CN114333494B - Multi-degree-of-freedom parallel motion platform control system and method for driving simulator - Google Patents
Multi-degree-of-freedom parallel motion platform control system and method for driving simulator Download PDFInfo
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Abstract
The invention provides a multi-degree-of-freedom parallel motion platform control system and method for a driving simulator, which comprises the following steps: initializing a parallel motion platform; receiving driving training control interface data, wherein the driving training control interface data are driving scene data input to a driving simulator by a user; determining an initial error of the electric cylinders used by the parallel motion platform according to the electric cylinders, resolving to obtain motion control signals of the electric cylinders based on initial error compensation, and obtaining a motion stroke expected value of each electric cylinder; monitoring the actual stroke of each electric cylinder guide rod in real time; detecting the stroke deviation of each guide rod; in response to the fact that the stroke deviation of the guide rod of any one electric cylinder exceeds a set threshold value, the platform is controlled to decelerate to stop moving by the main controller; and the controller is responsible for determining error compensation according to the accumulated stroke deviation of the guide rod of the ith electric cylinder and performing feedback control on the ith electric cylinder according to the error compensation. The invention can improve the platform control precision and reduce the system error.
Description
Technical Field
The invention relates to the technical field of driving simulators, in particular to a multi-degree-of-freedom parallel motion platform control system and method for a driving simulator.
Background
The driving simulator is a complex simulation system participated by people, can simulate and reproduce driving and operating states under specific environments, is widely applied to driving simulation training of vehicles such as armored vehicles, tanks and the like or airplane driving simulation training, and has the function and the purpose of providing sensing of operating scenes, processes, force sense and the like to training personnel at the true degree as possible under the condition that the driving cabins such as armored vehicles, tanks, airplanes and the like are not actually entered for actual driving and operating.
The driving simulator is generally based on a six-degree-of-freedom motion platform framework, is matched with a software control system, and realizes a closed-loop simulation system of a man-car road, and mainly comprises a visual simulation display system, a sound sensation simulation feedback system, a body sensation simulation feedback system and a dynamic model of a driving object, as shown in fig. 1.
Fig. 2 exemplarily shows a design of a parallel motion platform with six degrees of freedom in the prior art, wherein a plurality of electric cylinders are arranged between an upper platform and a lower platform, wherein guide rods of the electric cylinders are hinged to the upper platform through hooke joints, bottoms of the electric cylinders are also hinged to the lower platform through hooke joints, in other embodiments, the electric cylinders can be further connected to the upper platform and the lower platform through spherical joints, and the multi-degree-of-freedom motion operation between the upper platform and the lower platform is realized through the telescopic linear motion of the electric cylinders.
In the control system of driving simulator, a plurality of control channels are designed on a general main control board, six electric cylinders are respectively controlled through a bus system, feedback control is realized based on position monitoring of telescopic guide rods of the electric cylinders, but in the actual control process, because of assembly errors and system errors of a control system and an actuating mechanism, errors of the electric cylinders are continuously accumulated in the motion execution process, and the control precision is more and more poor.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom parallel motion platform control system and method for a driving simulator, which improve the control precision of the multi-degree-of-freedom parallel motion platform of the driving simulator and reduce system errors.
In order to achieve the above object, a first aspect of the present invention provides a multiple degree of freedom parallel motion platform control method for a driving simulator, the parallel motion platform including six electric cylinders of the same type, the method including:
initializing a parallel motion platform;
receiving driving training control interface data, wherein the driving training control interface data are driving scene data input to a driving simulator by a user;
determining initial error of the electric cylinders used by the parallel motion platform according to the electric cylinders, resolving and obtaining motion control signals of the electric cylinders based on initial error compensation, and obtaining expected values s of motion strokes of each electric cylinder i ,i=1,2,3,4,5,6;
Each electric cylinder responds to the motion control signal to drive the guide rod of the electric cylinder to generate corresponding motion, the stroke of the guide rod of each electric cylinder is monitored in real time, and the actual stroke S of each guide rod is obtained i ,i=1,2,3,4,5,6;
Detecting the stroke deviation of each guide rod;
in response to the fact that the stroke deviation of the guide rod of any one electric cylinder exceeds a set threshold value, the main controller controls the platform to decelerate to stop moving;
and in response to the condition that the stroke deviation of the guide rod of each electric cylinder does not exceed the set threshold value, determining error compensation according to the accumulated stroke deviation of the guide rod of the ith electric cylinder, and performing feedback control on the ith electric cylinder according to the error compensation.
