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首页> 外文期刊>Journal of Mechanical Science and Technology >Fast design of the QP-based optimal trajectory for a motion simulator
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Fast design of the QP-based optimal trajectory for a motion simulator

机译：运动模拟器基于QP的最佳轨迹的快速设计

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The main difficulty in realizing a motion simulator comes from the constraints on its workspace. The so-called washout filter prevents a simulator from being driven to go off its pre-determined boundaries and generate excessive torques. By noting that the existing washout filters are conservative and more aggressive motions may be accommodated, this paper presents a novel approach that fully exploits the simulator workspace and thereby reproduces the real-world sensations with high fidelity. The washout filter converts the real-world input trajectory as a realizable one that satisfies the spatial and dynamic constraints while minimizing the sensation error and fidelity between the motions experienced in the real world and on the motion simulator. The control objective is to reduce the computational burdens by using the QP algorithm. The proposed approach formulates the task of designing a washout filter as a quadratic programming (QP). The direct approach to the solution of the QP often results in a computational burden that amounts toO(N 3) flops andO(N 2) storage space (N=104 ～ 105, typically). By judiciously exploiting the Toeplitz structures of the underlying matrices, an orders-of-magnitude faster algorithm is obtained to reduce the computational burdens toO(Nlog2 N) flops andO(N) storage space. The extensive simulation studies on the Eclipse-II motion simulator at Seoul National University assure that the QP-based fast algorithm outperforms the existing ones in reproducing the real-world sensations.
机译：实现运动模拟器的主要困难来自其工作空间的约束。所谓的冲洗过滤器可防止驱动模拟器脱离其预定边界并产生过多的扭矩。通过指出现有的冲洗滤镜是保守的并且可以适应更具侵略性的运动，本文提出了一种新颖的方法，该方法可以充分利用模拟器的工作空间，从而以高保真度再现真实世界的感觉。冲刷滤波器将现实世界的输入轨迹转换为可实现的轨迹，该轨迹既满足空间和动态约束，又将现实世界和运动模拟器上所经历的运动之间的感觉误差和逼真度最小化。控制目标是通过使用QP算法来减轻计算负担。所提出的方法规定了将冲洗滤波器设计为二次编程（QP）的任务。直接解决QP的方法通常会导致计算负担为O（N 3 ）翻牌和O（N 2 ）存储空间（N = 104 〜105 ，通常）。通过明智地利用底层矩阵的Toeplitz结构，获得了数量级更快的算法，从而减少了O（Nlog2 N）触发器和O（N）存储空间的计算负担。在首尔国立大学Eclipse-II运动模拟器上进行的大量模拟研究确保了基于QP的快速算法在再现真实世界的感觉方面要优于现有算法。

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