturation. The compensation unit based on the velocity and acceleration redistribution was designed. When some of the joint velocities or accelerations are in saturation other joints compensate for the lack of the velocity or acceleration. Thus,this simulator can implement higher dynamic flight simulation. The proposed command assignment algorithm achieves desired position and attitudes, avoid kinematics singularity,and drive ability of the each joint is fully utilized.

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备注/Memo

备注/Memo:
收稿日期: 2016 - 04 - 26
基金项目: 国家自然科学基金( 61104193) ; 中国博士后科学基金( 2014M551228)
作者简介: 王晓晨( 1980—) ,男,博士,讲师,研究方向为飞行器半实物仿真系统的设计与实现、先进机电伺服系统;
陈维山( 1965—) ,男,博士,教授,研究方向为运动模拟器结构优化设计、智能机构与仿生机器人、压电与超声波驱动技术。
更新日期/Last Update: 2017-08-24