In an optional example, the initial error is a calibration system error of an electric cylinder of the parallel motion platform.
In an alternative example, the initial error is set to determine its systematic error by operating the electric cylinder for the first time in the test system, or to obtain an average of a plurality of error values as its systematic error by operating the electric cylinder for the previous n times in the test system.
In an alternative example, determining an error compensation according to the accumulated stroke deviation of the ith electric cylinder guide rod, and performing feedback control on the ith electric cylinder according to the error compensation comprises:
detecting the accumulated deviation mean value of the guide rod of the ith electric cylinder in a preset periodWhether the initial error of the electric cylinder is exceeded or not;
in response to cumulative deviation averagesWhether or not to determine whether or not to performIf the initial error of the electric cylinder is exceeded, the average value of the accumulated deviation is usedCompensating and resolving a motion control signal of the ith electric cylinder to realize motion feedback control; otherwise, resolving and obtaining a motion control signal of the electric cylinder based on the initial error compensation.
According to a second aspect of the present invention, there is provided a multiple degree of freedom parallel motion platform control system for a driving simulator, comprising a driving training manipulation interface, a master controller, an electric cylinder driver, an electric cylinder, and a displacement sensor; the electric cylinder driver respectively controls six electric cylinders of the multi-degree-of-freedom parallel motion platform through independent channels; wherein:
the driving training control interface is used for receiving driving scene data input by a user to the driving simulator;
the main controller is used for resolving according to the driving scene data and generating motion control signals for respectively controlling the six electric cylinders;
the electric cylinder is arranged between the upper platform and the base of the multi-degree-of-freedom parallel motion platform in a hinged mode, responds to a motion control signal of the main controller to drive the guide rod of the electric cylinder to move, and pushes the pose of the upper platform to change;
the displacement sensors are arranged in one-to-one correspondence with the electric cylinders and used for monitoring the actual strokes of the guide rods of the corresponding electric cylinders in real time;
wherein the main controller is configured to obtain feedback control of the ith electric cylinder by calculation based on the initial error or the average value of the accumulated errors of the electric cylinders used by the parallel motion platform as compensation.
Wherein the main controller is configured to drive-control each of the electric cylinders in the following manner:
determining initial error of the electric cylinders used by the parallel motion platform according to the electric cylinders, resolving and obtaining motion control signals of the electric cylinders based on initial error compensation, and obtaining expected values s of motion strokes of each electric cylinder i ,i=1,2,3,4,5,6;
Actual stroke S of guide rod of each electric cylinder based on real-time monitoring i I =1,2,3,4,5,6, the stroke deviation of each guide bar is detected, and:
in response to the fact that the stroke deviation of the guide rod of any one electric cylinder exceeds a set threshold value, the platform is controlled to decelerate to stop moving by the main controller;
and in response to the condition that the stroke deviation of the guide rod of each electric cylinder does not exceed the set threshold value, determining error compensation according to the accumulated stroke deviation of the guide rod of the ith electric cylinder, and performing feedback control on the ith electric cylinder according to the error compensation.
Wherein, said determining error compensation according to the accumulated stroke deviation of the ith electric cylinder guide rod, and accordingly performing feedback control on the ith electric cylinder, is configured to perform according to the following processes:
detecting the average value of the accumulated deviation of the guide rod of the ith electric cylinder in a preset periodWhether the initial error of the electric cylinder is exceeded or not;
in response to cumulative deviation averagesIf the initial error of the electric cylinder is exceeded, the average value of the accumulated deviation is usedCompensating and resolving a motion control signal of the ith electric cylinder to realize motion feedback control; otherwise, resolving and obtaining a motion control signal of the electric cylinder based on the initial error compensation.
Compared with the prior art, the invention has the remarkable advantages that:
through position monitoring and deviation estimation of the guide rod of the electric cylinder in the motion process, correction and supplement of the motion error of the guide rod in the operation process of the electric cylinder are realized, the influence of overlarge accumulated error on the control precision of the electric cylinder is reduced, deviation between actual error and ideal (calibration) error is eliminated, the motion control precision of the multi-freedom-degree motion platform is improved, and meanwhile, the risk of hard structure damage is reduced.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. Additionally, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings will be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
figure 1 is a schematic diagram of a prior art driving simulator,
fig. 2 is a schematic structural diagram of a typical six-degree-of-freedom parallel motion platform in the prior art.
