CN101558435A - Driving simulator - Google Patents
Driving simulator Download PDFInfo
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- CN101558435A CN101558435A CNA2008800010487A CN200880001048A CN101558435A CN 101558435 A CN101558435 A CN 101558435A CN A2008800010487 A CNA2008800010487 A CN A2008800010487A CN 200880001048 A CN200880001048 A CN 200880001048A CN 101558435 A CN101558435 A CN 101558435A
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- platform
- transverse translation
- deflection
- rolls
- driving simulator
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
- A63G31/02—Amusement arrangements with moving substructures
- A63G31/04—Amusement arrangements with moving substructures with jolting substructures
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/80—Special adaptations for executing a specific game genre or game mode
- A63F13/803—Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/211—Input arrangements for video game devices characterised by their sensors, purposes or types using inertial sensors, e.g. accelerometers or gyroscopes
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/55—Controlling game characters or game objects based on the game progress
- A63F13/57—Simulating properties, behaviour or motion of objects in the game world, e.g. computing tyre load in a car race game
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
- A63G31/02—Amusement arrangements with moving substructures
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
- A63G31/16—Amusement arrangements creating illusions of travel
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1006—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals having additional degrees of freedom
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/105—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals using inertial sensors, e.g. accelerometers, gyroscopes
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/30—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by output arrangements for receiving control signals generated by the game device
- A63F2300/302—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by output arrangements for receiving control signals generated by the game device specially adapted for receiving control signals not targeted to a display device or game input means, e.g. vibrating driver's seat, scent dispenser
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/60—Methods for processing data by generating or executing the game program
- A63F2300/64—Methods for processing data by generating or executing the game program for computing dynamical parameters of game objects, e.g. motion determination or computation of frictional forces for a virtual car
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8017—Driving on land or water; Flying
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Vehicle Body Suspensions (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Manipulator (AREA)
Abstract
The driving simulator of the prior art has a problem that its turning angle is so limited of itself that it cannot simulate the state of the case, in which the vehicle slips or turns sideways.Providedis a driving simulator comprising a stationary bed, a transverse translation bed placed transversely movably on the stationary bed, a yaw bed placed turnably on the stationary bed (1), and a roll bed borne in a rolling manner at its front and back on the yaw bed. Thus, the driving simulator can control the turning angle of the vehicle body largely, so that it can reproduce the phenomenon at the t ime when the vehicle body spins.
Description
Technical field
The present invention relates to a kind of driving simulator, when it reproduces vehicle ', the state when turning to when rotation, slippage.
Background technology
At present, as shown in Figure 4, disclose the driving simulator of actuator 101 support body 102 of the action usefulness of on base 100, passing through 6 degree of freedom.
Main body 102 by the action that constitutes by 6 electronic cylinder bodies with actuator 101, realize along about, all around direction moves, rotates (yawing), rolls, pitching (for example, patent documentation 1).
But with on the structure of actuator 101, existence rotation (yawing) angle and (rolling) angle of rolling are limited naturally and can not reproduce vehicle this class problem of state when the horizontal or horizontal commentaries on classics of slippage in action for the driving simulator of putting down in writing in the patent documentation 1.
Patent documentation 1:(Japan) spy opens the 2000-132084 communique
Summary of the invention
The present invention proposes for addressing the above problem, and its purpose is, a kind of driving simulator is provided, rotation in the time of can being reproduced in Vehicular turn, the state during slippage.
The present invention develops for solving above-mentioned existing problem, in each invention of putting down in writing in the claim scope, adopts each following technological means respectively as driving simulator.
(1) first aspect provides a kind of driving simulator, it is characterized in that possessing: fixed station, along left and right directions be positioned in movably transverse translation platform on this fixed station, rotatably be positioned in deflection platform on this transverse translation platform, can roll antero posterior axis is bearing in the platform that rolls on this deflection platform.
