摘要
针对车辆驾驶模拟器路面谱振动仿真模型逼真度不高,不能真实复现不同路面带来的颠簸振动的问题,围绕车辆驾驶训练模拟器提升训练逼真度的需求,以实现高逼真度的车辆驾驶训练振动频谱统计特性为目标,基于典型车辆动力学模型和实际六自由度并联机器人系统频响特性,使用谐波叠加法建立路面谱仿真动力学模型,对A-D级常见等级路面进行仿真复现。基于九轴航姿传感器量测数据,对去噪后的路谱数据进行统计特性分析,与标准路谱数据比较最大误差不超过5%,运动平台可以实现对A-D级路面的准确复现,验证了Stewart六自由度运动平台对路面谱振动仿真的可行性。
As for the low fidelity of the road spectrum vibration simulation model of the vehicle driving simulator,which can not reproduce the bumpy vibration caused by different road surfaces,the requirement of improving the training fidelity of the vehicle driving training simulator is focused on to achieve the goal of the high fidelity of the statistical characteristics of the vehicle driving training vibration spectrum,based on the typical vehicle dynamics model and the frequency response characteristics of the actual 6-DOF parallel robot system.The harmonic superposition method is used to establish the road spectrum simulation dynamic model,and the A-D common grade road surfaces are simulated and reproduced.Based on the measurement data of the nine axis heading attitude sensor,the statistical characteristics of the de-noised road spectrum data are analyzed,and the maximum error compared with the standard road spectrum data is not more than 5%,which shows that the motion platform can accurately reproduce grade A-D road surface,and verifies the feasibility of Stewart’s six degree of freedom motion platform for road spectrum vibration simulation.
作者
刘远
刘永亮
朱胤
陈云
张智锋
LIU Yuan;LIU Yongliang;ZHU Yin;CHEN Yun;ZHANG Zhifeng(North Automatic Control Technology Institute,Taiyuan 030006,China)
出处
《火力与指挥控制》
CSCD
北大核心
2023年第6期76-83,共8页
Fire Control & Command Control
关键词
驾驶模拟器
路面谱
运动平台
仿真
driving simulator
road surface spectrum
motion platform
simulation
