A strategy to simplify the dynamic model of 6-DOF motion simulator

Highly nonlinearity and strong dynamic coupling exist in 6-DOF motion simulator. Usually, in order to make the system has good dynamic and static quality, a good controller need to be designed according to the nature of the dynamic model. Therefore, the research about the simplified dynamic model used for real-time solution will be very meaningful. First, KANE method is used to build complete compact multi-rigid-body dynamic model. Second, rigid body and movement decomposition method are used to split dynamic model. On this basis, simplified strategy of the dynamic model of 6-DOF motion simulator based on dynamic contribution factor is proposed. Finally, the simulation verifies that the simplified dynamic model can be real-time calculated with high efficiency.