阅读说明：本技术 一种持续载荷模拟器运动奇异性滤波控制方法 (Motion singularity filtering control method for continuous load simulator ) 是由 罗鹏 黎启胜 胡荣华 尹鹏 白俊林 刘婷婷 王鹏飞 于 2020-07-27 设计创作，主要内容包括：本发明公开了一种持续载荷模拟器运动奇异性滤波控制方法,包括以下步骤：S1：获取模拟器的求逆运动学关系,得到需要的理论轴运动物理量,理论轴运动物理量作为奇异控制模块的输入；S2：设定奇异控制模块的结构,并将理论轴运动物理量输入至奇异控制模块结构中；S3：设定奇异控制滤波器模块,并将奇异控制滤波器模块接入奇异控制模块结构中；S4：设定奇异控制滤波器模块中滤波器的阶次和结构；S5：设定奇异控制滤波器模块中滤波器的时变参数。本发明基于人体感知的奇异控制方法,能直观从人体感知仿真结果对比对轴运动奇异性的控制效果进行分析,避免为了使得绝对物理量上近似而付出多余的控制消耗。(The invention discloses a motion singularity filtering control method for a continuous load simulator, which comprises the following steps of: s1: obtaining the inverse kinematics solving relation of the simulator to obtain the required theoretical axis motion physical quantity, wherein the theoretical axis motion physical quantity is used as the input of a singular control module; s2: setting the structure of a singular control module, and inputting the theoretical axis motion physical quantity into the singular control module structure; s3: setting a singular control filter module, and accessing the singular control filter module into a singular control module structure; s4: setting the order and the structure of a filter in a singular control filter module; s5: and setting time-varying parameters of the filter in the singular control filter module. The singularity control method based on human body perception can intuitively analyze the control effect of shaft motion singularity from the human body perception simulation result, and avoids redundant control consumption for approximating absolute physical quantity.)

1. A motion singularity filtering control method for a continuous load simulator is characterized by comprising the following steps:

s1: obtaining the inverse kinematics solving relation of the simulator to obtain the required theoretical axis motion physical quantity, wherein the theoretical axis motion physical quantity is used as the input of a singular control module;

s2: setting the structure of a singular control module, and inputting the theoretical axis motion physical quantity into the singular control module structure;

s3: setting a singular control filter module, and accessing the singular control filter module into a singular control module structure;

s4: setting the order and the structure of a filter in a singular control filter module;

s5: and setting time-varying parameters of the filter in the singular control filter module.

2. The motion singularity filtering control method for the continuous load simulator according to claim 1, wherein the step S1 is as follows:

and (3) constructing a kinematic Jacobian matrix according to the connection condition of the motion shaft of the continuous load simulator, and visually representing the kinematic relationship between the shaft rotation speed and the cabin rotation speed by a mathematical method.

3. The motion singularity filtering control method for the continuous load simulator according to claim 2, wherein the step S2 is as follows:

inputting theoretical shaft motion physical quantity to an inverse motion calculation module for inverse motion calculation on one hand, then inputting the theoretical shaft motion physical quantity to a singularity control module to generate a singularity control signal, then inputting the singularity control signal to a shaft motion control module for shaft motion control, inputting a first output end of the shaft motion control module to the inverse motion calculation module to form a closed loop, inputting a second output end of the shaft motion control module to a singularity quantization module firstly, then inputting the second output end of the shaft motion control module to the singularity control module to form a closed loop, inputting a third output end of the shaft motion control module to a positive motion calculation module for positive motion calculation, and then inputting the third output end of the shaft motion control module to a human body perception;

the theoretical axis motion physical quantity is directly input to the human body perception model module on the other hand;

and comprehensively evaluating the human perception simulation and the human perception output by the human perception model module, and then outputting a singular control evaluation result.

4. The motion singularity filtering control method for the continuous load simulator according to claim 3, wherein the step S3 is as follows:

in step S2, the singularity control module is specifically as follows:

the output quantity of the singularity degree of the singularity quantization module is controlled by a time-varying parameter and then is input to the singularity control filter, and the output quantity of the motion control of the singularity control filter is input to the shaft motion control module after mechanical amplitude limiting;

the singularity control filter comprises an outer frame low-pass filter, a middle frame low-pass filter and an inner frame low-pass filter which are sequentially arranged.