(2) second aspect provides a kind of driving simulator on the basis of first aspect, it is characterized in that, between described deflection platform and described fixed station, possesses:
Be installed in the deflection track of the ring-type on the described transverse translation platform;
The a plurality of deflection slide blocks that are installed in below the described deflection platform and slide with track along described this deflection;
Be installed on the described transverse translation platform and the deflection driven device of the described deflection platform of deflection driven.
(3) third aspect is on the basis of second aspect, a kind of driving simulator is provided, it is characterized in that described deflection driven device constitutes by being installed in the rotation drive transmission device that yawing axis on the described transverse translation platform drives servo motor, output that this yawing axis is driven servo motor is delivered to described deflection platform.
(4) on the basis of fourth aspect either side in first～third aspect, provide a kind of driving simulator, it is characterized in that, described deflection platform can be positioned on the described fixed station infinitely rotatably.
On the basis of (5) the 5th aspect either sides in first～fourth aspect, provide a kind of driving simulator, it is characterized in that, the described platform that rolls can be positioned on the described deflection platform with infinitely rolling.
(6) the 6th aspects aspect first～the 5th on the basis of either side, a kind of driving simulator is provided, it is characterized in that possessing the drive unit of rolling, it is installed on the described deflection platform, and rolls and drive the described platform that rolls.
(7) the 7th aspects are on the basis aspect the 6th, a kind of driving simulator is provided, it is characterized in that the described drive unit that rolls constitutes by being installed in the rotation drive transmission device that rolls that roll axis on the described deflection platform drives servo motor, output that this roll axis is driven servo motor is delivered to the described platform that rolls.
(8) eight aspect aspect first～the 7th on the basis of either side, a kind of driving simulator is provided, it is characterized in that between described fixed station and described transverse translation platform, possessing:
The a pair of transverse translation track of installing at described fixed station upper edge left and right directions with extending side by side;
The transverse translation slide block that is installed in the following of described transverse translation platform and slides with track along described a pair of transverse translation;
Be installed on the described fixed station and drive the transverse translation drive unit of described transverse translation platform along transverse direction.
(9) the 9th aspects are on the basis of eight aspect, a kind of driving simulator is provided, it is characterized in that, described transverse translation drive unit by the transverse translation that is installed in the fore-and-aft direction central portion below the described transverse translation platform with tooth bar be installed in to have on the described fixed station and on output shaft and constitute with the transverse translation of tooth bar engagement transverse translation servo motor with pinion wheel with this transverse translation.
(10) the tenth aspects provide a kind of driving simulator on the basis of eight aspect, it is characterized in that, described transverse translation drive unit is the cylinder actuator that is installed between described fixed station and the described transverse translation platform.
(11) the tenth one side provide a kind of driving simulator on the basis of first aspect, it is characterized in that,
Described driving simulator is possessing between described deflection platform and the described fixed station: the deflection track that is installed in the ring-type on the described transverse translation platform; The a plurality of deflection slide blocks that are installed in below the described deflection platform and slide with track along described this deflection; Be installed on the described transverse translation platform and and drive servo motor via the yawing axis that rotates the described deflection platform of drive transmission device deflection driven;
Described driving simulator possesses: be installed on the described deflection platform and drive servo motor via the rotation drive transmission device that the rolls roll axis that drives the described platform that rolls that rolls;
Described driving simulator possesses between described fixed station and described transverse translation platform: a pair of transverse translation track of installing at described fixed station upper edge left and right directions with extending side by side; The transverse translation slide block that is installed in below the described transverse translation platform and slides with track along described a pair of transverse translation; Be installed on the described fixed station and the horizontal transverse translation servo motor that drives described transverse translation platform in edge;
Described driving simulator also possesses: the transverse translation position transducer that detects described transverse translation platform left and right directions position; Detect the deflection angle sensor of the deflection angle of described deflection platform; Detect the angular transducer that rolls of the angle of rolling of the described platform that rolls, the control monitoring arrangement,
This control monitoring arrangement has:
Input and storage vehicle body drift angle degree desired value, vehicle body transverse acceleration desired value, and the input unit of the partition coefficient of vehicle body transverse acceleration desired value;
Come described yawing axis is driven the deflection angle PID controller that servo motor carries out PID control based on described vehicle body slippage angle desired value that sends from described input unit and the deflection angle instrumentation value of utilizing described deflection angle sensor processing to obtain;
The divider that calculates transverse translation acceleration desired value and roll angle acceleration desired value based on the described vehicle body transverse acceleration desired value that sends from described input unit and partition coefficient;
The described transverse translation acceleration desired value and the roll angle acceleration desired value that send from described divider are carried out quadratic integral and calculated transverse translation displacement target value and the two-time amplifier of the angle desired value of rolling;
Come described transverse translation servo motor is carried out the transverse translation displacement PID controller of PID control based on described transverse translation displacement target value that sends from described two-time amplifier and the transversal displacement instrumentation value of utilizing transverse translation position transducer detection processing to obtain;
Come described roll axis is driven the angle PID controller that rolls that servo motor carries out PID control based on the described angle instrumentation value of rolling of rolling the angle desired value and utilizing the described angle sensor processing of rolling to obtain that sends from described two-time amplifier.
