MATHEMATICAL MODEL OF STABLE EQUILIBRIUM OPERATION OF THE FLIGHT SIMULATOR BASED ON THE STEWART PLATFORM

This paper analyses the available mathematical models of flight simulators based on the Stewart platform. It was found that there is no model that describes the conditions for stable dynamic equilibrium operation of the Stewart platform as a function of a number of important motion parameters. In this context, a new physical model is proposed based on classical models of theoretical mechanics using the d’Alembert formalism, the concept of stable equilibrium of a mechanical system. This model mathematically separates the stable equilibrium of the flight simulator motion system from the general uniformly accelerated motion. The systems of equations obtained in the framework of the model connect the physical and geometrical parameters of the Stewart platform and make it possible to determine the reactions in the upper hinges of the platform support, the limit values of the position angles in the space of the base of the support of the Stewart platform, under which the condition of stable equilibrium operation of the Stewart platform is satisfied. The proposed physical model and the analytical relations obtained on its basis are of great practical importance: the operator controlling the operation of the Stewart platform-based flight simulator can control the range of parameters during training so as not to bring the flight simulator out of stable equilibrium.