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CN-116863785-B - Multi-degree-of-freedom flight simulation motion platform and control method thereof

CN116863785BCN 116863785 BCN116863785 BCN 116863785BCN-116863785-B

Abstract

The invention relates to the technical field of parallel motion platforms for flight simulation, and discloses a multi-degree-of-freedom flight simulation motion platform for flight simulation and a control method thereof. The upper end of the inverted U-shaped supporting arm is vertically and fixedly provided with a connecting seat, the lower end face of the moving platform is uniformly and fixedly provided with three inverted U-shaped seats corresponding to the connecting seats, a fixing rod is horizontally and fixedly arranged in the inverted U-shaped seats, and the fixing rod is connected with the inverted U-shaped seats through a spherical hinge. The multi-degree-of-freedom flight simulation motion platform provided by the invention has the advantages of good motion consistency, good simulation on continuous flight motion states, and good accuracy and stability.

Inventors

  • YE JIANG
  • WU WEI
  • XIA ZHICHAO
  • ZHANG PEIPEI

Assignees

  • 江苏普旭科技股份有限公司

Dates

Publication Date
20260505
Application Date
20230719

Claims (8)

  1. 1. A multiple degree of freedom flight simulation motion platform, comprising: a base (1) as a lower platform; The motion platform (2) is used as an upper platform, the motion platform (2) is connected with the base (1) through three motion mechanisms which are uniformly arranged, and the three motion mechanisms are arranged in a triangular position; The motion mechanism comprises: The support seat (3) is fixedly arranged on the base (1), and the support seat (3) is of a hollow structure; the inverted U-shaped supporting arms (4) are vertically arranged on the upper sides of the supporting seats (3), and two ends of the inverted U-shaped supporting arms (4) are respectively arranged on two sides of the supporting seats (3); The two connecting arms (41) are symmetrically arranged on two sides of the supporting seat (3) and are arranged in parallel with the supporting seat (3), and the two connecting arms (41) are respectively connected with the two inverted U-shaped supporting arms (4) in a rotating way; The rotating shaft (5) penetrates through the supporting seat (3) and is rotatably arranged on the supporting seat, and two ends of the rotating shaft (5) are fixedly connected with the two connecting arms (41) respectively; the driving assemblies are respectively and correspondingly arranged on the base (1), correspond to the positions of the three supporting seats (3) and respectively drive the three rotating shafts (5) to rotate; The accurate control component is arranged between the rotating shaft (5) and the supporting seat (3) and is used for calculating the number of rotation turns; the device comprises a movable platform (2), wherein a connecting seat (6) is vertically and fixedly arranged at the upper end of an inverted U-shaped supporting arm (4), three inverted U-shaped seats (7) corresponding to the connecting seat (6) are uniformly and fixedly arranged on the lower end face of the movable platform (2), a fixing rod (8) is horizontally and fixedly arranged in the inverted U-shaped seats (7), and the fixing rod (8) is connected with the inverted U-shaped seats (7) through a spherical hinge (9).
  2. 2. The multi-degree-of-freedom flight simulation motion platform according to claim 1, wherein the driving assembly comprises a servo motor (11) fixedly arranged on a base (1); The output end of the servo motor (11) is coaxially and fixedly connected with a transmission shaft (12); The transmission shaft (12) extends into the supporting seat (3) and is fixedly connected with the driving bevel gear (13) coaxially, the supporting seat (3) is fixedly provided with a reinforcing seat (14) and the reinforcing seat (14) is rotationally connected with the transmission shaft (12), the driven bevel gear (15) is fixedly sleeved on the rotation shaft (5), and the driving bevel gear (13) is meshed with the driven bevel gear (15).
  3. 3. The multi-degree-of-freedom flight simulation motion platform according to claim 1, wherein the precision control assembly comprises an annular block (51) fixedly sleeved on a rotating shaft (5); A plurality of sensing convex blocks (52) are uniformly and fixedly arranged on the side wall of the annular block (51), and sensors (53) corresponding to the plurality of sensing convex blocks (52) are fixedly arranged on the inner wall of the supporting seat (3).
  4. 4. The multi-degree-of-freedom flight simulation motion platform according to claim 1, wherein an installation seat (54) is fixedly arranged on the inner wall of the supporting seat (3), and a pneumatic telescopic rod (55) is fixedly arranged on the installation seat (54); a brake pad (56) is fixedly arranged at the telescopic end of the pneumatic telescopic rod (55), and a brake disc (57) corresponding to the brake pad (56) in position is fixedly sleeved on the rotating shaft (5).
  5. 5. A multi-degree of freedom flight simulation motion platform according to claim 2, characterized in that the drive shaft (12) is provided with a reduction gearbox (16).
  6. 6. The platform of claim 1, wherein the connecting arm (41) is an electric telescopic rod structure.
  7. 7. The multi-degree-of-freedom flight simulation motion platform according to claim 1, wherein a housing is fixedly arranged on the base (1), a controller is fixedly arranged in the housing, and the driving assembly, the accurate control assembly, the connecting arm (41) and the pneumatic telescopic rod (55) are all electrically connected with the controller and controlled to move by the controller.
  8. 8. A multi-degree-of-freedom flight simulation motion platform control method of the multi-degree-of-freedom flight simulation motion platform according to claim 1, wherein the control method comprises the following steps: Step S1, setting three motion mechanisms as x, y and z motion mechanisms respectively, setting one reciprocating motion stroke of the three motion mechanisms in the vertical direction as x1, y1 and z1 respectively, and setting the lengths of three connecting arms as a, b and c; Step 2, the controller receives a control command sent by the upper computer, builds a motion model according to the control command, judges a motion mechanism needing to move, and obtains strokes x1, y1 and z1 of each motion mechanism needing to move; step 3, replacing the value of the expected travel with the circular rotation movement, wherein the travel distance between the lowest position and the highest position is equal to the travel of a half rotation circle, namely the maximum travel is the travel of the half rotation circle, and the reciprocating travel is equal to the travel of the one rotation circle; Step 4, comparing the motion strokes x1, y1 and z1 with the corresponding current lengths a, b and c of the connecting arms, judging the numerical comparison of the x1, y1 and z1 with the values of a, b and c, and controlling the three connecting arms to stretch and retract to ensure that the synchronous servo motors work to drive the rotating shafts to act, so that the distances between the highest point and the lowest point are compounded with the reciprocating strokes in the vertical direction in the corresponding rotation action of the three motion mechanisms; Step 5, in the working process of the servo motor, detection is carried out through the sensor, after one sensing lug passes through the sensor, recording is carried out, signals are sent to the controller, the quantity of the sensing lugs is fixed, the number of turns is detected according to the passing sensing lugs, when the corresponding number of turns is reached or the position where the motion mechanism does not need to continue to move is reached, the controller controls the corresponding servo motor to stop working, and the synchronous electric telescopic rod also stops stretching.