The driving simulator of the invention of each claim item of putting down in writing in the claim scope possesses: fixed station, can along left and right directions be positioned in movably transverse translation platform on this fixed station, rotatably be positioned in deflection platform on this fixed station, can roll antero posterior axis is bearing in the platform that rolls on this deflection platform, therefore, can control vehicle body angle of revolution, the angle of rolling bigger, the limit movement drift phenomenon during turning in the time of therefore can reproducing vehicle ', horizontal bow tie.
Description of drawings
Fig. 1 is the side view of the driving simulator of first embodiment of the invention;
Fig. 2 is same rear view;
Fig. 3 is with the control block diagram;
Fig. 4 is the stereographic map of existing driving simulator.
Label declaration
1 fixed station
2 transverse translation platforms
3 transverse translation tracks
4 transverse translation slide blocks
5 transverse translation tooth bars
6 transverse translation pinion wheels
7 transverse translation servo motors
10 deflection platforms
10a deflection platform horizontal part
10b deflection platform vertical arm portions
11 ring-type deflection tracks
12 deflection slide blocks
13 yawing axis connecting bushings
14 yawing axis
15 deflection driven pulleys
16 deflection driven belts
17 yawing axis driving pulleys
18 yawing axis drive servo motor
19 yawing axis drive the servo motor erecting bed
20 platforms that roll
The 20a platform horizontal part that rolls
The 20b platform vertical arm portions of rolling
21a, the 21b bearing that rolls
22 roll axis
23 roll axis driven pulleys
24 roll axis drive uses belt
25 roll axis driving pulleys
26 roll axis drive servo motor
27 roll axis drive the servo motor erecting bed
28 seats
30 control monitoring arrangements
31 input units
32 deflection angle PID controllers
33 dividers
34 two-time amplifiers
35 transverse translation displacement PID controllers
36 two-time amplifiers
The 37 angle PID controllers that roll
40 transverse translation position transducers
41 deflection angle sensors
42 angular transducers that roll
Embodiment
Below, according to Fig. 1～Fig. 3 embodiment of the present invention is described.
Fig. 1 is the side view of the driving simulator of embodiment of the present invention, and Fig. 2 is the rear view of this driving simulator, and Fig. 3 is this driving simulator control block diagram.
In addition, in Fig. 1, omit diagram about transverse translation mechanism (transverse translation tooth bar, transverse translation pinion wheel, transverse translation servo motor etc.), only in Fig. 2, illustrate, drive servo motor and in Fig. 2, omit diagram about seat, roll axis driving servo motor, yawing axis, only in Fig. 1, illustrate.
At first, according to Fig. 1, Fig. 2 the structure of the driving simulator of embodiment of the present invention is described.
The driving simulator of embodiment of the present invention is by the fixed station 1 on the floor that is arranged on testing field etc., constitute at slide deflection (the shaking partially) platform 10 of the transverse translation platform 2 of (transverse translation), unlimited rotation on transverse translation platform 2, (rolling) platform 20 that rolls that infinitely rolls at deflection platform 10 upper edge left and right directions of fixed station 1 upper edge left and right directions.
