Study on dynamic modeling and simplification of 6 degree-of-freedom motion simulator

Aimed at the precise dynamic modeling problem of Stewart motion simulator, the more integrated modeling process was proposed using Lagrange method. The hydraulic simulator was separated to three parts of movable platform, piston rods and cylinder bodies, and the models of three parts were built respectively. For solving the problem of how to calculate the rotational kinetic energy of hydraulic actuator, the method of expressing the rotating speed of actuator using the position and orientation of movable platform was proposed. Then the rotational kinetic energypsilas equations of piston rods and cylinder bodies were given skillfully. So the dynamic model in this paper is more integrated than others. For satisfying the requirement of real-time calculation in the control course, several simplification methods of model were proposed. The calculation results and costs of different simplification methods were compared and analyzed, so the proper model simplification method can be selected according to different requirements of calculation precision and calculation speed.