基于并联机构运动范围的自适应洗出算法

由于传统的自适应洗出算法中各通道之间没有联系，只能以牺牲动感模拟逼真度为代价来保证运动平台在复合运动下各作动筒不超过其运动限制。为解决这一问题，提出了一种将运动平台在当前位姿下各自由度的运动范围引入到自适应洗出算法代价函数中的改进方法。该方法减小了由于复合运动造成的作动筒超限的可能性，使得洗出算法的参数能够更加开放,提高动感模拟的逼真度。通过起飞和着陆数据进行验证，结果表明该方法能够充分利用运动平台的运动空间，拓展了动感信号复现的频宽，提高了动感模拟的逼真度。

Adaptive washout algorithm based on the parallel mechanism motion range

Because the channels of the adaptive washout algorithm are independent, the fidelity of motion cues has to be reduced to keep the actuators of the steward platform not to out of range when the platform is in the compound motion. To solve this problem, a novel method is presented that the motion range of every degree of freedom is introduced into the cost function. According to this method, the possibility that actuator is out of range causing by the platform compound motion is reduced. So the algorithm parameters can be tuned more open up to improve the fidelity of motion cues. The improved washout algorithm is tested by using the takeoff and landing data. The results indicate that this algorithm can use the entire platform motion range to expand the frequency-width of the motion cues signal. So this algorithm can improve the motion cues fidelity.