飞行模拟器新型倾斜协调体感算法应用分析
|
摘要
经典洗出滤波算法在一次突发过载运动后,平动低频输出持续加速度与参考加速度存在较大的感觉误差,为提高模拟器动感逼真度,针对经典洗出算法结构提出一种新型倾斜协调体感算法:采用模糊逻辑补偿思想,以人体感官模型洗出信号误差及变化率作为模糊控制器输入补偿于倾斜协调通道;去除低通滤波器,将输入参考信号与平动高频信号差值及模糊补偿合成信号代替低通滤波器输入信号,结合平动高通角加速度二次滤波补偿和加速度补偿使得洗出效果在有限的空间内达到最优。以模拟飞机加速度信号进行Simulink仿真,结果表明提出的算法在相位延迟和虚假暗示方面有较大改善,同时扩展了运动范围,增加了模拟逼真度。
After a sudden and overloaded motion,there is a large sensory error between translational low frequency output continuous acceleration and reference acceleration by classic filter algorithm.In order to improve the dynamic fidelity of the simulator,a novel tilt coordination somatosensory algorithm is proposed for the classical washing algorithm structure.Based on the fuzzy logic compensation idea,the signal error and the rate of change of human sensory model were used as input compensation of the fuzzy controller in the tilted coordination channel.The low-pass filter was removed and the input signal of the low pass filter was replaced with the difference between the input reference signal and the translational high frequency signal and the fuzzy compensation synthetic signal in combination with secondary filtering of translational highpass angular acceleration to compensate angle displacement and acceleration compensation,optimizing the washing effect in a limited space.A simulation of the aircraft acceleration signal is done and the results show that the proposed algorithm brings a great improvement in phase delay and false hints,while extending the range of motion and increasing the simulation fidelity.
After a sudden and overloaded motion,there is a large sensory error between translational low frequency output continuous acceleration and reference acceleration by classic filter algorithm.In order to improve the dynamic fidelity of the simulator,a novel tilt coordination somatosensory algorithm is proposed for the classical washing algorithm structure.Based on the fuzzy logic compensation idea,the signal error and the rate of change of human sensory model were used as input compensation of the fuzzy controller in the tilted coordination channel.The low-pass filter was removed and the input signal of the low pass filter was replaced with the difference between the input reference signal and the translational high frequency signal and the fuzzy compensation synthetic signal in combination with secondary filtering of translational highpass angular acceleration to compensate angle displacement and acceleration compensation,optimizing the washing effect in a limited space.A simulation of the aircraft acceleration signal is done and the results show that the proposed algorithm brings a great improvement in phase delay and false hints,while extending the range of motion and increasing the simulation fidelity.
引文
[1]罗竹辉,魏燕定,周晓军,等.六自由度平台车辆运动模拟器变输入洗出算法[J].浙江大学学报(工学版),2013,47(2):238-243.LUO Zhuhui,WEI Yanding,ZHOU Xiaojun,et al.Research on variable input washout algorithm for stewart platform vehicle simulator[J].Journal of Zhejiang University(Engineering Science),2013,47(2):238-243.(in Chinese)
[2]Parrish R V,Dieudonne J E,Martin D J Jr.Coordinated adaptive washout for motion simulators[J].Journal of Aircraft,1975,12(1):44-50.
[3]Sivan R,Shalom J,Huang J K.An optimal control approach to the design of moving flight simulators[J].IEEETransactions on Systems,Man,and Cybernetics,1982,12(6):818-827.
[4]Nguyen T A K,DiGiovanna J,Cavuscens S,et al.Characterization of pulse amplitude and pulse rate modulation for a human vestibular implant during acute electrical stimulation[J].Journal of Neural Engineering,2016,13(4):046023.
[5]王小亮,李立,张卫华,等.列车驾驶模拟器经典洗出算法的参数优化[J].中国铁道科学,2008,29(5):102-107.WANG Xiaoliang,LI Li,ZHANG Weihua,et al.Parameters optimization of the classical washout algorithm in locomotive driving simulator[J].China Railway Science,2008,29(5):102-107.(in Chinese)
[6]王辉,朱道扬,平凡,等.基于模糊逻辑的高逼真度运动体感算法研究[J].系统仿真学报,2017,29(3):546-551,558.WANG Hui,ZHU Daoyang,PING Fan,et al.Study on motion cueing algorithm of high-fidelity based on fuzzy logic[J].Journal of System Simulation,2017,29(3):546-551,558.(in Chinese)
[7]Asadi H,Mohamed S,Rahim Zadeh D,et al.Optimisation of nonlinear motion cueing algorithm based on genetic algorithm[J].Vehicle System Dynamics,2015,53(4):526-545.
[8]Meyer A,BouchetembléP,Costentin B,et al.Lateral semicircular canal fistula in cholesteatoma:diagnosis and management[J].European Archives of Oto-Rhino-Laryngology,2016,273(8):2055-2063.
[9]Asadi H,Mohamed S,Lim C P,et al.A review on otolith models in human perception[J].Behavioural Brain Research,2016,309:67-76.