5. The motion singularity filtering control method for the continuous load simulator according to claim 4, wherein the step S4 is as follows:

through comprehensive analysis, a second-order low-pass filter is adopted according to the system requirements, and the state space equation of the second-order filter is as follows:

y(t)＝Cx₁(t)；

wherein;f_ω(t) is a time-varying parameter of the control system, which is a variable varying with time, and xi is a damping coefficient;

is an input matrix;

c ═ 10 is the output matrix.

6. The motion singularity filtering control method for the continuous load simulator according to claim 5, wherein the step S5 is as follows:

in the vicinity of the singular configuration, a plurality of high-frequency signals are suddenly added in the inverse settlement output instruction signal, the high-frequency signals need to be filtered, and at the moment, the cut-off frequency of a filter needs to be reduced;

the condition number is a dependent variable of a time-varying function of the cut-off frequency, and the progressive relation is as follows:

t→{q₁,q₂,…,q_n}→n_c→ omega; namely, each motion joint changes along with time, and simultaneously, the condition number changes, and the cut-off frequency is calculated in real time according to the condition number changes;

through trend analysis of filtering purpose and inverse motion resolving output instruction, a singular control relation of angular velocity can be established, and a time-varying function in the instant variable filter is as follows:

Technical Field

The invention belongs to the technical field of load simulators, and particularly relates to a motion singularity filtering control method of a continuous load simulator.

Background

With the development of aviation technology and the improvement of the maneuverability of fighters, the problems of loss of consciousness (G-Loc) and space-oriented disorder (SD) caused by acceleration are increasingly prominent and become main factors endangering the flight safety of all countries in the world. Aiming at the problems, the continuous load simulator is adopted by all major aviation countries in the world for training. In the field of motion simulation equipment, the Stewart platform is widely applied, but the continuous load simulator has greater advantages in motion perception simulation, such as the simulation of continuous high overload can be realized, and the rotating frame adopting a universal frame structure can simulate any attitude in the air. However, compared with Stewart, the gimbal structure is more outstanding in singularity problem, and the singularity is directly expressed in a form that when the gimbal structure is close to a singular configuration, in order to simulate the requirement of a small movement of a cabin, the inverse solution of the movement of a part of shafts can become very large, so that great challenge is brought to a motor for controlling the movement of the shafts, and when the gimbal structure is in the singular configuration, the freedom degree can be lost, and the simulation of some freedom degrees can not be realized. Sending control commands exceeding the shaft motion capability directly to the motor controller for a long time may affect the normal operation of the motor, so the control algorithm design needs to be processed before the commands are sent to the motor. If the mechanical amplitude limiting operation is directly carried out according to the movement capability of the motor, the simulation effect of the shaft movement is not ideal, so that a control algorithm for solving the problem of singularity of the shaft movement needs to be designed. There is no relevant research disclosed at present for the singularity problem under the structure of the continuous load simulator.

The singular problem is mainly shown in the motion control of the continuous load simulator shaft as follows:

1. when the structure is at a singular point, the controllable actual operation freedom degree of the cabin is reduced, and certain postures and overload components needing to be simulated cannot be realized through control inverse solution;

2. when the state is close to a singular point, in order to simulate a small rotation in a certain direction, a part of joints need to move sharply, and the control is easy to be out of control and exceeds the motion limit of a rotating shaft.

Aiming at the treatment of the singular problem, in the structure of the continuous load simulator, if the controlled variable reaches certain specific configuration, the problem of losing the degree of freedom occurs, and at the moment, no matter how other axes move, the motion perception needing to be simulated cannot be simulated.

Disclosure of Invention

The invention aims to provide a motion singularity filtering control method for a continuous load simulator, which is used for solving one of the technical problems in the prior art, such as: in the prior art, the singular problem is mainly shown in the motion control of the continuous load simulator shaft as follows: 1. when the structure is at a singular point, the controllable actual operation freedom degree of the cabin is reduced, and certain postures and overload components needing to be simulated cannot be realized through control inverse solution; 2. when the state is close to a singular point, in order to simulate a small rotation in a certain direction, a part of joints need to move sharply, and the control is easy to be out of control and exceeds the motion limit of a rotating shaft.

