The research of 6-DOF flight simulator washout filter Control Method

International Journal of Research in Engineering and Science (IJRES)
ISSN (Online): 2320-9364, ISSN (Print): 2320-9356
www.ijres.org Volume 3 Issue 10 ǁ October. 2015 ǁ PP.35-39
www.ijres.org 35 | Page
The research of 6-DOF flight simulator washout filter Control Method
Ding Hao1
, He Fajiang2
1
(College of Mechanical Engineering, Shanghai University of Engineering Science)
2
(School of Air Transportation, Shanghai University of Engineering Science)
Corresponding author: He Fajiang.
Abstract：Electric 6-DOF flight simulator used in large aircraft engineering simulation has great benefits，As a
Flight Simulator vector parallel six degree of freedom motion system is a very important part of flight simulator.
Feeling is the most important in Flight simulator test while flight.If a flight simulator can feel closer to the real
feeling of flying aircraft, in is more better for trainning.According to the question above, In this paper, we will
start from the control method,make research on electric 6-DOF flight simulator wash out the filter control
method, we will research Longitudinal studies of flight parameters at takeoff position flight simulator. Using
MATLAB simulation software to verify washout filter algorithm practicality simulator Simulation.
Keywords：Electric six degrees of freedom；Flight Simulator;Wash out the filter
I. INTRODUCTION
Using flight simulator has many advantages such as: environmental protection, safety, save money and so
on. Six degrees of freedom motion system is a core part of the flight simulator. It can be on the ground to
provide dynamic flying directly to pilots. The performance of sport system is directly related to the fidelity of
flight. So it is very significant to increase the performance of motion systems.Motion control algorithm in the
system to provide pilots should also be considered dynamic electric cylinder stroke limitation. In order to avoid
a false sense of control algorithm should be introduced to wash out the movement, so that after the end of the
first movement with a minimum return to the origin of the next acceleration of simulation. In this paper,
MATLAB software simulation results show that the algorithm has better fidelity.
ⅡThe introduction of 6 - DOF Parallel Platform
Six degrees of freedom parallel platform mechanism with the series compared with therational layout,
stiffness, etc.it is widely used in flight simulators, structure diagram shown in Figure I. Six degrees of
freedom motion platform,the most important question is to analyze the relationship between the input and output
between solving mechanism onstructed.The proposed algorithm only involves inverse solution platform.
FigureⅠ：six degrees of freedom motion platform of mechanism
2.1、Determining Dimensions of Platform
The up platform outer radius R, the lower platform outer radius R0, the platform adjacent to the base angle
β0, under two adjacent base angle β platform, the platform each hinge point in the coordinate system Px'y'z 'in
coordinate values (bi), under the platform of each hinge point (Bi) coordinate values in the coordinate system of
Oxzy. Specific reference to Figures I and II and III(i=1,2…6):

FigureⅡ: Platform plot Figure Ⅲ: Figure simulator entity FigureⅣ: Coordinate system Figure
2.2 Direction cosine matrix of the up platform
1, 2, 3,  
are three angles with respect to the moving platform platform
3 2 3 2 1 3 1 3 2 1 3 1
3 2 3 2 1 3 1 3 2 1 3 1
2 2 1 2 1
cos cos cos sin sin sin cos cos sin cos sin sin
sin sin sin sin sin cos cos sin sin cos cos sin
sin cos sin cos cos
D
           
           
    
  
 
   
  
      
      
 
2.3 Elongation of electric cylinders
3 2
3 2 3 2 1 3 1
2 2 1
2 2 2
cos cos '
sin sin sin sin sin cos cos '
sin cos sin '
kx kx kx
ky kx ky ky
kz kx ky
k kx ky kz
S b x B
S b b y B
S b b z
S S S S S
 
      
  
  
    
   
   
 
     
  
k=1,2…6，
', ', 'x y z are coordinates of the point P of the up platform
II. THE ALGORITHM OF MOTION CONTROL
3.1The transformation Of Centroid
In order to facilitate the calculation and analysis we mark I coordinate is a coordinate system platform, the
platform coordinates is, A simulator coordinates Referring specifically to Figure IV V. Aircraft centroid
acceleration transform A coordinate system to:
( )AV V V V V AV
AA AV AV
AA AV V
a a M H
a L a
L 
    


, ,xt yt ztV V V
are the centroid point of absolute speed projected on the coordinate system,
, ,xt yt zta a a
V is the
centroid point in the coordinate system of the absolute acceleration of projection，
, ,v v vp q r
V is the centroid
point of absolute angular velocity in projected coordinate system has
 
TT
v v v v xt yt ztp q r        Because the A and V two coordinate systems parallel to each other so drawn：
1 0 0
0 1 0
0 0 1
AVL
 
 
  
