CN106023713A - Vehicle driving simulator capable of making turn or turning around continuously - Google Patents
Vehicle driving simulator capable of making turn or turning around continuously Download PDFInfo
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- CN106023713A CN106023713A CN201610565396.3A CN201610565396A CN106023713A CN 106023713 A CN106023713 A CN 106023713A CN 201610565396 A CN201610565396 A CN 201610565396A CN 106023713 A CN106023713 A CN 106023713A
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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
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Abstract
The invention relates to the technical field of driving simulators, and especially relates to a vehicle driving simulator capable of making a turn or turning around continuously. The driving simulator comprises a turning device, a servo motor, a reducer, and a gear. A simulator cabin is fixed on an upper platform. The upper platform is connected with a telescopic rod through a hinged ball, and the lower end of the telescopic rod is connected with a lower platform through a hinged ball. The turning device is arranged in the center position at the bottom of the lower platform. The servo motor is connected with the gear through the reducer. The gear is meshed with the turning device. The servo motor, the reducer and the turning device are arranged inside a foundation. The 360-degree turning function of a large vehicle motion driving simulator can be realized, and the purpose of more realistic motion simulation is achieved. Moreover, the control algorithm is relatively simple.
Description
Technical field
The present invention relates to driving simulator technical field, particularly relate to a kind of can continuous turning or the vehicle that turns around
Driving simulator.
Background technology
Driving simulator is the machinery that drive simulating is experienced, and simulates the sense in real equipment as far as possible
Feeling (such as the vibration of vehicle, climb and fall, turning etc.), for indoor training driver, driver will not be because of
Accident in drive simulating and injured.The characteristic of driving simulator determines it has the advantage that 1) safety
Property good, use driving simulator can carry out safely at a high speed, the limit travels and breakneck safety
Property experiment, the safety of training can be greatly improved；2) repdocutbility is good, due to vehicle-state and experiment condition etc.
Factor is difficult to control, and real train test repeatability is poor, uses driving simulator then can carry out data easily
Collection, the selection of auto model and the setting of simulated environment, repdocutbility is good；3) economy is high, tries with true car
Testing and compare, driving simulator can be greatly improved training to set various experiment condition and parameter in software environment
Efficiency, various environment and the transmutability of parameter, and cost will not increase；4) driving simulator is conducive to relevant
The research and development of equipment, help designer to find rapidly design defect, mistake, thus reduce R&D costs, shorten
Construction cycle.
Therefore, driving simulator is usually used to replace real equipment, to train the operator behaviour to real equipment
Vertical ability and research and development relevant device are simulated, and driving simulator is high drivers such as aircraft, vehicle and boats and ships
Application in level training is more and more universal；On the basis analyzing domestic and international driving simulator current situation,
The feature that can not rotate around Z axis 360 ° for tradition Stewart platform, when vehicle accelerates revolution continuously
Time, owing to there is no enough corners, and it is not provided that lasting yaw rate, reduces the true to nature of driving
Degree.
The commonplace Stewart platform of application is usually by upper and lower two platform (load platforms at present
And base station) and six moving sets compositions of hinge pair connection.Pair, common Stewart is cut with scissors accordingly according to using
Platform can be divided into SPS type and two kinds of UPS type.SPS type Stewart platform refers between base station and supporting leg, bears
It is all to be connected by ball pivot between carrying platform and supporting leg, between upper and lower supporting leg, is hinged composition by post.According to upper,
Connecting difference of counting between middle platform and supporting leg, Stewart platform is divided into x-y type platform, and (x represents load platform
Connection with supporting leg is counted, and y represents the connection of base station and supporting leg and counts).Common are 3-3 type Stewart
Platform, 3-6 type Stewart platform and 6-6 type Stewart platform.Wherein it is applied to various aircraft and naval vessel
The mainly 6-6 type Stewart platform of simulator.
External aspect just devises the simulation of First flight management as far back as an angstrom German woods gram for the nineteen twenty-nine U.S.