In addition, fixed station 1, transverse translation platform 2, deflection platform 10 and the platform 20 that rolls can make the whole lightweight of device thus owing to be made into framework (frame) shape.
That is, as shown in Fig. 1, Fig. 2, the front and back position on fixed station 1 is equipped with a pair of transverse translation tooth bar 3.
At this, in Fig. 1, the direction setting of the platform vertical arm portions 20b that will roll from the position of seat 28 is the place ahead direction.
A pair of transverse translation extend side by side along the left and right directions of driving simulator respectively with tooth bar 3.
Each transverse translation with tooth bar 3 upper edge transverse translations with tooth bar 3 slidably respectively mounting at least 2 transverse translations are arranged with slide blocks 4.
In addition, as illustrate (omitting diagram in Fig. 1) at Fig. 2, near right side below transverse translation platform 2 the fore-and-aft direction central authorities or left side are equipped with transverse translation tooth bar 5.
The transverse translation servo motor 7 of band brake and reductor is installed on fixed station 1 on the other hand.
Transverse translation pinion wheel 6 is installed on the output shaft of transverse translation servo motor 7, and transverse translation meshes with tooth bar 5 with the transverse translation of pinion wheel 6 below transverse translation platform 2.
In addition, the transverse translation drive unit is made of with tooth bar 5 and transverse translation servo motor 7 with pinion wheel 6, transverse translation transverse translation, but substitute these, also can be that the transverse translation drive unit is installed between fixed station 1 and the transverse translation platform 2, its each end axle respectively be bearing in cylinder actuator on fixed station 1 or the transverse translation platform 2.
And by driving transverse translation servo motor 7, transverse translation platform 2 moves (transverse translation) with tooth bar 5 at fixed station 1 upper edge left and right directions with pinion wheel 6 and transverse translation via transverse translation.
In addition, on transverse translation servo motor 7, be equipped with and be used to detect the amount of movement of transverse translation platform 2 or the transverse translation position transducer 40 of position.
In addition, transverse translation position transducer 40 can detect the rotating speed of output shaft of reductor of the transverse translation servo motor 7 of band reductor, also can detect the rotating speed of inner servomotor self.
And then, also can detect the left and right directions position of transverse translation platform 2.
The deflection track 11 of ring-type is installed on transverse translation platform 2.
In deflection with track 11 upper edge deflections with track 11 (circular motion) mounting deflection that a plurality of (at least 3) minor arc sheet arranged slidably with slide block 12.
Deflection (shaking partially) platform 10 is installed in deflection on slide block 12.
Below the central authorities of deflection platform 10, yawing axis driven pulley 15 is installed via yawing axis connecting bushing 13 and yawing axis 14.
On the other hand, as diagram in Fig. 1 (in Fig. 2, omitting diagram), on transverse translation platform 2, drive the yawing axis driving servo motor 18 that servo motor erecting bed 19 is equipped with band brake and reductor via yawing axis.
On the output shaft of yawing axis driving servo motor 18, yawing axis driving pulley 17 is installed.
Volume hangs with yawing axis driving belt 16 on yawing axis driven pulley 15 and yawing axis driving pulley 17.
And, drive servo motor 18 by driving yawing axis, drive with belt 16 and yawing axis driven pulley 15 via yawing axis driving pulley 17, yawing axis, deflection platform 10 can infinitely rotate (360 degree deflection) on transverse translation platform 2.
In addition, drive the rotation drive transmission device of forming with belt 16 and yawing axis driven pulley 15 by yawing axis driving pulley 17, yawing axis and be not limited thereto, also can constitute by pitch wheel etc.
In addition, the deflection driven device of installation and deflection driven deflection platform 10 is made of this rotation drive transmission device and yawing axis driving servo motor 18 on transverse translation platform 2.
In addition, on yawing axis drives servo motor 18, be equipped with and be used to detect the anglec of rotation of deflection platform 10 or the deflection angle sensor 41 of position.
