对头盔伺服系统(HMDPM)主动柔顺控制策略的主要内容———轨迹规划和控制方法进行了研究。首先,采用基于力反馈和滑动杆动力学模型的头部运动预测法进行轨迹规划,该方法利用并联机构(PM)分支杆长与运动平台位姿间的映射关系,通过力反馈信息和6-3UPS并联机构滑动杆动力学模型对头部运动进行预测,为头盔伺服系统的位置控制提供期望轨迹;然后,基于头盔伺服系统的动力学模型对系统的惯性项和非线性项进行了计算,设计了惯性项和非线性项补偿控制器,在进行头部运动跟踪的同时,实现了头盔显示器与头部间接触力的控制;最后,采用SimMechanics模块建立了HMDPM—人交互模型,并进行了相关验证实验。仿真结果表明,基于力反馈和滑动副滑动杆动力学模型的头部运动预测法能实时地、较为准确地预测出头部运动位置;基于动力学模型的惯性和非线性项补偿控制器不仅可以较为准确地跟踪头部运动,而且还能有效地减小头盔显示器与头部间的接触力,降低执行机构的刚度、减少系统摩擦力等非线性因素对使用者的干扰。 The main contents of active follow-up control strategy of Helmet Servo System (HMDPM) --- trajectory planning and control method are studied. Firstly, trajectory planning is carried out by using the head motion prediction method based on the force feedback and the sliding rod dynamics model. The method utilizes the mapping relationship between the branch length of the parallel mechanism (PM) and the pose of the moving platform, and through the force feedback information and 6- 3UPS parallel mechanism sliding rod dynamics model to predict the head movement and provide the desired trajectory for the position control of the helmet servo system. Then, based on the dynamic model of the helmet servo system, the inertial and nonlinear terms of the system are calculated and designed The inertia term and the nonlinear term compensation controller are used to control the contact force between the helmet display and the head while tracking the movement of the head. Finally, the HMDPM-human interaction model is established by the SimMechanics module and related Verify the experiment. The simulation results show that the head motion prediction method based on the force feedback and sliding pair sliding-rod dynamics model can predict the head movement position more accurately and accurately in real time. The inertia and nonlinearity compensation controller based on dynamic model not only can Track the movement of the head more accurately, but also effectively reduce the contact force between the helmet display and the head, reduce the rigidity of the actuator and reduce the interference of the nonlinear factors such as the system friction to the user.