FIG. 3 is a schematic diagram of an exemplary simplified six-DOF parallel motion platform model according to the present invention.
FIG. 4 is a schematic diagram of a multiple degree of freedom parallel motion platform control system of an exemplary driving simulator of the present invention.
FIG. 5 is a flow chart illustrating a multiple degree of freedom parallel motion platform control method of an exemplary driving simulator of the present invention.
The reference numerals have the following meanings:
an upper stage 10; a base 20; an electric cylinder 30; a guide rod 31; an upper hinge point 30A (representing a hinge point of the electric cylinder with the upper platform); a lower hinge point 30B (representing a hinge point of the electric cylinder with the base).
i =1,2,3,4,5,6, representing the 1 st to 6 th electric cylinders.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
The invention provides a control system of a multi-degree-of-freedom parallel motion platform for a driving simulator according to the disclosed embodiment, aiming at realizing correction and supplement of motion errors of a guide rod in the operation process of an electric cylinder through position monitoring and deviation estimation of the guide rod of the electric cylinder in the motion process, avoiding feedback control which is implemented only by depending on position feedback/output torque feedback of the electric cylinder/feedback of a position tracker in the traditional control mode, reducing the influence of overlarge accumulated errors on the control precision of the electric cylinder through position feedback and deviation compensation of the invention, eliminating deviation between actual errors and ideal (calibration) errors, improving the motion control precision of the multi-degree-of-freedom motion platform and reducing the risk of hard structure damage.
As shown in fig. 3, a simplified model of a multiple degree of freedom parallel motion platform of a driving simulator is exemplarily shown, including an upper platform 10, a base 20, and a plurality of electric cylinders 30 (i =1,2,3,4,5, 6). The hinge point of each electric cylinder and the upper platform is 30A, the hinge point of each electric cylinder and the base is 30B, and the electric cylinders can be hinged with the upper platform and the lower platform by using Hooke's hinges and spherical hinges. The guide rods 31 are configured to be driven in linear telescopic motion along their axes to drive the upper platform's pose changes, including pitch (α), roll (β), and yaw (γ) changes.
In different designs, electric cylinders with different rules can be selected according to simulation objects of the simulator, and hundreds to thousands of kilograms of effective loads are realized in common measurement, armored vehicles, tanks and other driving simulation.
The multi-degree-of-freedom parallel motion platform control system for the driving simulator, which is combined with the example shown in fig. 4, comprises a driving training control interface, a main controller, an electric cylinder driver, an electric cylinder and a displacement sensor. The main controller and the electric cylinder driver are integrated on a main board of the motion controller, and are in data communication with the driving training operation interface, the electric cylinders and the position sensor through a data interface and a data bus.
The electric cylinder driver respectively controls six electric cylinders of the multi-degree-of-freedom parallel motion platform through independent channels, for example, the independent channel control of the electric cylinders 30 is realized through an ECAT bus system.
And the driving training control interface is used for receiving the driving scene data input by the user to the driving simulator. In an alternative embodiment, the driving simulator is an armored car driving simulator or a tank driving simulator. The driving training manipulation interface provides an interactive interface between the driving simulator and a user (i.e., a driving trainer), and can receive driving scene data input by the user.
The main controller can be realized by adopting a high-speed embedded industrial control system, is arranged for resolving according to driving scene data and generating motion control signals for respectively controlling the six electric cylinders.
In an alternative embodiment, the master controller has a high-speed processor and a cache memory, and it solidifies and stores a control system model for resolving the electric cylinder control drive, for example, the master controller takes a high-performance ARM-based CORTEX-M4 series microcontroller manufactured by sudoku semiconductor corporation as a core, and integrates an ethernet chip, an ECAT bus chip and other data interfaces to make a motion controller motherboard. The motion control algorithm based on position feedback is integrated, and the motion control algorithm can be realized based on the existing typical positive feedback or negative feedback motion control algorithm.
As shown in fig. 4, the displacement sensors 40 are disposed in one-to-one correspondence with the electric cylinders 30, and are used for monitoring the actual stroke of the guide rods 31 of the corresponding electric cylinders in real time to obtain the actual stroke S of the guide rod of each electric cylinder i ,i=1,2,3,4,5,6。
In an embodiment of the present invention, as shown in fig. 5, the main controller is configured to obtain feedback control of the ith electric cylinder by calculation based on the average of the initial error or the accumulated error of the electric cylinders used by the parallel motion platform as compensation.