In addition, deflection angle sensor 41 can detect the rotating speed that the yawing axis of being with reductor drives the output shaft of servo motor 18, also can detect the rotating speed of inner servo motor self.
And then, also can detect the anglec of rotation of deflection platform 10.
And, be equipped with to be used for rolling in the upper end of each deflection platform vertical arm portions 10b and support roll bearing 21a, the 21b of described later rolling (rolling) platform 20 (rolling).
Can be equipped with (rolling) platform 20 that rolls that side view is made the form of コ word shape (or U word shape) in the inboard of deflection platform 10 with rolling.
That is, the platform 20 that rolls is made of slightly bearing circle of seat 28, diagram, the platform horizontal part 20a that rolls, a pair of platform vertical arm portions 20b that rolls that extends upward in the front and back end of the platform horizontal part 20a that rolls that can load each instrumentation equipment etc.
And a pair of top of rolling platform vertical arm portions 20b is equipped with a pair of roll axis 22, and each roll axis 22 is rotatably mounted by roll bearing 21a, the 21b of the upper end of deflection platform vertical arm portions 10b.
The other end at roll axis 22 is equipped with roll axis driven pulley 23.
On the other hand, on deflection platform 10, drive the roll axis driving servo motor 26 that servo motor erecting bed 27 is equipped with detent and band reductor via roll axis.
Drive on the output shaft watch motor 26 at roll axis roll axis driving pulley 25 is installed.
Volume hangs with roll axis driving belt 24 on roll axis driven pulley 23 and roll axis driving pulley 25.
Drive unit rolls
In addition, drive by roll axis driving pulley 25, roll axis and to rotate drive transmission device with rolling of forming of belt 24 and roll axis driven pulley 23 and be not limited to this, also can constitute by pitch wheel etc.
In addition, on deflection platform 10, install and the drive unit that rolls that drives the platform 20 that rolls of rolling drives servo motor 26 by this roll rotation drive transmission device and roll axis and constitutes.
In addition, on roll axis drives servo motor 26, be equipped with and be used to detect the angular transducer 42 that rolls of the angle of rolling of platform 20 of rolling.
In addition, the angular transducer 42 that rolls is not limited to detect the rotating speed that the roll axis of being with reductor drives the output shaft of servo motor 26, also can detect the rotating speed of inner servo motor self.
And then, also can detect the angle of rolling of the platform 20 that rolls.
Secondly, according to Fig. 3 the control monitoring arrangement of driving simulator is described.
As shown in Figure 3, control monitoring arrangement 30 is made of input unit 31, deflection angle PID controller 32, divider 33, two-time amplifier 34, transverse translation displacement PID controller 35, two-time amplifier 36 and the angle PID controller 37 that rolls etc.
On-test (movably) at driving simulator is preceding, in advance to input unit 31 input and store vehicle body drift angle degree (deflection angle) desired value, vehicle body transverse acceleration desired value (time series data or time waveform), and the partition coefficient of vehicle body transverse acceleration desired value.
After driving simulator test (movably) beginning, be sent to deflection angle PID controller 32 in each vehicle body slippage angle desired value constantly.
On the other hand, drive the corresponding spike train of well-known rotating speed of servo motor 18 to 32 inputs of deflection angle PID controller and yawing axis from deflection angle sensor 41.
At deflection angle PID controller 32, based on deflection (shaking partially) angle gauge measured value from the calculating deflection platforms 10 such as the reduction gear ratio of the spike train of deflection angle sensor 41 and yawing axis driven pulley 15, yawing axis driving pulley 17 and the platform 20 that rolls.
And deflection angle PID controller 32 carries out PID based on vehicle body slippage angle desired value and deflection angle instrumentation value and calculates, and the mode that reaches vehicle body slippage angle desired value according to the deflection angle of deflection platform 10 is controlled yawing axis and driven servo motor 18.
In addition, synchronous after driving simulator test (movably) beginning with the control of above-mentioned deflection angle, be sent to divider 33 at each vehicle body acceleration desired value and partition coefficient constantly.
