联合仿真平台下飞行模拟器Stewart平台及其负载控制研究

摘要

针对负载变化对飞行模拟器Stewart平台控制的影响，运用机械动力学软件ADAMS对飞行模拟器Stewart平台及其负载进行动力学建模，并与MATLAB软件建立联合仿真平台，并进行仿真分析，得到了有无负载及负载变化时飞行模拟器的运动轨迹，分析了对PID控制参数的影响，最终求得了质心允许偏离设定位置的范围，其仿真数据为实际控制和机械设计提供了理论依据。%Aimed at the effect of load changed on Stewart platform of flight simulator, the dynamics model of flight simulator Stewart platform and its load was established by using the mechanical dynamics software ADAMS. The joint simulation platform for sim⁃ulation analysis with MATLAB software was established, and the sport trajectory of flight simulator was obtained with load or no load and load changed. The effect of PID control parameters was analyzed. Eventually the range of deviation from the set position for centroid is obtained, and its simulation data provide a theoretical basis for the actual control and mechanical design.