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提出了一种串并联混合型飞行模拟器,该模拟器结合了串联机构和并联机构的特点,能够实现高动态大角度机动飞行的运动仿真。针对所提出模拟器的指令分配问题,首先基于伪逆和梯度投影法给出了带有加权的速度层最优解。然后针对各个关节的物理约束,基于二次分配的思想设计了补偿环节,使得当某一个关节指令的速度或加速度超限时,可以利用其他未超限的关节进行补偿,这也使得模拟器能够模拟更高动态的运动。给出的指令分配算法能保证在获得期望位姿指令的同时,避免运动学奇异,同时还能充分发挥系统各关节的驱动能力。
A series-parallel hybrid flight simulator is proposed. The simulator combines the characteristics of tandem mechanism and parallel mechanism to realize the motion simulation of high-dynamic large-angle maneuver flight. In order to solve the problem of instruction assignment in the proposed simulator, a weighted layer optimal solution is given based on pseudo inverse and gradient projection. Then, according to the physical constraints of each joint, the compensating links are designed based on the idea of quadratic distribution so that when the speed or acceleration of a given joint exceeds the limit, other non-overrun joints can be used to compensate, which also enables the simulator to simulate Higher dynamic movement. The given instruction assignment algorithm can guarantee to get rid of the singularities of kinematics while obtaining the desired pose and orientation instruction, and at the same time give full play to the driving ability of the system’s joints.