Device, and gradually it is applied to vehicle driving simulator and navigation driving simulator, at drive simulation and engineering development
In be widely used.Domestic aspect: BJ University of Aeronautics & Astronautics, Harbin Institute of Technology etc. are all to driving
Sailing simulator and carried out correlational study, blue sky, Beijing science and technology of aviation company limited also have developed flight management simulation
Device；Jilin University, Nanjing University, also developing automobile driving simulator, armored force engineering institute have developed
Water and Land Tank Driving Training Simulator；Zhejiang University and the Maritime Affairs University Of Dalian have developed jointly navigation drive simulation
Device etc..
ZL201110008598.5、ZL201110008624.4、ZL201110008646.0、ZL201110008
The patents such as 651.1 all announce can the vehicle driving simulator of unlimited rotary, but structure and control algolithm are all relatively more multiple
Miscellaneous.
Summary of the invention
The technical problem to be solved, is the technical deficiency for above-mentioned existence, it is provided that Yi Zhongke
Continuous turning or the driving simulator of the vehicle that turns around, the automobile driving simulator platform of research can be used for providing big
The motion of type vehicle (truck, tank etc.) simulator, it is possible to provide continuous turning or the simulated feel turned around.
For solve above-mentioned technical problem, the technical solution adopted in the present invention is: include upper mounting plate, lower platform,
Revolving gear, servomotor, decelerator and the first gear；It is characterized in that: simulator cabin is fixed on
On platform；The outer ring of upper mounting plate bottom is uniformly distributed six the first hinged balls, and one end of expansion link is connected to
In one hinged ball, the other end of expansion link is connected in the second hinged ball, and six the second hinged balls are uniformly distributed
It is fixed on lower platform；Bottom lower platform, middle position is provided with slewing equipment；Servomotor passes through decelerator
It is connected with the first gear；First gear engages with slewing equipment；Servomotor, decelerator and slewing equipment are equal
It is arranged at inside ground.
Optimizing the technical program further, described slewing equipment includes pivoting support, pedestal, foundation bolt；
Being connected on the second gear by bolt and the first nut bottom lower platform, the second gear is embedding by pivoting support
It is placed on the outer ring of pedestal；Pedestal embeds inside ground by foundation bolt, foundation bolt and pedestal upper surface
Second nut thread coordinates.
Optimizing the technical program further, described decelerator is harmonic speed reducer.
Optimizing the technical program further, described expansion link can be hydraulic cylinder or electric pushrod.
Compared with prior art, the invention has the beneficial effects as follows:
1, slewing equipment is arranged on the bottom of lower platform, is connected with ground, after lower platform installs slewing equipment additional,
The direction turned about the Z axis defines a redundant degree of freedom, by the control that six-freedom motion is instructed
Mode processed is studied, and uses harmonic speed reducer to devise low pass and high pass filter, carries out control signal
Filtering Processing, makes the signal that frequency is high, motion amplitude is little control the motion of six degree of freedom platform, make frequency low,
The signal that range of movement is big controls the rotation of slewing equipment, thus the coordination solving redundant degree of freedom controls to ask
Topic.
2, a set of slewing equipment is filled bottom lower platform, it is achieved oversize vehicle motion driving simulator 360 degree returns
The function turned, reaches the purpose of more life-like simulation motion.
Accompanying drawing explanation
Fig. 1 be a kind of can the front view of driving simulator of continuous turning or the vehicle that turns around.
Fig. 2 be a kind of can the sectional view of driving simulator of continuous turning or the vehicle that turns around.
Fig. 3 is partial enlarged drawing at the B of Fig. 2.
In figure: 1, simulator cabin, 2, upper mounting plate, the 3, first hinged ball, 4, expansion link, 5, first
Nut, 6, lower platform, 7, bolt, the 8, second gear, 9, pivoting support, the 10, second hinged ball,
11, the second nut, 12, pedestal, 13, foundation bolt, 14, ground, 15, servomotor, 16, subtract
Speed device, the 17, first gear, 18, slewing equipment.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention of greater clarity, below in conjunction with specific embodiment party
Formula referring to the drawings, the present invention is described in more detail.It should be understood that these describe the most exemplary,
And it is not intended to limit the scope of the present invention.Additionally, in the following description, eliminate known features and technology
Description, to avoid unnecessarily obscuring idea of the invention.