In divider 33, calculate transverse translation acceleration desired value and roll angle acceleration desired value based on vehicle body transverse acceleration desired value and partition coefficient.
In addition, partition coefficient is 60% and 80% o'clock, transverse translation acceleration desired value=vehicle body transverse acceleration desired value * 0.6, roll angle acceleration desired value=vehicle body transverse acceleration desired value * 0.8.
In addition, each partition coefficient vehicle body travel that the adjusting stage is carried out the carrying body sense and from input unit 31 inputs near the actual partition coefficient of taking sensation.
This partition coefficient can be arbitrary value, for example is set at 50%, 50%, perhaps also can be set at 80%, 60% on the contrary with above-mentioned.
Transverse translation acceleration desired value that calculates and roll angle acceleration desired value are sent to two- time amplifier 34,36 respectively.
At two-time amplifier 34, the transverse translation acceleration desired value that receives is calculated transverse translation displacement target value by quadratic integral.
The transverse translation displacement target value that calculates is sent to transverse translation displacement PID controller 35.
In addition, at two-time amplifier 36, the roll angle acceleration desired value that receives is calculated the angle desired value of rolling by quadratic integral.
The angle desired value of rolling that calculates is sent to the angle PID controller 37 that rolls.
On the other hand, from the well-known rotating speed corresponding spike train of transverse translation position transducer 40 to horizontal translational displacement PID controller 35 inputs and transverse translation servo motor 7.
In transverse translation displacement PID controller 35, based on from the spike train of transverse translation position transducer 40 and transverse translation with tooth bar 5, transverse translation transversal displacement instrumentation value with calculating transverse translation platform 2, deflection platforms 10 such as the reduction gear ratio of pinion wheel 6 and the platform 20 that rolls.
And transverse translation displacement PID controller 35 carries out PID based on transverse translation displacement target value and transversal displacement instrumentation value and calculates, and the mode that reaches transverse translation displacement target value according to the left and right directions position of transverse translation platform 2 is controlled transverse translation servo motor 7.
In addition, drive the corresponding spike train of well-known rotating speed of servo motor 26 to roll 37 inputs of angle PID controller and roll axis from the angular transducer 42 that rolls.
At the angle PID controller 37 that rolls,, calculate the angle instrumentation value of rolling of the platform 20 that rolls based on from the reduction gear ratio of the spike train of the angular transducer 42 that rolls and roll axis driving pulley 25, roll axis driven pulley 23 etc.
And the angle of rolling PID controller 37 carries out PID based on roll the angle desired value and the angle instrumentation value of rolling and calculates, and controls roll axis according to the mode that the angle of rolling of the platform 20 that rolls reaches the angle desired value of rolling and drive servo motor 26.
Like this, vehicle body slippage angle (deflection angle) desired value, vehicle body transverse acceleration desired value based on the input unit 31 that is input to control monitoring arrangement 30 can make platform 20 deflections of rolling, transverse translation, roll.
In addition, based on being not limited to each circuit unit (IC unit card), also comprise the mode of the program (or small routine (sequence)) of robot calculator from each angle of the signal of controlling deflection angle PID controller 32, divider 33, two-time amplifier 34, transverse translation displacement PID controller 35, two-time amplifier 36, the angle of rolling PID controller 37 and transverse translation position transducer 40, the deflection angle sensor 41 in the monitoring arrangement 30, the angular transducer 42 that rolls, the arithmetical unit of position.
The driving simulator of embodiment of the present invention constitutes as described above, particularly because the anglec of rotation, the angle of rolling that can bigger control vehicle body, thus the phenomenon can reproduce the vehicle body revolution time.
That is, different with existing situation, can infinitely rotate, infinitely roll, therefore, the limit movement drift phenomenon during turning in the time of can reproducing vehicle operating, horizontal bow tie.
And, the driving simulator of the application of the invention embodiment carries out body test, the investigation of the research of the driving stability in the time of can carrying out research, the cornering limit of control method of new drive manner of steering-by-wire type, new draft hitch, contains the research etc. of desirable vehicle control method of research, people～automotive system of control method of new control mode of the auxiliary control of the characteristic of considering the driver.
