模拟过载动感座椅的机构优化设计及其动力学分析

发布时间：2018-06-21 00:42

本文选题：过载 + 雅克比矩阵　；参考：《上海工程技术大学》2016年硕士论文

【摘要】：飞行模拟过载动感座椅是辅助甚至在某些模拟科目中替代六自由度运动平台的模拟器;为了提高飞行模拟过载动感座椅的模拟逼真度,本文主要对过载座椅的机构进行研究和分析,通过动力学性能评价指标对机构的尺寸参数进行优化以提高其动力学性能。同时也对模拟过载动感座椅的激励算法做了研究和分析。以飞行模拟过载动感座椅的背板机构为研究对象,对机构的运动性能做了系统化的分析和研究。利用虚功原理法建立了背板机构的正运动学模型及逆运动学模型,分别从机构学、运动学及动力学的角度对运机构模型进行了正解和反解。推导了机构的运动方程并构造了方程的雅克比矩阵,阐述了基于雅克比矩阵的速度椭球、加速度椭球及广义惯性椭球等机构运动学性能评价方法;介绍了椭球评价方法中常用的几种评价指标。通过引入驱动误差,推导出了全局条件系数。利用MATLAB软件对机构的这些性能评价指标进行了仿真,结合广义惯性椭球及加速度分布的仿真结果,对机构的运动学性能的缺陷进行了评判,并利用空间模型理论对机构的参数进行了优化,提高了机构的加速度性能。分析了人体接收运动信息的原理,对人体的感觉信息进行了研究,结合飞行员在飞行模拟过载动感座椅中的受力情况,建立了人体前庭感觉系统及身体压力感觉系统的数学模型。对飞行模拟过载动感座椅的激励算法进行了研究和对比,在最优滤波算法建立的过程中引入了人体感觉模型。利用flightlab飞行仿真软件,对经典滤波算法、自适应滤波算法及最优滤波算法在过载座椅中的激励响应进行了仿真,并且将飞行模拟过载动感座椅对激励的响应与飞机的响应进行了分析和对比,并得出结论,即引入人体感觉模型的最优滤波算法能够使飞行模拟过载动感座椅得到更逼真的模拟效果。
[Abstract]:Flight simulation overload dynamic seat is a simulator that can assist and even replace six degrees of freedom motion platform in some simulation subjects, in order to improve the simulation fidelity of flight simulation overload dynamic seat, In this paper, the mechanism of overload seat is studied and analyzed, and the dimension parameters of the mechanism are optimized by dynamic performance evaluation index to improve its dynamic performance. At the same time, the excitation algorithm of simulating overload dynamic seat is studied and analyzed. In this paper, the kinematic performance of the mechanism is systematically analyzed and studied by taking the rear plate mechanism of the flight simulation overload dynamic seat as the research object. The forward kinematics model and inverse kinematics model of the backplane mechanism are established by using the virtual work principle method. The forward and inverse solutions of the mechanism model are obtained from the point of view of mechanism kinematics and dynamics respectively. The kinematic equation of the mechanism is derived and the Jacobian matrix of the equation is constructed. The kinematic performance evaluation methods of velocity ellipsoid acceleration ellipsoid and generalized inertia ellipsoid based on Jacobian matrix are described. This paper introduces several evaluation indexes commonly used in ellipsoid evaluation methods. By introducing driving error, the global conditional coefficient is derived. The performance evaluation indexes of the mechanism are simulated by MATLAB software, and the kinematic performance defects of the mechanism are evaluated by combining the simulation results of the generalized inertia ellipsoid and acceleration distribution. The parameters of the mechanism are optimized by using the spatial model theory, and the acceleration performance of the mechanism is improved. In this paper, the principle of human body receiving motion information is analyzed, and the feeling information of human body is studied. The mathematical models of the vestibular sensory system and the body pressure sensory system were established. In this paper, the excitation algorithm of flight simulation overload dynamic seat is studied and compared, and the human body feeling model is introduced in the process of establishing the optimal filtering algorithm. The excitation response of classical filtering algorithm, adaptive filtering algorithm and optimal filtering algorithm in overload seat is simulated by using flightlab flight simulation software. The response of the flight simulation overload dynamic seat to the excitation is analyzed and compared with the response of the aircraft, and the conclusion is drawn. That is to say, the optimal filtering algorithm of human sensory model can make the flight simulation dynamic seat more lifelike.
【学位授予单位】：上海工程技术大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V216.8

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