CN108154746A - A kind of drive simulation experiment porch - Google Patents
A kind of drive simulation experiment porch Download PDFInfo
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- CN108154746A CN108154746A CN201810205398.0A CN201810205398A CN108154746A CN 108154746 A CN108154746 A CN 108154746A CN 201810205398 A CN201810205398 A CN 201810205398A CN 108154746 A CN108154746 A CN 108154746A
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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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- 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
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
Abstract
A kind of drive simulation experiment porch, including：Drive simulation experiment porch is manipulated according to the visual simulation module and the output of movement analog module experienced for driver；For acquiring riding manipulation module output data and movement analog module exercise data；For receiving the data of data acquisition module, and handled, to visual simulation module, motion-control module transmission data, and with visual simulation module, motion-control module, the central processing module that data acquisition module is connected；For according to receiving central processing module output data come controlled motion analog module；Corresponding sports are carried out for receiving motion-control module instruction；For receiving central processing module output data, true vision, auditory scene are built, and the visual simulation module being connected with central processing module.The platform have many advantages, such as it is easy for installation, resolve easily, bearing capacity is strong, be swift in response, control accurately, can to simulate limiting condition, simulated environment true.
Description
Technical field
The present invention relates to a kind of drive simulation experiment porch, for reappearing the horizontal stroke under vehicle driving state and limiting condition
The states such as pendulum, sideslip, pitching.It is mainly used in driving behavior research and the simulated experiment of intelligent automobile decision rule algorithm is tested
Card.
Background technology
Drive simulation experiment porch is a kind of simulation real vehicle ergorama environment and vehicle performance and the high property of dynamic response
Energy simulation flowchart platform, this is current driving behavior analysis research and the common experiment of intelligent automobile decision rule algorithm research
Platform.Design structure is compact, fast response time, simulation authenticity is good, safety is good, the more drive simulation experiments of simulation operating mode
Platform is an important ring for intelligent automobile technology development.
Driving simulation test platform is made of manipulation module, control module, motion module, environmental simulation module.Driver
(AI driver) controls the action of virtual car by manipulation module, and control module receives the signal of manipulation module, resolves movement
Process, controlled motion module generate corresponding actions, while environment emulation module is controlled to carry out corresponding scene change, driver
The feedback adjustment piloting strategies that (AI driver) passes through motion module and environmental simulation module.
Current driving simulation test platform mostly using based on six degree of freedom experiment porch and combined type platform, put down by six degree of freedom
Platform can simulate sideway, pitching, three rotary motions of lateral deviation and the degree of freedom of three translational motions of vehicle axis system X, Y, Z axis, should
Platform has six roots of sensation drive rod to connect upper lower platform by way of in parallel, and bearing capacity is strong, compensates for the disadvantage that series system is brought
End.But motion range of the platform in each degree of freedom is naturally limited, it is impossible to meet the simulated experiment requirement of limiting condition,
Simultaneously by the resolving of rack posture solution cylinder body stroke there are multi-solution, so its application range in real work is limited.Mesh
The combined type platform of preceding use since this body structure limits, is weak for pitching simulation, it is impossible to realize and accelerate to push away the back of the body and braking
The simulation nodded has certain influence for simulation authenticity.
Existing driving simulation platform simultaneously, focus are more to realize the topesthesia simulation in driving procedure,
Lack the mixing to feelings such as tactile, the sense of hearing, visions and perceive environmental simulation.
Invention content
The present invention provides a kind of intelligent automobile drive simulation experiment for deficiency existing for existing drive simulation experiment porch
Platform, the platform have it is easy for installation, resolve easily, bearing capacity is strong, be swift in response, control accurately, limit work can be simulated
Condition (as sideslip, sideway, pitching), the advantages that simulated environment is true；Solve it is of the existing technology for sideway, break away, bow
The defects of facing upward simulation makes the operating mode that simulation experiment platform is simulated more comprehensively and closer to actual condition.
