%0 Journal Article
%T 动态飞行模拟器实时运动规划算法<br>Real-time motion planning algorithm for dynamic flight simulators
%A 关立文
%A 刘慧
%A 付萌
%J 清华大学学报（自然科学版）
%D 2015
%X 动态飞行模拟器是一种以离心机作为运动平台的持续过载模拟设备, 其运动规划直接影响过载模拟精度。该文主要针对动态飞行模拟器实时运动规划问题进行研究, 建立了过载模拟模型, 分析了卸载段动态飞行模拟器运动参数无法计算的原因, 在此基础上提出了基于2维插值法的实时运动规划算法, 解决了动态飞行模拟器实时运动规划问题。为了验证算法的准确性, 分别针对纯z向梯形过载曲线和3轴过载曲线进行模拟仿真, 分析算法对过载模拟误差的影响。仿真结果表明: 模拟过载能较好地跟踪理论过载, 算法具有较好的准确性和实用性。<br>Abstract：Dynamic flight simulators (DFS) use a centrifuge to simulate sustained G-loads. The motion planning for the DFS directly affects the accuracy of the G-load simulations. This paper describes a real-time motion planning algorithm for a flight simulator. The G-load simulation model is given but is difficult to solve when the G-loads are negative. A real-time motion planning algorithm with two-dimensional interpolation is used to generate both a trapezoidal G-load curve and three-axis G-load commands. The simulation results show that the simulated G-loads precisely track the commands. The algorithm is accurate and practical.
%K 动态飞行模拟器
%K 运动规划
%K 过载模拟
%K 2维插值
%K &lt
%K br&gt
%K dynamic flight simulator
%K motion planning
%K G-load simulation
%K two-dimensional interpolation
%U http://jst.tsinghuajournals.com/CN/Y2015/V55/I7/709#FigureTableTab