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为了解决飞行模拟器运动系统的精度问题,利用Creaform公司的C-Track双摄像头传感器和VxtrackTM动态跟踪模块,对某大型运输机飞行模拟器的六自由度运动平台进行运动学误差分析和标定。根据运动学方程和并联机构的闭环特性,建立运动学误差模型。采用区间分析的方法对得到的测量数据进行处理,对该模型进行有效的验证。得到了结构参数是影响位姿误差的主要因素,并采用修改输入参数的方法对误差进行了补偿,取得了很好的效果,对运动系统精度提高做了有益探索。
In order to solve the precision problem of flight simulator kinematics system, kinematic error analysis and calibration of six-DOF motion platform of a large transport flight simulator are carried out by using Creaform’s C-Track dual camera sensor and VxtrackTM dynamic tracking module. According to the kinematics equation and the closed-loop characteristics of the parallel mechanism, a kinematic error model is established. The method of interval analysis is used to process the measured data and the validated model is validated. The structural parameters are the main factors affecting the pose error, and the error is compensated by the method of modifying the input parameters. The good results have been obtained and the accuracy of the motion system has been explored.