Detailed description of the invention one: combine shown in Fig. 1, Fig. 2 and Fig. 3, including upper mounting plate 2, lower platform 6,
Revolving gear 18, servomotor 15, decelerator 16 and the first gear 17；It is characterized in that: simulator seat
Cabin 1 is fixed on upper mounting plate 2, and therefore the motion of upper mounting plate 2 can drive simulator cabin 1 to move；Upper flat
The outer ring of platform 2 bottom is uniformly distributed six the first hinged balls 3, and one end of expansion link 4 is connected to the first hinged ball
In 3, the other end of expansion link 4 is connected in the second hinged ball 10, and six the second hinged balls 10 are uniformly distributed
Being fixed on lower platform 6, therefore upper mounting plate 2 can make X, Y, Z by six roots of sensation expansion link 4 on lower platform 6
Direction is moved and is rotated；Bottom lower platform 6, middle position is provided with slewing equipment 18；Servomotor 15 passes through
Decelerator 16 is connected with the first gear 17；First gear 17 engages with slewing equipment 18, servomotor 15
Slewing equipment 18 and lower platform 6 can be driven to rotate by decelerator 16 and the first gear 17；Servomotor 15,
It is internal that decelerator 16 and slewing equipment 18 may be contained within ground 12.
Slewing equipment 18 includes pivoting support 9, pedestal 12, foundation bolt 13；Spiral shell is passed through bottom lower platform 6
Bolt 7 and the first nut 5 are connected on the second gear 8, and the second gear 8 is nested in base by pivoting support 9
The outer ring of seat 12；It is internal that pedestal 12 embeds ground 14 by foundation bolt 13, foundation bolt 13 and pedestal
Second nut 11 threaded engagement of 12 upper surfaces, therefore, pedestal 12 is fixed on ground 14, servomotor
When driving slewing equipment 18 and lower platform 6 to rotate, the second gear 8 is around the center rotating of pedestal 12.
Decelerator 16 is harmonic speed reducer；Decelerator 16 uses harmonic speed reducer to devise low pass and high pass filter
Ripple device, is filtered control signal processing, and makes the signal that frequency is high, motion amplitude is little control six degree of freedom
The motion of platform, makes the signal that frequency is low, range of movement is big control the rotation of slewing equipment 18, thus solves
The Harmonic Control of redundant degree of freedom.
Expansion link 4 can be hydraulic cylinder or electric pushrod；When expansion link 4 is hydraulic cylinder, need supporting hydraulic pressure
System；When expansion link 4 is electric pushrod, motor and decelerator or linear electric motors are needed to provide power.
Slewing equipment 18 being arranged on the bottom of lower platform 6, is connected with ground 12, lower platform 6 adds and reinstalls
After rotary device 18, the direction turned about the Z axis defines a redundant degree of freedom；Bottom lower platform 6
Fill a set of slewing equipment 18, it is achieved the function of oversize vehicle motion driving simulator 360 degree revolution, reach more
Add the purpose of skimulated motion realistically.
As it can be seen, expansion link 4 is connected with upper mounting plate 2 and lower platform 6, when upper mounting plate 2 need to prolong X, Y,
During Z axis motion, it is only necessary to just can realize its motion by the elongation of six expansion links 4 of regulation, if desired
When X, Y-axis rotate, lower platform 6 is the most motionless, and the elongation now still changing expansion link 4 comes real
Existing, when needs rotate about the z axis, servomotor 15 now will be used, servomotor 15 rotates, and will turn round
Square passes to decelerator 16, then passes on the first gear 17 by axle, and the second gear 8 thus can be driven to transport
Dynamic, thus drive lower platform 6 and the motion of above object thereof.
The embodiment flow process of this programme is as follows:
1. according to the state that vehicle travels on road surface, computer determines that simulator cabin 1 is in simulator platform
The position that should be in, attitude, and length or the servo of each expansion link 4 elongation is obtained by the anti-solution of pose
The angle of motor 15 rotation or a combination of both；Now, if servomotor 15 does not rotates, only
Expansion link 4 stretches, it is simply that be equivalent to a Stewart platform；If expansion link 4 does not moves, only servo
Motor 15 rotates, it is possible to realize the motion of platform six-freedom degree.
