Research on Performance of Motion Platform of 3-RPS Flight Simulator

摘要

The workspace and attitude error is both in-avoidable considered when the flight simulator's motion platform performance is discussed. The GA-BP(Genetic Algorithms-Back Propagation) algorithm is originally applied for attitude error compensating induced in the motion platform based on 3-RPS (Revolute-Prismatic-Spherical) parallel mechanism in this paper. Firstly, the workspace of motion platform is constructed by UG (Unigraphics NX) software. Secondly, considering the position error of joint and the length error of electrical driving cylinder legs, the attitude error modeling is established based on the kinematic inverse solution and the total differential error analysis theory. Finally, the GA-BP algorithm is testified performs better than traditional BP (Back Propagation) method when being applied to compensate the attitude error. The simulation results indicate that the MSE (Mean Square Error) of attitude error reaches to 1e-4 and improves as 1.67 times as the result of traditional BP method.