To achieve the above object, the present invention provides a kind of drive simulation experiment porch, which includes：
Drive simulation is manipulated according to the visual simulation module and the output of movement analog module experienced for driver
Experiment porch, and the riding manipulation module being connect with data acquisition module；
For acquire riding manipulation module output data and movement analog module exercise data, and with riding manipulation module,
The data acquisition module that movement analog module, central processing module are connected；
It for receiving the data of data acquisition module, and is handled, is sent to visual simulation module, motion-control module
Data, and with visual simulation module, motion-control module, the central processing module that data acquisition module is connected；
For according to receiving central processing module output data come controlled motion analog module, and with central processing module,
The motion-control module that movement analog module is connected；
For receive motion-control module instruction carry out corresponding sports, and with motion-control module and data acquisition module phase
The movement analog module of connection；
For receiving central processing module output data, true vision, auditory scene, and and central processing module are built
The visual simulation module being connected.
1., further, the riding manipulation module includes：Drive manipulation device (such as Fig. 4), brake control device
(such as Fig. 5), steering apparatus (such as Fig. 6).
The driving manipulation device includes：Gas pedal rocker arm shaft, gas pedal, gas pedal rocking arm, gas pedal
Playback motor and gas pedal playback electric machine support, and the gas pedal is mounted on gas pedal rocking arm end, gas pedal
Rocking arm is mounted on gas pedal rocker arm shaft, gas pedal rocker arm shaft is connected with gas pedal playback motor, gas pedal playback
Motor playbacks electric machine support in boiler-plate by gas pedal.
The brake control device includes：Brake pedal rocker arm shaft, brake pedal, brake pedal rocking arm, brake pedal
Playback motor, brake pedal playback electric machine support, and the brake pedal is mounted on brake pedal rocking arm end, and brake pedal shakes
Arm is mounted on brake pedal rocker arm shaft, and brake pedal rocker arm shaft is connected with brake pedal playback motor, brake pedal playback electricity
Machine playbacks electric machine support in boiler-plate by brake pedal.
The steering apparatus includes：Steering shaft, steering column tube, clamp nut, steering wheel, bearing, steering column tube
Stent, shaft coupling, axle sleeve and steering wheel return positive motor, and the steering wheel is mounted on by clamp nut in steering shaft, is turned to
Axis is supported on by bearing installation in steering column tube, steering column tube is mounted on by steering column tube stent in boiler-plate, steering wheel
It returns positive motor and steering shaft end is mounted on by shaft coupling, bearing is compressed by axle sleeve, a whole set of steering apparatus is positioned in mould
Intend in cabin.
The driving manipulation device, brake control device, steering apparatus can unlimited number of work, can be in non-behaviour
Under vertical state initial position can be accurately returned to rapidly, and can imitate true resistive state in operation state lower die.
2., further, the data processing module includes：Electric cylinder displacement sensor, sideslip displacement sensor, horizontal stroke
Swinging sensor, Inertial Measurement Unit, transfer angular transducer, driving device angular transducer, brake apparatus angle
Sensor manipulates data collecting card, boiler-plate data collecting card, data processing card；
The electric cylinder displacement sensor mounting is mounted on the mobile terminal of electric cylinder；The sideslip displacement sensor mounting
On sideslip platform；
The sideway angular transducer is positioned on base frame, and motor end is taken mounted on sideway driving private；
Electric cylinder displacement sensor, sideslip displacement sensor, sideway angular transducer and the boiler-plate data acquire
Card is connected；
The driving device angular transducer is positioned in boiler-plate, mounted on gas pedal playback motor output end；
The brake apparatus angular transducer is positioned in boiler-plate, mounted on brake pedal playback motor output end；
The transfer angular transducer is positioned in boiler-plate, mounted on steering shaft and steering wheel return positive motor it
Between；
The Inertial Measurement Unit is positioned on boiler-plate；
The driving device angular transducer, brake apparatus angular transducer, transfer angular transducer, inertia are surveyed
Amount unit is positioned on boiler-plate；
The data acquisition module is positioned in boiler-plate, using data processing card to manipulating data collecting card and simulation
The data of cabin state data acquisition card acquisition are handled, and handling result is sent to central processing module.
3., further, the central processing module includes：With polylith graphics processor, audio output interface, regard
The high-performance computer of frequency output interface and driving environment simulation softwares.
The central processing module receives the manipulation data of riding manipulation module and boiler-plate status data, utilizes demodulation
Algorithm handles data, and the exercise data calculated is transmitted in motion-control module, and environment change data are transmitted to
In visual simulation module.
