6-DOF Virtual Flight Control Simulation of Wire-Driven Parallel Manipulator

Abstract:

As to a 6-DOF wire-driven parallel manipulator in the application of virtual flight experiment of wind tunnel, the high precision motion control of supported aircraft model has been researched. First, the integrated dynamic model of the system has been established, and a proportional and differential controller has been designed on the base of position feedback. Finally, the numerical simulation of motion control system has been done in the example of 6-DOF motion. The analysis result shows that the high precision motion control can be achieved by PD control law for aircraft model, and the system stability could be improved by selecting wire tension coefficient properly, which can provide theoretical reference and support for virtual flight experiment of complex model and has great practical application value.

• Periodical: Applied Mechanics and Materials (Volume 740)
• Pages: 293-298
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.740.293
• Online since: March 2015
• Authors: Yi Long Wang*, Xiao Guang Wang, Qi Lin
• Keywords: Dynamics, Motion Control, Virtual Flight, Wire-Driven Parallel Manipulator

References

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DOI: 10.5772/14974