基于6自由度平台的体感模拟算法研究

针对模拟驾驶器对动感逼真度和平台工作空间的需求，将基于洗出算法的体感模拟控制策略应用于6自由度并联式运动模拟器.首先对系统进行了整体设计及数学建模，然后通过分析人体感知机理，提出了基于加速度控制的体感模拟洗出算法；随后具体研究了模拟驾驶过程中可能存在的多种复杂工况及对应的加速度控制模式；最后，通过联合仿真与实验验证了所提出控制算法的可行性及控制效果，结果显示平台在有限运动范围内动感逼真度得到了显著提升. 

Research on Somatosensory Simulation Algorithm Based on Six-Degree-of-Freedom Platform

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.