Description

Multi-degree-of-freedom flight simulation motion platform and control method thereof Technical Field The invention relates to the technical field of parallel motion platforms, in particular to a multi-degree-of-freedom flight simulation motion platform and a control method thereof. Background The parallel motion mechanism is also called a parallel robot, and has a plurality of advantages such as high rigidity, high bearing capacity, high precision and the like compared with the traditional serial mechanism. The motion platform is widely applied to the fields of industrial production, entertainment and leisure, and the like, such as motion simulation, stability compensation, dynamic simulation, and the like. The existing motion platform is generally a motion mechanism with six degrees of freedom, a telescopic rod structure is adopted as the parallel motion mechanism, more travel direction change points exist in continuous motion simulation of the motion structure, inertia and setback are easy to intuitively generate, so that the simulation effect is reduced, the motion platform is generally used in large-scale simulation scenes such as large-tonnage civil aviation flight driving simulation, oiling machine flight simulation, armored car driving simulation, earthquake tsunami simulation and the like, and for the three-degree-of-freedom motion platform, the motion resolving time is short, the motion response speed is high, the motion response speed is natural in simulation in small-scale models such as helicopters and small fighters, and the rapid response under various flight data packages can be realized. Prior art literature: patent document 1 CN20080051086.5, three-degree-of-freedom motion simulation platform Disclosure of Invention According to a first aspect of the present invention, a multi-degree-of-freedom flight simulation motion platform is provided, which is a three-degree-of-freedom motion platform architecture, comprising: A base serving as a lower platform; The motion platform is used as an upper platform, and is connected with the base through three uniformly arranged motion mechanisms, and the three motion mechanisms are arranged in a triangular position; The motion mechanism comprises: the support seat is fixedly arranged on the base and is of a hollow structure; The inverted U-shaped supporting arms are vertically arranged on the upper sides of the supporting seats, and two ends of the inverted U-shaped supporting arms are respectively arranged on two sides of the supporting seats; The two connecting arms are symmetrically arranged on two sides of the supporting seat and are arranged in parallel with the supporting seat, and the two connecting arms are respectively connected with the two inverted U-shaped supporting arms in a rotating way; the rotating shaft penetrates through the supporting seat and is rotatably arranged on the supporting seat, and two ends of the rotating shaft are fixedly connected with the two connecting arms respectively; the driving assembly is fixedly arranged on the base, and the three driving assemblies respectively correspond to the three supporting seats in position and respectively drive the three rotating shafts to rotate; the precise control assembly is arranged between the rotating shaft and the supporting seat and used for calculating the number of rotation turns; the upper end of the inverted U-shaped supporting arm is vertically and fixedly provided with a connecting seat, the lower end face of the moving platform is uniformly and fixedly provided with three inverted U-shaped seats corresponding to the connecting seats, a fixing rod is horizontally and fixedly arranged in the inverted U-shaped seats, and the fixing rod is connected with the inverted U-shaped seats through a spherical hinge. Further, the drive assembly comprises a servo motor fixedly arranged on the base, the output end of the servo motor is coaxially and fixedly connected with a transmission shaft, the transmission shaft extends into the supporting seat and is coaxially and fixedly connected with a driving bevel gear, the supporting seat is internally fixedly provided with a reinforcing seat and is rotationally connected with the transmission shaft, a driven bevel gear is fixedly sleeved on the rotation shaft, and the driving bevel gear is meshed with the driven bevel gear. Further, the accurate control assembly comprises an annular block fixedly sleeved on the rotating shaft, a plurality of sensing convex blocks are uniformly and fixedly arranged on the side wall of the annular block, and a sensor corresponding to the positions of the plurality of sensing convex blocks is fixedly arranged on the inner wall of the supporting seat. Further, the mounting seat is fixedly arranged on the inner wall of the supporting seat, the pneumatic telescopic rod is fixedly arranged on the mounting seat, the brake pad is fixedly arranged at the telescopic end of the pneumatic telescopic rod, and the brake di