基于6自由度平台的体感模拟算法研究

Aiming at the needs for dynamic fidelity and platform's workspace, a somatosensory control strategy based on washout algorithm was applied to the six-degree-of-freedom paralleled motion simulator. First, the system was designed and its mathematical model was created. Then, by analyzing Human's perception mechanism, an acceleration-control based somatosensory simulation algorithm was put forward. Then, many possibly existed complicated working conditions in simulation driving and corresponding acceleration control modes were specifically studied. Finally, unity simulation and experiments were carried out to verify the feasibility of the proposed control algorithm and the control performance. The results show the significant improvement of platform's dynamic fidelity in limited motion range.