The visual simulation module reflects artificial intelligence of the driving environment simulation softwares to driving environment, by video
It is incident upon on boiler-plate front windshield screen and the lateral left and right windscreen screen of boiler-plate, environmental sound is played by environment sound equipment；Together
When receive the environment change result that central processing module calculates and carry out corresponding environment change.
The central processing module is positioned in boiler-plate.
4., further, the motion-control module includes：Motion control card, controller, driver.
The motion-control module is positioned in boiler-plate.
The motion control card receives the exercise data of central processing module by being dispersed in each moving component
Controller carries out overall control.
The motion controller receives the movement instruction of motion control card, and control driver drive motion components realize fortune
It is dynamic.
5., further, the movement analog module includes：Base frame, the sideway being rotatably positioned on base frame are put down
Platform, the sideslip platform that can be movably positioned in along vehicle axis system Y direction on sideway platform, can be along vehicle axis system Z
Axis direction translation is rotationally positioned in the supporting platform on sideslip platform around vehicle axis system X, Y direction.
The pivoting support that outer ring carries external tooth is provided between the base frame and sideway platform, is pacified on the sideway platform
Servo is driven equipped with sideway driving servo motor, mounted on the drive sprocket of sideway driving servo motor end, mounted on sideway
Transmission chain between the drive sprocket of motor and pivoting support external toothing.
The sideway driving servo motor end is equipped with the drive sprocket for transmitting driving force, and drive sprocket passes through biography
Dynamic chain is connected with pivoting support external toothing, and the driving force of sideway driving servo motor is transmitted on sideway platform, drives sideway
Platform moves.
The sideway platform, which unlimited number of can rotate, to be positioned on base frame.The pivoting support be fastened on base frame and
On sideway platform, sideway driving servo motor is fixed on sideway platform edges by sideway driving motor fastener, with
Yaw axis keeps certain distance.
The parallel translation sliding rail being positioned on sideway platform, fixation are installed between the sideway platform and sideslip platform
In the multiple translation cunnings that can be infinitely moved along sliding rail is translated for translating the limited block of extreme, being positioned on translation sliding rail
Block, the sideslip driving motor on sideway platform, the sideslip driving synchronous pulley on sideslip driving motor, by side
The convert rotational motion of cunning driving motor is into the synchronous belt of the translational motion of sideslip platform, and on synchronous belt and fixation is breakked away
Fastener on platform.
The translation sliding rail is securedly mounted on sideway platform, and translation extreme is equipped with to buffer, limit
Limited block translates and at least one translator slider for installation bearing sideslip platform is equipped on sliding rail.
The sideslip driving motor is by being fixedly mounted on sideway platform, and the end of sideslip driving motor is equipped with transmission
The sideslip driving synchronous pulley of driving force, sideslip are equipped with synchronous belt between driving synchronous pulley, have been installed and fixed on synchronous belt
The fastener of sideslip platform is installed.
The sideslip platform unlimited number of can be positioned in along translation sliding rail round-trip on sideway platform, the side
Guider, electric cylinder, first axle, second hinge, stent, lateral deviation axis, switching are installed between sliding platform and supporting platform
Part, universal transmission mechanism.
By first axle on sideslip platform, upper end is mounted on branch by universal transmission mechanism for the electric cylinder lower end
On peaceful platform, guider lower end is mounted on sideslip platform by second hinge, and upper end passes through adapter and lateral deviation axis and stent
In supporting platform.
The sideway platform, which unlimited number of can rotate, to be positioned on the base frame, and the sideslip platform can nothing
Limit time is positioned in toward ground return on the sideway platform, and the supporting platform can be unlimited number of around vehicle axis system X, Y
Shaft rotation is moved, and is moved along vehicle axis system Z axis.
6., further, the visual simulation module includes：Boiler-plate, boiler-plate front windshield screen, boiler-plate are lateral
Left and right windscreen screen, the environment sound equipment being positioned in inside boiler-plate, the pilot set being positioned in boiler-plate and copilot
Seat.
The boiler-plate is positioned in supporting platform, and pilot set and co pilot's seat are mounted in boiler-plate,
The lateral left and right windscreen screen of boiler-plate front windshield screen, boiler-plate is mounted on immediately ahead of boiler-plate seat and left and right sides, ambient sound
Sound is arranged in boiler-plate surrounding, and screen, sound equipment are connected by data line with central processing module.