Referring to fig. 5, the main controller is configured to perform drive control of each electric cylinder in the following manner:
determining initial error of the electric cylinders used by the parallel motion platform according to the electric cylinders, resolving and obtaining motion control signals of the electric cylinders based on initial error compensation, and obtaining expected values s of motion strokes of each electric cylinder i ,i=1,2,3,4,5,6;
Actual stroke S of guide rod of each electric cylinder based on real-time monitoring i I =1,2,3,4,5,6, the stroke deviation of each guide bar is detected, and:
in response to the fact that the stroke deviation of the guide rod of any one electric cylinder exceeds a set threshold value, the main controller controls the platform to decelerate to stop moving;
and in response to the condition that the stroke deviation of the guide rod of each electric cylinder does not exceed the set threshold value, determining error compensation according to the accumulated stroke deviation of the guide rod of the ith electric cylinder, and performing feedback control on the ith electric cylinder according to the error compensation.
The initial error is a calibration system error of the electric cylinder 30 used by the parallel motion platform, and the original data can be obtained by referring to the specification of the electric cylinder or contacting a manufacturer.
In an alternative embodiment, if the calibrated system error of the electric cylinder is not indicated in the specification of the electric cylinder, the system error may be determined by, for example, operating the electric cylinder for the first time in the test system, or obtaining an average value of a plurality of error values by operating the electric cylinder for the first n times in the test system, and determining the average value as the initial error, so that the initial error is used by the main controller using a motion control algorithm with positive feedback or negative feedback.
In the deviation estimation process, the main controller detects the stroke deviation of each guide rod based on the actual stroke of the guide rod of the ith electric cylinder and the expected movement stroke value of the guide rod of the ith electric cylinder, and the deviation estimation process specifically includes:
deviation of travel Δ i =S i -s i
Wherein i =1,2,3,4,5,6,s i Representing the actual stroke, s, of the guide rod of the i-th electric cylinder i And the expected movement stroke value of the guide rod of the ith electric cylinder is shown.
Thereby, the stroke deviation of the guide rod of the i-th electric cylinder is determined.
If the travel deviation exceeds a set threshold value, the threshold value is usually a safety threshold value of the parallel motion platform, and can be preset, if the travel deviation exceeds the threshold value, the surface control system or the electric cylinder has defects or problems, the safety operation of the whole platform can be affected, the shaking or inaccurate pose control of the platform can be caused, and the safety accident of the platform can be caused under the serious condition, and the structural damage or the personnel safety can be caused.
Therefore, when the travel deviation is determined to exceed the set threshold, the main controller controls the platform to decelerate and stop, so that cause analysis or test for accidents is facilitated, for example, the motion control is restarted after initialization, whether the motion state continues to have the accidents or not is continuously observed, comprehensive inspection needs to be performed or simulation needs to be performed on the platform, and a cause and problem improvement scheme is determined.
If the stroke deviation of the guide rod of the ith electric cylinder is determined not to exceed the preset threshold value, the platform is indicated to be in normal operation, and a certain deviation exists. In an embodiment of the present invention, error compensation is determined based on the accumulated stroke deviation of the i-th electric cylinder rod, and feedback control of the i-th electric cylinder is performed accordingly, which is performed according to the following procedure:
detecting the accumulated deviation of the guide rod of the ith electric cylinder in a preset periodMean valueWhether the initial error of the electric cylinder is exceeded or not;
in response to cumulative deviation meanIf the initial error of the electric cylinder is exceeded, the accumulated deviation mean value is usedCompensating and resolving a motion control signal of the ith electric cylinder to realize motion feedback control; otherwise, resolving and obtaining a motion control signal of the electric cylinder based on the initial error compensation.
Therefore, through the deviation estimation and correction, the accumulation of system errors in the electric cylinder control process is reduced, and the continuous unreliability and the accuracy reduction of the system are caused. Through the position feedback and deviation compensation and correction processing of the invention, the influence of overlarge accumulated error on the control precision of the electric cylinder can be reduced, the deviation between the actual error and the ideal (calibration) error is eliminated, the motion control precision of the multi-degree-of-freedom motion platform is improved, and the risk of hard structure damage is reduced.
It should be understood that, in the implementation process of the present invention, an upper threshold of the accumulated deviation mean value may also be set, and when the upper threshold is reached, it indicates that the operation of the electric cylinder is already very unstable, and a large deviation swing occurs, which affects the control accuracy of the platform. Therefore, when the accumulated deviation mean value delta reaches a preset upper limit threshold value, the main controller is set to control the platform to run to stop in a decelerating mode, the swinging state of each electric cylinder can be observed from the curve monitored by the actual stroke of each electric cylinder, the reason of the swinging state can be analyzed, and a problem improvement scheme can be determined.
