3-UPS/PU飞行模拟器运动平台伺服电机参数预估
Servomotor Parameter Estimation of the 3-UPS/PU Motion Platform of Flight Simulator

研究一种三自由度飞行模拟器运动平台的伺服电机参数预估方法，该运动平台由动平台、静平台以及二者之间的3条无约束主动支链和1条恰约束从动支链组成。提出了运动平台的恰约束从动支链由气动支撑单元和对动平台约束的机构构成。其中，气动支撑单元通过压缩气体承载动平台的自重和主要负载，减小了主动支链的驱动力。通过虚功原理建立了运动平台“最坏情况”的逆动力学模型，研究了运动平台在“最坏情况”下的伺服电机参数预估，并以此为依据进行伺服电机的选型。在算例中，研究了气动支撑单元支撑力对伺服电机峰值力矩的影响，通过运动平台“最坏情况”模拟某青岛到北京航班起飞部分过程对伺服电机参数进行校核，验证了方法的有效性和选择伺服电机的合理性。
An approach was proposed to estimate the servomotor parameter of a 3-DOF motion platform of flight simulator. The motion platform was composed of a moving platform, a static platform, three unconstrained active branch chains and a just constraint driven branch chain. It was proposed that the just constraint driven branch chain was composed of a pneumatic support unit and a mechanism. The moving platform was limited by the mechanism. In order to reduce the active branch driving force, the weight of motion platform and the main load were borne by the pneumatic support unit through the compressed gas. The inverse dynamic model was established by the virtual work principle in the worst case. The estimation and selection of servomotor parameter were studied for the worst case of the motion platform based on the inverse dynamic model. In the example study, the influence of the force which was provided by pneumatic support unit on the peak torque of servomotor was studied. Servomotor parameters were checked by part of the take-off process on the flight from Qingdao to Beijing, and the effectiveness of the method and the rationality of the servomotor were proved