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为了研究并联6自由度平台在车辆驾驶过程中的洗出运动,实现车辆动力学模型和6自由度运动平台模型的联合仿真,提出利用Vortex多体动力学软件对6自由度平台进行建模,复现车辆模型运动过程的仿真方法.平台液压油缸初始位姿采用解析法进行确定,在Matlab/Simulink中实现运动平台的洗出滤波算法和运动学反解算法,利用转弯和直线2种典型运动进行仿真验证.在给定路面上进行虚拟驾驶,Vortex车辆动力学模型解算结果使车辆产生相应的连续运动状态,相关动力学参数经过洗出滤波算法、平台运动学反解运算得到各油缸伸长量,驱动Vortex软件中建立的6自由度运动平台模型.结果表明,利用Vortex软件可以将车辆动力学模型和并联6自由度平台模型进行联合仿真,实现平台洗出运动的可视化.
In order to study the washing out motion of 6-DOF parallel platform in vehicle driving process and to realize the co-simulation of vehicle dynamics model and 6-DOF motion platform model, a 6-DOF platform modeling using Vortex multi-body dynamics software is proposed. Reproduce the simulation method of vehicle motion process.The initial position and posture of the platform hydraulic cylinder are determined by analytic method, and the algorithm of washout filtering and kinematic inverse solution of the motion platform is implemented in Matlab / Simulink. By using two kinds of typical movements Simulation is carried out.Virtual driving on a given road surface, Vortex vehicle dynamics model solution results in the vehicle to produce the corresponding continuous motion state, the relevant dynamic parameters through the washing out filtering algorithm, the platform kinematic inverse solution operation to get the cylinder stretch Length and drive a 6-DOF motion platform model established in Vortex software.The results show that the Vortex software can be used to simulate vehicle dynamics model and parallel 6-DOF platform model to visualize platform washout motion.