Referring to fig. 5, the present invention further provides a method for controlling a multiple degree of freedom parallel motion platform for a driving simulator based on the embodiment shown in fig. 3 and 4, wherein the control process comprises the following steps:
initializing a parallel motion platform;
receiving driving training control interface data, wherein the driving training control interface data are driving scene data input to a driving simulator by a user;
determining initial error of the electric cylinders used by the parallel motion platform according to the electric cylinders, resolving and obtaining motion control signals of the electric cylinders based on initial error compensation, and obtaining expected values s of motion strokes of each electric cylinder i ,i=1,2,3,4,5,6;
Each electric cylinder responds to the motion control signal to drive the guide rod of the electric cylinder to generate corresponding motion, the stroke of the guide rod of each electric cylinder is monitored in real time, and the actual stroke S of each guide rod is obtained i ,i=1,2,3,4,5,6;
Detecting the stroke deviation of each guide rod;
in response to the fact that the stroke deviation of the guide rod of any one electric cylinder exceeds a set threshold value, the platform is controlled to decelerate to stop moving by the main controller;
and in response to the condition that the stroke deviation of the guide rod of each electric cylinder does not exceed the set threshold value, determining error compensation according to the accumulated stroke deviation of the guide rod of the ith electric cylinder, and performing feedback control on the ith electric cylinder according to the error compensation.
Wherein, confirm error compensation according to the accumulative stroke deviation of ith electronic jar guide arm to carry out the feedback control to ith electronic jar according to this, include:
detecting the accumulated deviation mean value of the guide rod of the ith electric cylinder in a preset periodWhether the initial error of the electric cylinder is exceeded or not;
in response to cumulative deviation meanIf the initial error of the electric cylinder is exceeded, the average value of the accumulated deviation is usedCompensating and resolving a motion control signal of the ith electric cylinder to realize motion feedback control; otherwise based onAnd calculating to obtain a motion control signal of the electric cylinder by starting error compensation.
In particular, the setting of the time period is set to be inversely related to the movement accuracy and/or thrust of the electric cylinder. The higher the motion precision is, the larger the thrust is, and the shorter the monitoring period is.
As described above, in the control process, the upper threshold of the accumulated deviation average value may be preset, when the accumulated deviation average value is reachedWhen the upper limit threshold value is reached, the operation of the corresponding electric cylinder is judged to be unstable, a large deviation swing amplitude occurs, and the control progress of the platform is influenced, so that the platform needs to be controlled by the main controller to decelerate to stop moving.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be defined by the appended claims.
Claims (9)
1. A control method of a multi-degree-of-freedom parallel motion platform for a driving simulator is characterized in that the parallel motion platform comprises six electric cylinders with the same type, and the method comprises the following steps:
initializing a parallel motion platform;
receiving driving training control interface data, wherein the driving training control interface data are driving scene data input to a driving simulator by a user;
determining initial error of the electric cylinders used by the parallel motion platform according to the electric cylinders, resolving and obtaining motion control signals of the electric cylinders based on initial error compensation, and obtaining expected values s of motion strokes of each electric cylinder i ,i=1,2,3,4,5,6;
Each electric cylinder responds to the motion control signal to drive the guide rod of the electric cylinder to generate corresponding motion, and the stroke of the guide rod of each electric cylinder is monitored in real time to obtain the stroke of each guide rodActual stroke S i ,i=1,2,3,4,5,6;
Detecting the stroke deviation of each guide rod;
in response to the fact that the stroke deviation of the guide rod of any one electric cylinder exceeds a set threshold value, the platform is controlled to decelerate to stop moving by the main controller;
in response to the fact that the stroke deviation of the guide rod of each electric cylinder does not exceed the set threshold value, determining error compensation according to the accumulated stroke deviation of the guide rod of the ith electric cylinder, and performing feedback control on the ith electric cylinder according to the error compensation;
wherein, confirm error compensation according to the accumulative stroke deviation of ith electronic jar guide arm to carry out the feedback control to ith electronic jar according to this, include:
detecting the accumulated deviation mean value of the guide rod of the ith electric cylinder in a preset periodWhether the initial error of the electric cylinder is exceeded or not;
in response to cumulative deviation meanIf the initial error of the electric cylinder is exceeded, the accumulated deviation mean value is usedCompensating and resolving a motion control signal of the ith electric cylinder to realize motion feedback control; otherwise, resolving and obtaining the motion control signal of the electric cylinder based on the initial error compensation.
