摘要
为了保证Stewart平台能够在其工作空间内为飞行员提供逼真动感,对经典洗出算法的参数选择方法进行了研究。通过对二阶、三阶线性高通滤波器和二阶线性低通滤波器阶跃响应的分析,得出滤波器参数与阶跃响应之间的解析关系。并以此提出一种基于滤波器时域响应的滤波器参数选择方法,即对滤波器的各个参数在某一范围内进行定步长搜索,从而选择产生最优时域响应的滤波器参数。利用飞机起飞期间的飞行仿真数据和Stewart平台对其进行了实验验证,结果表明利用该方法选择的参数能充分利用Stewart平台的工作空间为飞行员提供逼真动感。
To provide the fidelity motion cues for pilots in the Stewart platform motion space, the parameter choo- sing method was studied. Through the analysis on the step response of the two and three orders liner high pass filter, and that of the two orders liner low pass filter, the relationship between the filter parameters and step response was obtained. Further more, a method of choosing the washout filter parameters was presented, based on the time-domain response of the filter. The filter parameters were searched by the fix step method in the specific range, and then a group of filter parameters were chosen for the optimal step response. And the parameters were verified using the Stewart platform and the simulation data during the airplane takeoff. The results show that the washout filter, which used the parameters chosen by this method, can make full use of the Stewart platform motion space to provide the fidelity motion cues for pilots.
出处
《计算机仿真》
CSCD
北大核心
2011年第1期72-75,83,共5页
Computer Simulation
基金
教育部新世纪优秀人才支持计划项目(NCET-04-0325)
"985工程"二期项目(CDAZ98502211)