More than, embodiment of the present invention is illustrated, but the invention is not restricted to above-mentioned embodiment, much less can increase various changes to its concrete structure within the scope of the invention.
For example, if the oil hydraulic cylinders of employing up and down by at least 3 supporting fixed stations 1, then just can make the driving simulator of the 6DOF of the anglec of rotation that can bigger control vehicle body, the angle of rolling.
Claims (11)
1. driving simulator, it is characterized in that possessing: fixed station, along left and right directions be positioned in movably transverse translation platform on this fixed station, rotatably be positioned on this transverse translation platform the deflection platform and can roll antero posterior axis is bearing in the platform that rolls on this deflection platform.
2. driving simulator as claimed in claim 1 is characterized in that, between described deflection platform and described fixed station, possesses:
Be installed in the deflection track of the ring-type on the described transverse translation platform;
The a plurality of deflection slide blocks that are installed in below the described deflection platform and slide with track along described deflection; With
Be installed on the described transverse translation platform and the deflection driven device of the described deflection platform of deflection driven.
3. driving simulator as claimed in claim 2, it is characterized in that described deflection driven device constitutes by being installed in the rotation drive transmission device that yawing axis on the described transverse translation platform drives servo motor, output that this yawing axis is driven servo motor is delivered to described deflection platform.
4. as each described driving simulator in the claim 1～3, it is characterized in that described deflection platform can be positioned on the described fixed station infinitely rotatably.
5. as each described driving simulator in the claim 1～4, it is characterized in that the described platform that rolls can be positioned on the described deflection platform with infinitely rolling.
6. as each described driving simulator in the claim 1～5, it is characterized in that possessing the drive unit of rolling, it is installed on the described deflection platform, and the described platform that rolls of driving that rolls.
7. driving simulator as claimed in claim 6, it is characterized in that the described drive unit that rolls constitutes by being installed in the rotation drive transmission device that rolls that roll axis on the described deflection platform drives servo motor, output that this roll axis is driven servo motor is delivered to the described platform that rolls.
8. as each described driving simulator in the claim 1～7, it is characterized in that between described fixed station and described transverse translation platform, possessing:
The a pair of transverse translation track of installing at described fixed station upper edge left and right directions with extending side by side;
The transverse translation slide block that is installed in the following of described transverse translation platform and slides with track along described a pair of transverse translation; With
Be installed on the described fixed station and drive the transverse translation drive unit of described transverse translation platform along transverse direction.
9. driving simulator as claimed in claim 8, it is characterized in that, described transverse translation drive unit by the transverse translation that is installed in the fore-and-aft direction central portion below the described transverse translation platform with tooth bar be installed in to have on the described fixed station and on output shaft and constitute with the transverse translation of tooth bar engagement transverse translation servo motor with pinion wheel with this transverse translation.
10. driving simulator as claimed in claim 8 is characterized in that, described transverse translation drive unit is the cylinder actuator that is installed between described fixed station and the described transverse translation platform.
