Design of virtual training platform for construction machinery based on Stewart
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摘要: 为增强工程机械虚拟实训沉浸效果，设计一套六自由度座椅平台。该平台以Stewart六自由度机构为基础，包括并联运动机构、液压泵站和PLC控制系统。由工程机械驾驶特点确定运动平台位姿参数，与MATLAB建立的上位机软件进行数据交互；经过运动学反解计算各根液压缸杆长变化值，PLC控制器对指令处理并发送命令来控制电液比例阀流量，驱动6根并联的液压缸伸缩，从而使运动平台呈现不同的位置姿态。基于上述原理，搭建实物平台并依据驾驶特点进行测试。结果表明，该平台可以模拟工程机械的在不同工况下的姿态，提高虚拟实训人员的沉浸感。Abstract: In order to enhance the virtual training immersion effect of construction machinery, a six-degree-of-freedom(6-DOF) seat platform is developed based on Stewart 6-DOF mechanism, including a parallel motion mechanism, a hydraulic pump station, and a PLC control system. The positional parameters of the motion platform are determined by the driving characteristics of the construction machinery, and the data interaction that conducted with the upper computer software is established by MATLAB. After the kinematics inverse solution is calculated, the length change value of each hydraulic cylinder is obtained. The PLC controller processes the instructions and sends the commands to control the flow of the electro-hydraulic proportional valve, and drive the six parallel hydraulic cylinders to expand, so that the moving platform presents different position and posture. Based on the above principles, a physical platform is built and tested according to the driving characteristics. The test results show that the platform could simulate the posture of construction machinery under different working conditions, so as to improve the immersion of virtual trainers.
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Key words:
- construction machinery /
- virtual training /
- Stewart platform /
- PLC
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图 3 绕x′轴旋转位移(a)和速度(b)仿真曲线
Figure 3. Simulation curve of displacement (a) and speed (b) around x′-axis
图 4 液压系统原理图
1.油箱；2.齿轮泵；3.吸油过滤器；4.单向阀；5.溢流阀；6.联轴器；7.电机；8.单向阀；9.压力表；10.电液比例阀；11.液位计；12.空气过滤器；13.叠加式液控单向阀；14.液压缸
Figure 4. Schematic diagram of hydraulic system
表 1 单自由度运动参数要求
Table 1. Movement requirements of single DOF
运动方式 范围 最大速度 前后 ±100 mm 50 mm/s 左右 ±100 mm 50 mm/s 上下 ±100 mm 70 mm/s 俯仰 ±20° 15°/s 侧翻 ±20° 15°/s 扭转 ±15° 10°/s 
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