The present invention has the advantages that：
1st, due to being equipped with the pivoting support with external tooth, sideway driving servo motor among the base frame of the present invention and sideway platform
And drive sprocket and transmission chain, sideway platform can be driven around the unlimited number of rotation of yaw axis；Drive sprocket is mounted on
Sideway driving servo motor end, transmission chain link drive sprocket and pivoting support external tooth；It can will be horizontal by being driven chain drive
Pendulum driving servo motor is arranged in yaw axis remote location, to form the larger arm of force, and during sideway driving servo motor work
It can go out generate tangential active force in the wheel side contact point of drive sprocket, by controlling the arm of force and driving force that can generate a conjunction
The torque of suitable yaw axis.Gap can be reduced by the control to transmission chain and sprocket wheel machining accuracy and assembly precision, ensured
The real-time of response；So as to fast and accurately simulate the sideway of normal vehicle operation state and simulation limiting condition
The rotation componental movement of the whipping of automobile.
2nd, pivoting support of the present invention can bear axial direction, radial forces and the power of toppling of the generation of drive simulation platform
Square has been evaded the processing that is generated using ring-shaped guide rail and the problem of assembly precision, while has also alleviated noise pair to a certain extent
The influence of whole driving environment simulation.
3rd, due to being equipped with translation sliding rail among sideway platform of the present invention and sideslip platform, limited block, translator slider, breakking away and drive
Dynamic motor, break away driving synchronous pulley, synchronous belt, fastener, can drive sideslip platform around the direction of vehicle axis system Y-axis
It is unlimited number of to move left and right；Translator slider is moved along translation sliding rail can install bearing sideslip platform, and by limited block
Effect with limiting displacement and can buffer；The driving synchronous pulley that breaks away is mounted on the end of sideslip driving motor, passes through synchronous belt
Fixed sideslip platform can be installed by being equipped with fastener by convert rotational motion into translational motion, on synchronous belt.Using such
Structure can be reduced while realizing the displacement movement of the limiting condition that simulating vehicle breaks away on a large scale and whipping system noise,
Improve response speed and kinematic accuracy.
4th, due to being equipped with three-degree-of-freedom motion device between sideslip platform of the present invention and supporting platform, Zhi Chengping can be driven
Platform is moved along vehicle axis system Z-direction, is rotated around vehicle axis system X, Y-direction.Three-degree-of-freedom motion device includes：It drives
Dynamic electric cylinder, guider；Driving electric rod is connected to by universal transmission mechanism between sideslip platform and supporting platform, can edge
Vehicle axis system Z-direction self-movement, guider are divided into interior bar and outer bar, are connected by adapter, lateral deviation axis with stent
On sideslip platform and supporting platform, the combination of adapter, lateral deviation axis ensure that support platform can be around vehicle axis system X, Y-axis
Rotation；When the synthesis in pitching, motion process when can simulate vehicle start, braking by above device jolts, turns to
Inclination, for Driver behavior model research and intelligent automobile decision rule proof of algorithm important technical support is provided.
5th, since the present invention includes visual simulation module, i.e., boiler-plate front windshield screen, boiler-plate side are included in boiler-plate
Windscreen screen, environment sound equipment etc. to the left and right can receive the signal of central processing module driving simulation software, in the simulation
Real-time display visual environment present situation in the lateral left and right windscreen screen of cabin front windshield screen, boiler-plate, in environment sound equipment simulated environment
Audio, with reference to the vehicle-state that movement simulation mould module E is simulated, the driving environment for making simulation is truer, is brought to driver
More intuitive experience.
Description of the drawings
Fig. 1 is the side block diagram of drive simulation experiment porch in the embodiment of the present invention.
Fig. 2 is the backsight structure chart of drive simulation experiment porch in the embodiment of the present invention
Fig. 3 is the structure sectional view of boiler-plate in the embodiment of the present invention.
Fig. 4 a are the main structure figures that manipulation device is driven in the embodiment of the present invention.
Fig. 4 b are the left view structure charts that manipulation device is driven in the embodiment of the present invention.
Fig. 5 a are the main structure figures of brake control device in the embodiment of the present invention.
Fig. 5 b are the left view structure charts of brake control device in the embodiment of the present invention.
Fig. 6 is the sectional view of steering apparatus in the embodiment of the present invention.