2., when simulator cabin 1 needs to turn, need the radius calculation turned to be changed into mould real equipment
Intending the angle that device passenger cabin 1 and upper mounting plate 2 rotate on lower platform 6 basis, therefore, servomotor 15 should rotate
Corresponding angle；Now, expansion link 4 remains in that continuous retracted position, it is ensured that other sense during turning
Feel that (such as: climb and fall i.e. pitching, road surface roll) is similar with real equipment；
3., when simulator cabin 1 moves to different positions, i.e. simulator cabin 1 is on upper mounting plate 2
Position is in different states from attitude, it is only necessary to expansion link 4 elongates or shortens to corresponding length or servo
Motor 15 drives lower platform 6 to rotate corresponding angle.
It should be appreciated that the above-mentioned detailed description of the invention of the present invention is used only for exemplary illustration or explains this
The principle of invention, and be not construed as limiting the invention.Therefore, without departing from the spirit and scope of the present invention
In the case of any modification, equivalent substitution and improvement etc. done, should be included in protection scope of the present invention
Within.Additionally, claims of the present invention be intended to fall into scope and border or
Whole in the equivalents on this scope of person and border change and modifications example.
Claims (4)
1. can continuous turning or a driving simulator for the vehicle that turns around, including upper mounting plate (2), lower platform (6),
Revolving gear (18), servomotor (15), decelerator (16) and the first gear (17)；It is characterized in that:
Simulator cabin (1) is fixed on upper mounting plate (2)；The outer ring of upper mounting plate (2) bottom is uniformly distributed six
First hinged ball (3), one end of expansion link (4) is connected in the first hinged ball (3), expansion link (4)
The other end be connected in the second hinged ball (10), six the second hinged balls (10) are uniformly distributed and are fixed on
On lower platform (6)；Middle position, lower platform (6) bottom is provided with slewing equipment (18)；Servomotor (15)
It is connected with the first gear (17) by decelerator (16)；First gear (17) and slewing equipment (18)
Engagement；Servomotor (15), decelerator (16) and slewing equipment (18) may be contained within ground (12)
Portion.
The most according to claim 1 a kind of can continuous turning or the driving simulator of the vehicle that turns around, it is special
Levy and be: slewing equipment (18) includes pivoting support (9), pedestal (12), foundation bolt (13)；Under
Platform (6) bottom is connected on the second gear (8) by bolt (7) and the first nut (5), and second
Gear (8) is nested in the outer ring of pedestal (12) by pivoting support (9)；Pedestal (12) passes through lower margin
It is internal that bolt (13) embeds ground (14), foundation bolt (13) and the second of pedestal (12) upper surface
Nut (11) threaded engagement.
The most according to claim 1 a kind of can continuous turning or the driving simulator of the vehicle that turns around, it is special
Levy and be: decelerator (16) is harmonic speed reducer.
The most according to claim 1 a kind of can continuous turning or the driving simulator of the vehicle that turns around, it is special
Levy and be: expansion link (4) can be hydraulic cylinder or electric pushrod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610565396.3A CN106023713A (en) | 2016-07-19 | 2016-07-19 | Vehicle driving simulator capable of making turn or turning around continuously |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610565396.3A CN106023713A (en) | 2016-07-19 | 2016-07-19 | Vehicle driving simulator capable of making turn or turning around continuously |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106023713A true CN106023713A (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610565396.3A Pending CN106023713A (en) | 2016-07-19 | 2016-07-19 | Vehicle driving simulator capable of making turn or turning around continuously |
Country Status (1)
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| CN (1) | CN106023713A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113257073A (en) * | 2021-06-24 | 2021-08-13 | 成都运达科技股份有限公司 | Train driving simulation stability analysis method, system, terminal and medium |
| CN113631445A (en) * | 2019-03-29 | 2021-11-09 | 宁波吉利汽车研究开发有限公司 | Vehicle and method for simulating drift/slip movement of vehicle |
| CN115741646A (en) * | 2022-12-10 | 2023-03-07 | 北京友名科技有限公司 | Universal simulation equipment six-degree-of-freedom motion platform with 360-degree steering base |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115741646A (en) * | 2022-12-10 | 2023-03-07 | 北京友名科技有限公司 | Universal simulation equipment six-degree-of-freedom motion platform with 360-degree steering base |
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Application publication date: 20161012 |