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为了保证Stewart平台能够在其工作空间内为飞行员提供逼真动感,对经典洗出算法的参数选择方法进行了研究。通过对二阶、三阶线性高通滤波器和二阶线性低通滤波器阶跃响应的分析,得出滤波器参数与阶跃响应之间的解析关系。并以此提出一种基于滤波器时域响应的滤波器参数选择方法,即对滤波器的各个参数在某一范围内进行定步长搜索,从而选择产生最优时域响应的滤波器参数。利用飞机起飞期间的飞行仿真数据和Stewart平台对其进行了实验验证,结果表明利用该方法选择的参数能充分利用Stewart平台的工作空间为飞行员提供逼真动感。
In order to ensure that the Stewart platform can provide lifelike and dynamic pilots in its work space, the parameter selection method of classical washout algorithm is studied. By analyzing the step response of second-order, third-order linear high-pass filters and second-order linear low-pass filters, the analytical relationship between filter parameters and step response is obtained. In this paper, a filter parameter selection method based on the time-domain response of the filter is proposed, in which the parameters of the filter are searched in a certain range for a fixed step length, so that the filter parameters for generating the optimal time-domain response are selected. The flight simulation data and the Stewart platform are used to verify the results. The results show that the parameters selected by this method can make full use of the Stewart platform’s workspace to provide realistic dynamic for pilots.