Fig. 7 is drive simulation experimental platform system work flow diagram in the embodiment of the present invention.
Fig. 8 is the work flow diagram of motion-control module in the embodiment of the present invention.
Fig. 9 is the work flow diagram of data processing module in the embodiment of the present invention.
Figure 10 is the composition figure of drive simulation modular system in the embodiment of the present invention.
Figure 11 is the axonometric drawing of drive simulation experiment porch in the embodiment of the present invention.
Reference numeral：Inertial Measurement Unit 1, boiler-plate lateral left and right windscreen screen 2, supporting platform 4, break away at boiler-plate 3
Driving motor 5, sideslip platform 6, sideway driving servo motor 7, first axle 8, sideway platform 9, drive sprocket 10, transmission chain
11st, base frame 12, pivoting support 13, translation sliding rail 14, limited block 15, second hinge 16, translator slider 17, sideslip driving synchronous belt
Wheel 18, synchronous belt 19, fastener 20, electric cylinder 21, guider 22, universal transmission mechanism 23, adapter 24, lateral deviation axis 25,
Stent 26, pilot set 28, co pilot's seat 29, environment sound equipment 30, steering shaft 31, turns boiler-plate front windshield screen 27
It is returned just to column tube 32, clamp nut 33, steering wheel 34, bearing 35, steering column tube stent 36, shaft coupling 37, axle sleeve 38, steering wheel
Motor 39, transfer angular transducer 40, driving device angular transducer 41, gas pedal rocker arm shaft 42, gas pedal 43,
Gas pedal Rocker arm 44, gas pedal playback motor 45, gas pedal playback electric machine support 46, brake apparatus angular transducer
47th, brake pedal rocker arm shaft 48, brake pedal 49, brake pedal Rocker arm 50, brake pedal playback motor 51, brake pedal playback
Electric machine support 52, electric cylinder displacement sensor 53, sideslip displacement sensor 54, sideway angular transducer 55.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Embodiment of the present invention is illustrated according to Fig. 1~Figure 11.First according to Fig. 1, Fig. 2, Fig. 3, Fig. 4 a, Fig. 4 b, Fig. 5 a,
5b, Fig. 6 illustrate the structure of the drive simulation experiment porch of the preferred embodiment of the present invention.
The present invention is using the vehicle axis system being fixed on boiler-plate 3.The simulation experiment platform of embodiment of the present invention by
Base frame 12 on the ground such as laboratory, the sideway platform 9 on base frame 12, the side on sideway platform 9
Sliding platform 6, the supporting platform 4 on sideslip platform 6, the boiler-plate 3 in supporting platform 4 are formed.Sideway platform 9
Unlimited number of can rotate, sideslip platform 6 unlimited number of can be moved back and forth along Y-axis, supporting platform 4 can be with unlimited number of side
Cunning, pitching are moved back and forth along Z axis.
It is latticed since sideway platform 9, sideslip platform 6, supporting platform 4 being fabricated to, it can realize whole lightweight,
And facilitate installation.
According to Fig. 1, Fig. 2, pivoting support 13 of the installation with external gear on base frame 12.Sideway platform 9 is mounted on
On pivoting support 13.
Be equipped on sideway platform 9 for make sideslip platform 6 along Y-axis movably carry limited block 15 translation sliding rail
14。
Being equipped on translation sliding rail 14 can be along translation 14 linear reciprocal movement of sliding rail for install mounting sideslip platform 6
Translator slider 17.
Sideslip driving motor 5 is installed on sideway platform 9.The driving synchronous pulley 18 that breaks away is mounted on sideslip driving motor 5,
Synchronous belt 19 is installed between sideslip driving synchronous pulley 18, is mounted with to connect fixed sideslip platform on synchronous belt 19
6 fastener 20.
It is equipped on sideway platform 9 and drives servo motor 7 for driving 9 unlimited moving in rotation of sideway platform sideway,
7 end of sideway driving servo motor is equipped with drive sprocket 10, and drive sprocket 10 passes through sideway transmission chain 11 with pivoting support 13
It is connected, for sideway platform 9 to be driven to be rotated.
Sideslip platform 6 is mounted on fastener 20, and the Y-axis for alloing sideslip platform 6 along vehicle axis system is unlimited number of past
Linear movement.