2. The method for controlling a multiple degree of freedom parallel motion platform for a driving simulator according to claim 1, wherein the initial error is a calibration system error of an electric cylinder of the parallel motion platform.
3. The multiple degrees of freedom parallel motion platform control method for a driving simulator according to claim 1, wherein the initial error is set such that its system error can be determined by operating the electric cylinder for the first time in the test system or an average of a plurality of error values obtained by operating the electric cylinder for the previous n times in the test system is taken as its system error.
4. The multiple degree of freedom parallel motion platform control method for a driving simulator of claim 1, wherein detecting the stroke deviation of each guide rod comprises:
deviation of travel Δ i =S i -s i
Wherein i =1,2,3,4,5,6,s i Represents the actual stroke of the guide rod of the ith electric cylinder, s i And the expected value of the motion stroke of the guide rod of the ith electric cylinder is shown.
5. The multiple degree of freedom parallel motion platform control method for a driving simulator according to claim 1, wherein the predetermined period is set to be inversely related to a motion accuracy and/or a thrust of the electric cylinder.
6. The multiple degrees of freedom parallel motion platform control method for the driving simulator according to claim 1, wherein the driving simulator is an armored car driving simulator or a tank driving simulator, and the receiving driving training manipulation interface is an interactive interface for receiving driving scene data input by a user.
7. A multi-degree-of-freedom parallel motion platform control system for a driving simulator is characterized by comprising a driving training control interface, a main controller, an electric cylinder driver, an electric cylinder and a displacement sensor; the electric cylinder driver respectively controls six electric cylinders of the multi-degree-of-freedom parallel motion platform through independent channels; wherein:
the driving training control interface is used for receiving driving scene data input by a user to the driving simulator;
the main controller is used for resolving according to the driving scene data and generating motion control signals for respectively controlling the six electric cylinders;
the electric cylinder is arranged between the upper platform and the base of the multi-degree-of-freedom parallel motion platform in a hinged mode, responds to a motion control signal of the main controller and drives a guide rod of the electric cylinder to move, and pushes the pose of the upper platform to change;
the displacement sensors are arranged in one-to-one correspondence with the electric cylinders and used for monitoring the actual strokes of the guide rods of the corresponding electric cylinders in real time;
wherein the main controller is configured to obtain feedback control of the ith electric cylinder by calculation based on the initial error or the average value of the accumulated errors of the electric cylinders used by the parallel motion platform as compensation.
8. The multiple degree of freedom parallel motion platform control system for a driving simulator of claim 7, wherein the main controller is configured to drive control each electric cylinder in the following manner:
determining initial error of the electric cylinders used by the parallel motion platform according to the electric cylinders, resolving and obtaining motion control signals of the electric cylinders based on initial error compensation, and obtaining expected values s of motion strokes of each electric cylinder i ,i=1,2,3,4,5,6;
Actual stroke S of guide rod of each electric cylinder based on real-time monitoring i I =1,2,3,4,5,6, the stroke deviation of each guide bar is detected, and:
in response to the fact that the stroke deviation of the guide rod of any one electric cylinder exceeds a set threshold value, the platform is controlled to decelerate to stop moving by the main controller;
and in response to the condition that the stroke deviation of the guide rod of each electric cylinder does not exceed the set threshold value, determining error compensation according to the accumulated stroke deviation of the guide rod of the ith electric cylinder, and performing feedback control on the ith electric cylinder according to the error compensation.
9. The multiple degrees of freedom parallel motion platform control system for a driving simulator according to claim 8, wherein said determining error compensation according to the accumulated stroke deviation of the ith electric cylinder guide rod and performing feedback control of the ith electric cylinder accordingly is configured to be performed according to the following procedure:
detecting the accumulated deviation mean value of the guide rod of the ith electric cylinder in a preset periodWhether the initial error of the electric cylinder is exceeded or not;
in response to cumulative deviation meanIf the initial error of the electric cylinder is exceeded, the accumulated deviation mean value is usedCompensating and resolving a motion control signal of the ith electric cylinder to realize motion feedback control; otherwise, resolving and obtaining the motion control signal of the electric cylinder based on the initial error compensation.
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