Numerical simulation research on hydraulic Stewart platform motion simulator

A novel automobile drive motion simulator is developed which realizes its motion by a hydraulic Stewart manipulator. To provide an experiment platform for the control strategy design, a simulation program based on the simulator´s control framework is developed with matlab/SimMechanic. In the program, the expected trajectory is generated by inverse kinematic and servo valve and cylinder modules are actuated by a position control algorithm with PD controller. The program can provide the working states of the cylinders of the motion simulator with the trajectory generated by the record data from the motion simulator or designed by the operator. It is proved by experiment that the program can realize the experiment function for control strategy design; its validity is verified by comparison between the result calculated manually and the result from the program during the static state.