21 lower end of electric cylinder is hingedly mounted on by first axle 8 on sideslip platform 6, and upper end passes through universal transmission mechanism 23
It is connected in supporting platform 4.
22 lower end of guiding mechanism is hinged on by second hinge 16 on sideslip platform 6, and upper end passes through lateral deviation axis 25, adapter
24th, stent 26 is mounted in supporting platform 4.
The moving and around vehicle axis system along vehicle axis system Z-direction of supporting platform 4 can be realized by more than mechanism
X, the rotation of Y-direction.Boiler-plate 3 is positioned in supporting platform 4.
In addition, 3 internal structure of boiler-plate of this drive simulation experiment porch is illustrated according to fig. 3.Pilot set
28 and co pilot's seat 29 be positioned in boiler-plate 3.Riding manipulation modules A is positioned in boiler-plate 3, is placed on operator's seat
Immediately ahead of chair 28X axis directions, for the movement of pilot control driving simulation test platform.
Data acquisition module B, motion-control module D, central processing module C are positioned in boiler-plate 3.Data acquisition module
B sends the result of processing to central processing for acquiring boiler-plate status data and riding manipulation data and being pre-processed
Module C.Central processing module C is used to receive the information of visual simulation module F and data acquisition module B and communicates instructions to movement
Control module D.Motion-control module D is used to receive the instruction of central processing module C, and controls respective drive module action.
The driving manipulation device structure of this drive simulation experiment porch is illustrated according to Fig. 4 a, Fig. 4 b.Gas pedal
43 are mounted on 4 end of gas pedal Rocker arm 4, and gas pedal Rocker arm 44 is mounted on gas pedal rocker arm shaft 42, gas pedal is shaken
Arm axle 42 is connected with gas pedal playback motor 45, and gas pedal playback motor 45 is pacified by gas pedal playback electric machine support 46
In boiler-plate 3.
According to Fig. 5 a, 5b, the brake control device structure of this drive simulation experiment porch is illustrated.Brake pedal 49
Mounted on 0 end of brake pedal Rocker arm 5, brake pedal Rocker arm 50 is mounted on brake pedal rocker arm shaft 48, brake pedal rocking arm
Axis 48 is connected with brake pedal playback motor 51, and brake pedal playback motor 51 is installed by brake pedal playback electric machine support 52
In boiler-plate 3.
The steering apparatus structure of this drive simulation experiment porch is illustrated according to Fig. 6.Steering wheel 34 is by tight
Gu nut 33 is mounted in steering shaft 31, steering shaft 31 is supported on by the installation of bearing 35 in steering column tube 32, steering column tube 32
It is mounted in boiler-plate 3 by steering column tube stent 36, steering wheel returns positive motor 39 and is mounted on steering shaft 31 by shaft coupling 37
End compresses bearing 35 by axle sleeve 38.A whole set of steering apparatus is positioned in boiler-plate 3.
According to the working-flow of Fig. 7, Fig. 8, Fig. 9, Figure 10 to this drive simulation experiment porch, data module workflow
Journey C, motion-control module D, riding manipulation modules A workflow are introduced.
Driver carries out decision according to the information of movement analog module E and visual simulation module F, controls riding manipulation module
A controls the movement of drive simulation experiment porch, data acquisition module B acquisition riding manipulation data and boiler-plate status data
Central processing module C is sent to, central processing module C is solved according to the data of visual simulation module F and data acquisition module B
Calculation obtains control instruction and environment alteration command, is sent to motion-control module D and visual simulation module F, motion-control module D
Controlled motion analog module E is acted, and visual simulation module F carries out corresponding environment change.
Manipulate data collecting card to include mounted on brake control device brake apparatus angular transducer 47, mounted on turn
The transfer angular transducer 40 of fore-and-aft motion, the number mounted on the driving device angular transducer 41 for driving manipulation device
According to being acquired.
Boiler-plate state data acquisition card acquisition data include yaw angle degree sensor 55, sideslip displacement sensor 54,
Inertial Measurement Unit 1 on electric cylinder displacement sensor 53 and boiler-plate 3.
Brake apparatus angular transducer 47 mounted on brake control device, the transfer mounted on steering apparatus
Angular transducer 40, the driving device angular transducer 41 mounted on driving manipulation device have a signal line, and signal
Line is connected with manipulating data collecting card data collection terminal.