 
 
x t V V V y t
V y t V x t V V
z t V y t V x t
a q r V
a a r v p
a p v q v


  
 
   
 
  
 
 
 
1
0
0
V V
V V V
V V
r q
r p
p r
 
 
   
  

while simulation is running the pilot use the force to get feeling， t m g  ，and t is force ,m is Inertial
acceleration,g is Acceleration of gravity.
cos cos sin sin cos cos sin cos sin cos sin sin
cos sin sin sin sin cos cos cos sin sin sin sin
sin sin cos cos cos
IAL
           
           
    
  
 
   
  
 
T
  
is euler angles while 1 1 1Ax y z respect to 2 2 2Ix y z .
In this article we consider the simulation of aircraft longitudinal
movement
0, , 0, 0xt yt z
d
V
dt

     
,  is sideslip angle， is roll angle， is yaw angle。
0
xt
xt yz
vt
yt xt
zt
dV d
a V
dt dt
dV d d
a V
dt dt dt
a

 

 


  




x t y t
v y t x t
zt
d
a V
dt
d
a a V
dt
a


 
 
 
  
 
 
  
 
AV
x
H y
z
 
 
  
 
 
x,y,z are according to the actual circumstances.
0 0
0 0
0 0
V
d
dt
d
dt
d
dt



 
 
 
  
 
 
  
 
2
2
2
2
2
2
0 0
0 0
0 0
V
d
dt
d
M
dt
d
dt



 
 
 
 
  
 
 
 
 
; 00
T
T
AA AV AA V xt yt zt
d
a a
dt

    
 
        
3.2 Motion control algorithm
Second-order high-pass filter transfer function
2 2
( ) / ( 2.04 1.0404)H R R R R  
Second-order low-pass filter transfer function
2
( ) 1.0404/ ( 2.04 1.0404)H R R R  
Third-order high-pass filter transfer function
2 2
( ) ( / ( 8.68 9.61)) ( / ( 0.2))H R R R R R R   
1 sin tan cos tan
0 cos sin
0 sin sec cos sec
ST
   
 
   
 
 
  
 
 
Z Represent the following：
1
1
1
arctan( / )
arctan{( / )cos }
0
Ly Lx
Ly Lx L
f f
Z f f

 



 
 
III. MAKE SIMULATION

Based on the above analysis and calculations, we draw a block diagram of the control algorithm as follows:
Figure Ⅴ: the schematic diagram of the control algorithm
Make simulation analysis ,Figure VI a and b figure is input simulation analysis, c chart is in a, b of the
input of the six actuators amount of stretching：
Sampling points (a)
Sampling points （b）

Sampling points (c)
Figure VI: Data Simulation
IV. CONCLUSION
According to various analysis and calculation，we found six actuators in complete simulated flight at the
same time it has a very reasonable amount of stretching。It is not only make flight success in the case of
theexisting length of the flight,but also it has a good effect to wash out . we can conclude that the washout filter
Control Method can be used to develop the 6-DOF flight simulator system at last.
REFERENCES
[1]. René Graf, Ralph Vierling, Rüdiger Dillmann. A Flexible ControllerFor a Stewart Platform [A]. Proceedings of KES’98 [C].
SecondInternational Conference on KES, 1998, (2): 52-59.
[2]. SUN Dong．Comments on active disturbance rejection control[J]．IEEE Trans. Ind. Electron.，2007，54(6)：3428-3429
[3]. COMINOS P，MUNRO N．PID controllers：Recent tuning methods and design to specification[J]．IEE Proceedings Control
Theory and Applications，2002，149(1)：46-53.
[4]. Pei Chieh Chin, Kenneth J. Waldron. Hybrid Velocity/Force Control of Manipulators Using PID Controller and Feedforward
Compensation. 1993 IEEE Conference on Control Applications, Vol：1，403～408
[5]. Thomas M. Hessburg，Donald G. Krantz. Feedforward Control（Based on Model Inversion ）and System Performance Prediction
Using High-Fidelity Nonlinear Dynamic Hydraulic System Modeling. Proceedings of the 1997 IEEE International Conference on
Control Applications Hartford, CT. October, 1997, 57-62
[6]. J. Ryu. A New Method to Analyze Workspace of 6-DOF Parallel Manipulators [J].Mechanism and Machine Theory,
2009,36:15~28
[7]. Merlet J.P. Determination of Gough-Type Parallel Manipulator and Comparison between Different Geometries [J]. International
Journal of Robotics Research, 1999,9(18): 902~916
[8]. Li Kunquan, Wen Rui. Closed-form dynamic equations of the parallel mechanism through the Newton-Euler approach [C]. 2011
3rd International Conference on Measuring Technology and Mechatronics Automation. Shanghai, China. 2011
Sixactuatorsstretching/mm

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