Aiming at the treatment of the singular problem, in the structure of the continuous load simulator, if the controlled variable reaches certain specific configuration, the problem of losing the degree of freedom occurs, and at the moment, no matter how other axes move, the motion perception needing to be simulated cannot be simulated.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a motion singularity filtering control method for a continuous load simulator comprises the following steps:

s1: obtaining the inverse kinematics solving relation of the simulator to obtain the required theoretical axis motion physical quantity, wherein the theoretical axis motion physical quantity is used as the input of a singular control module;

s2: setting the structure of a singular control module, and inputting the theoretical axis motion physical quantity into the singular control module structure;

s3: setting a singular control filter module, and accessing the singular control filter module into a singular control module structure;

s4: setting the order and the structure of a filter in a singular control filter module;

s5: and setting time-varying parameters of the filter in the singular control filter module.

Further, step S1 is specifically as follows:

and (3) constructing a kinematic Jacobian matrix according to the connection condition of the motion shaft of the continuous load simulator, and visually representing the kinematic relationship between the shaft rotation speed and the cabin rotation speed by a mathematical method.

Further, step S2 is specifically as follows:

inputting theoretical shaft motion physical quantity to an inverse motion calculation module for inverse motion calculation on one hand, then inputting the theoretical shaft motion physical quantity to a singularity control module to generate a singularity control signal, then inputting the singularity control signal to a shaft motion control module for shaft motion control, inputting a first output end of the shaft motion control module to the inverse motion calculation module to form a closed loop, inputting a second output end of the shaft motion control module to a singularity quantization module firstly, then inputting the second output end of the shaft motion control module to the singularity control module to form a closed loop, inputting a third output end of the shaft motion control module to a positive motion calculation module for positive motion calculation, and then inputting the third output end of the shaft motion control module to a human body perception;

the theoretical axis motion physical quantity is directly input to the human body perception model module on the other hand;

and comprehensively evaluating the human perception simulation and the human perception output by the human perception model module, and then outputting a singular control evaluation result.

Further, step S3 is specifically as follows:

in step S2, the singularity control module is specifically as follows:

the output quantity of the singularity degree of the singularity quantization module is controlled by a time-varying parameter and then is input to the singularity control filter, and the output quantity of the motion control of the singularity control filter is input to the shaft motion control module after mechanical amplitude limiting;

the singularity control filter comprises an outer frame low-pass filter, a middle frame low-pass filter and an inner frame low-pass filter which are sequentially arranged.

Further, step S4 is specifically as follows:

through comprehensive analysis, a second-order low-pass filter is adopted according to the system requirements, and the state space equation of the second-order filter is as follows:

y(t)＝Cx₁(t)；

wherein;

f_ω(t) is a time-varying parameter of the control system, which is a variable varying with time, and xi is a damping coefficient;

is an input matrix;

c ═ 10 is the output matrix.

Further, step S5 is specifically as follows:

in the vicinity of the singular configuration, a plurality of high-frequency signals are suddenly added in the inverse settlement output instruction signal, the high-frequency signals need to be filtered, and at the moment, the cut-off frequency of a filter needs to be reduced;

the condition number is a dependent variable of a time-varying function of the cut-off frequency, and the progressive relation is as follows:

t→{q₁,q₂,…,q_n}→n_c→ omega; namely, each motion joint changes along with time, and simultaneously, the condition number changes, and the cut-off frequency is calculated in real time according to the condition number changes;

through trend analysis of filtering purpose and inverse motion resolving output instruction, a singular control relation of angular velocity can be established, and a time-varying function in the instant variable filter is as follows:

wherein ω is₀Is the lowest low-pass filtering frequency, n, of the singular configurations_cAnd quantizing the singularity degree of the current bit shape for a condition number, wherein a and b are relational parameters, the relational parameters can be set by combining specific simulated motion data and a simulator structure, and the damping coefficient of the filter is set to be 0.7.

Compared with the prior art, the invention has the beneficial effects that:

the method has the innovation point that the singularity control method based on human body perception can intuitively analyze the control effect of shaft motion singularity from the human body perception simulation result, and avoids redundant control consumption for approximating absolute physical quantity.

The scheme has the innovation point that filtering control is carried out on inverse motion calculation in a time-varying filter mode, high-frequency axis motion control signals generated due to singularity are filtered, and effective control over system singularity is achieved while simulation fidelity is guaranteed.

Drawings

FIG. 1 is a schematic diagram of a singular control module according to an embodiment of the present invention.

FIG. 2 is a schematic view of a singular control module for flight in accordance with an embodiment of the present invention.

Fig. 3 is a schematic diagram of a simulation implementation structure of a time-varying second-order filter according to an embodiment of the present invention.

FIG. 4 is a schematic flow chart of steps in accordance with an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 4 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.