[10]Dabbaghjamanesh M,Moeini A,Ashkaboosi M,et al.High performance control of grid connected cascaded H-bridge active rectifier based on type II-fuzzy logic controller with low frequency modulation technique[J].International Journal of Electrical and Computer Engineering(IJECE),2016,6(2):484.
[11]Mesloub H,Benchouia M T,Goléa A,et al.A comparative experimental study of direct torque control based on adaptive fuzzy logic controller and particle swarm optimization algorithms of a permanent magnet synchronous motor[J].The International Journal of Advanced Manufacturing Technology,2017,90(1/2/3/4):59-72.
[12]Ghosh A,Sen S,Dey C.Rule reduction of a neuro-fuzzy PI controller with real-time implementation on a speed control process[M]//Advances in Intelligent Systems and Computing.New Delhi:Springer India,2015:445-458.DOI:10.1007/978-81-322-2526-3_46
[13]Harliana P,Rahim R.Comparative analysis of membership function on mamdani fuzzy inference system for decision making[J].Journal of Physics:Conference Series,2017,930:12-29.
[14]Nabipour M,Razaz M,Seifossadat S G,et al.A novel adaptive fuzzy membership function tuning algorithm for robust control of a PV-based dynamic voltage restorer[J].Engineering Applications of Artificial Intelligence,2016,53:155-175.
[15]王辉,万毅,平凡.飞行模拟器洗出算法的优化研究[J].科学技术与工程,2015,15(29):83-86,94.WANG Hui,WAN Yi,PING Fan.Washout algorithm optimization for flight simulator[J].Science Technology and Engineering,2015,15(29):83-86,94.(in Chinese)
[2]Parrish R V,Dieudonne J E,Martin D J Jr.Coordinated adaptive washout for motion simulators[J].Journal of Aircraft,1975,12(1):44-50.
[3]Sivan R,Shalom J,Huang J K.An optimal control approach to the design of moving flight simulators[J].IEEETransactions on Systems,Man,and Cybernetics,1982,12(6):818-827.
[4]Nguyen T A K,DiGiovanna J,Cavuscens S,et al.Characterization of pulse amplitude and pulse rate modulation for a human vestibular implant during acute electrical stimulation[J].Journal of Neural Engineering,2016,13(4):046023.
[5]王小亮,李立,张卫华,等.列车驾驶模拟器经典洗出算法的参数优化[J].中国铁道科学,2008,29(5):102-107.WANG Xiaoliang,LI Li,ZHANG Weihua,et al.Parameters optimization of the classical washout algorithm in locomotive driving simulator[J].China Railway Science,2008,29(5):102-107.(in Chinese)
[6]王辉,朱道扬,平凡,等.基于模糊逻辑的高逼真度运动体感算法研究[J].系统仿真学报,2017,29(3):546-551,558.WANG Hui,ZHU Daoyang,PING Fan,et al.Study on motion cueing algorithm of high-fidelity based on fuzzy logic[J].Journal of System Simulation,2017,29(3):546-551,558.(in Chinese)
[7]Asadi H,Mohamed S,Rahim Zadeh D,et al.Optimisation of nonlinear motion cueing algorithm based on genetic algorithm[J].Vehicle System Dynamics,2015,53(4):526-545.
[8]Meyer A,BouchetembléP,Costentin B,et al.Lateral semicircular canal fistula in cholesteatoma:diagnosis and management[J].European Archives of Oto-Rhino-Laryngology,2016,273(8):2055-2063.
[9]Asadi H,Mohamed S,Lim C P,et al.A review on otolith models in human perception[J].Behavioural Brain Research,2016,309:67-76.
[10]Dabbaghjamanesh M,Moeini A,Ashkaboosi M,et al.High performance control of grid connected cascaded H-bridge active rectifier based on type II-fuzzy logic controller with low frequency modulation technique[J].International Journal of Electrical and Computer Engineering(IJECE),2016,6(2):484.
[11]Mesloub H,Benchouia M T,Goléa A,et al.A comparative experimental study of direct torque control based on adaptive fuzzy logic controller and particle swarm optimization algorithms of a permanent magnet synchronous motor[J].The International Journal of Advanced Manufacturing Technology,2017,90(1/2/3/4):59-72.
[12]Ghosh A,Sen S,Dey C.Rule reduction of a neuro-fuzzy PI controller with real-time implementation on a speed control process[M]//Advances in Intelligent Systems and Computing.New Delhi:Springer India,2015:445-458.DOI:10.1007/978-81-322-2526-3_46
[13]Harliana P,Rahim R.Comparative analysis of membership function on mamdani fuzzy inference system for decision making[J].Journal of Physics:Conference Series,2017,930:12-29.
[14]Nabipour M,Razaz M,Seifossadat S G,et al.A novel adaptive fuzzy membership function tuning algorithm for robust control of a PV-based dynamic voltage restorer[J].Engineering Applications of Artificial Intelligence,2016,53:155-175.
[15]王辉,万毅,平凡.飞行模拟器洗出算法的优化研究[J].科学技术与工程,2015,15(29):83-86,94.WANG Hui,WAN Yi,PING Fan.Washout algorithm optimization for flight simulator[J].Science Technology and Engineering,2015,15(29):83-86,94.(in Chinese)