11. driving simulator is characterized in that according to claim 1,
Described driving simulator is possessing between described deflection platform and the described fixed station: the deflection track that is installed in the ring-type on the described transverse translation platform; The a plurality of deflection slide blocks that are installed in below the described deflection platform and slide with track along described this deflection; And be installed on the described transverse translation platform and drive servo motor via the yawing axis of the described deflection platform of rotation drive transmission device deflection driven;
Described driving simulator possesses: be installed on the described deflection platform and drive servo motor via the rotation drive transmission device that the rolls roll axis that drives the described platform that rolls that rolls;
Described driving simulator possesses between described fixed station and described transverse translation platform: a pair of transverse translation track of installing at described fixed station upper edge left and right directions with extending side by side; The transverse translation slide block that is installed in below the described transverse translation platform and slides with track along described a pair of transverse translation; And be installed on the described fixed station and the horizontal transverse translation servo motor that drives described transverse translation platform in edge;
Described driving simulator also possesses: the transverse translation position transducer that detects described transverse translation platform left and right directions position; Detect the deflection angle sensor of the deflection angle of described deflection platform; Detect the angular transducer that rolls of the angle of rolling of the described platform that rolls; And the control monitoring arrangement,
This control monitoring arrangement has:
Input and storage vehicle body drift angle degree desired value, vehicle body transverse acceleration desired value, and the input unit of the partition coefficient of vehicle body transverse acceleration desired value;
Come described yawing axis is driven the deflection angle PID controller that servo motor carries out PID control based on described vehicle body slippage angle desired value that sends from described input unit and the deflection angle instrumentation value of utilizing described deflection angle sensor processing to obtain;
The divider that calculates transverse translation acceleration desired value and roll angle acceleration desired value based on the described vehicle body transverse acceleration desired value that sends from described input unit and partition coefficient;
The described transverse translation acceleration desired value and the roll angle acceleration desired value that send from described divider are carried out quadratic integral and calculated transverse translation displacement target value and the two-time amplifier of the angle desired value of rolling;
Come described transverse translation servo motor is carried out the transverse translation displacement PID controller of PID control based on described transverse translation displacement target value that sends from described two-time amplifier and the transversal displacement instrumentation value of utilizing transverse translation position transducer detection processing to obtain;
Come described roll axis is driven the angle PID controller that rolls that servo motor carries out PID control based on the described angle instrumentation value of rolling of rolling the angle desired value and utilizing the described angle sensor processing of rolling to obtain that sends from described two-time amplifier.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP160867/2007 | 2007-06-19 | ||
| JP2007160867A JP5039445B2 (en) | 2007-06-19 | 2007-06-19 | Driving simulator |
| PCT/JP2008/058647 WO2008155956A1 (en) | 2007-06-19 | 2008-05-09 | Driving simulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101558435A true CN101558435A (en) | 2009-10-14 |
| CN101558435B CN101558435B (en) | 2012-07-25 |
Family
ID=40156116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008800010487A Expired - Fee Related CN101558435B (en) | 2007-06-19 | 2008-05-09 | Driving simulator |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5039445B2 (en) |
| KR (1) | KR101132426B1 (en) |
| CN (1) | CN101558435B (en) |
| WO (1) | WO2008155956A1 (en) |
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| CN104620302A (en) * | 2012-08-28 | 2015-05-13 | 运动设备株式会社 | Motion simulator |
| CN105257718A (en) * | 2013-05-25 | 2016-01-20 | 南安市丽迪家居用品有限公司 | Supporting device |
| CN105390042A (en) * | 2015-12-14 | 2016-03-09 | 重庆环漫科技有限公司 | Driving simulation platform |
| CN105469666A (en) * | 2015-12-14 | 2016-04-06 | 重庆环漫科技有限公司 | Simulation platform for driving simulation |
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| JP2607971B2 (en) * | 1990-07-02 | 1997-05-07 | 株式会社セガ・エンタープライゼス | Rotating somersault device |
| JPH08248872A (en) * | 1995-03-08 | 1996-09-27 | Toyota Motor Corp | Simulated driving test device |
| JPH09146446A (en) * | 1995-11-20 | 1997-06-06 | Sega Enterp Ltd | Seat rocking device |
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- 2008-05-09 WO PCT/JP2008/058647 patent/WO2008155956A1/en active Application Filing
- 2008-05-09 KR KR1020097006194A patent/KR101132426B1/en not_active IP Right Cessation
- 2008-05-09 CN CN2008800010487A patent/CN101558435B/en not_active Expired - Fee Related
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| CN109949658A (en) * | 2019-04-24 | 2019-06-28 | 重庆城市管理职业学院 | The flight experience simulator of VR auxiliary |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2008155956A1 (en) | 2008-12-24 |
| JP5039445B2 (en) | 2012-10-03 |
| CN101558435B (en) | 2012-07-25 |
| KR20090065515A (en) | 2009-06-22 |
| KR101132426B1 (en) | 2012-03-30 |
| JP2009002974A (en) | 2009-01-08 |
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