On sideway angular transducer 55, sideslip displacement sensor 54, electric cylinder displacement sensor 53 and boiler-plate 3
Inertial Measurement Unit 1 has a signal line, and signal wire is connected with boiler-plate state data acquisition card collection terminal.
Boiler-plate state data acquisition card and manipulation data collecting card are connected with data processing card, data processing card and center
Processor is connected.
The exercise data that data after central processing unit resolving obtain boiler-plate 3 by analysis is transmitted to motion control card,
First controller of 9 motion state of motion control card control sideway platform, the second controller of 6 motion state of control sideslip platform
And the third controller of control 4 motion state of supporting platform carries out overall control.
The rotation of first driver driving sideway driving servo motor 7.The input terminal and motion control card of first controller
Output terminal is connected, and the output terminal of the first controller is connected with the first driver, and the first controller receives the movement of motion control card
The movement of sideway platform 9 is realized in instruction using the control of the first driver.
The rotation of second driver driving sideslip driving motor 5, sideslip driving motor 5 pass through synchronous belt 19, fastener 20
Translator slider 17 is driven to realize that sideslip platform 6 is moved along vehicle axis system Y-axis.The input terminal of second controller and motion control
Card output terminal is connected, and the output terminal of second controller is connected with the second driver, and second controller receives the fortune of motion control card
The movement of sideslip platform 6 is realized in dynamic instruction using the control of the second driver.
Electric cylinder 21 mounted on supporting platform 4 realizes the moving along vehicle axis system Z axis of boiler-plate 3, around
The rotation of vehicle axis system X-axis and Y-axis, the movement of the electric cylinder 21 of third driver driving supporting platform 4.Third controller
Input terminal is connected with motion control card output terminal, and the output terminal of third controller is connected with third driver, and third controller connects
The movement instruction for receiving motion control card realizes three-degree-of-freedom motion using the control of third driver.
As shown in attached drawing 10：Riding manipulation modules A includes：Braking maneuver module, driving manipulation module, handling maneuver mould
Block.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of drive simulation experiment porch, it is characterised in that：The experiment porch includes：
Driving mould is manipulated according to the visual simulation module (F) and the output of movement analog module (E) experienced for driver
Draft experiment platform, and the riding manipulation module (A) being connect with data acquisition module (B)；
For acquire riding manipulation module (A) output data and movement analog module (E) exercise data, and with riding manipulation module
(A), the connected data acquisition module (B) of movement analog module (E), central processing module (C)；
It for receiving the data of data acquisition module (B), and is handled, to visual simulation module (F), motion-control module
(D) transmission data, and with visual simulation module (F), motion-control module (D), the connected central processing of data acquisition module (B)
Module (C)；
For according to receiving central processing module (C) output data come controlled motion analog module (E), and and central processing module
(C), the motion-control module (D) that movement analog module (E) is connected；
For receive motion-control module (D) instruction carry out corresponding sports, and with motion-control module (D) and data acquisition module
(B) the movement analog module (E) being connected；
For receiving central processing module (C) output data, true vision, auditory scene, and and central processing module are built
(C) the visual simulation module (F) being connected.
2. a kind of drive simulation experiment porch according to claim 1, it is characterised in that：
The movement analog module (E) includes：Base frame, can be sat the sideway platform being rotatably positioned on base frame along vehicle
Mark system Y direction movably the sideslip platform on sideway platform is positioned in, can be translated along vehicle axis system Z-direction,
The supporting platform on sideslip platform is rotationally positioned in around vehicle axis system X, Y direction；
Between the base frame and sideway platform, including：Outer ring between the base frame and sideway platform carries external tooth
Pivoting support and sideway driving servo motor of at least one end equipped with drive sprocket on the sideway platform, with
And the transmission chain of connection floating bearing and sideway driving servo motor；
The unlimited number of rotation of the sideway platform is positioned on base frame；
At least a pair of translation sliding rail being positioned on sideway platform, fixation are installed between the sideway platform and sideslip platform
Translation extreme at least two limited blocks, be positioned in translation sliding rail on it is at least one can along translation sliding rail it is unlimited
Movably translator slider, the sideslip driving device being positioned on sideway platform；
The translation sliding rail is securedly mounted on sideway platform, and translation extreme is equipped with the limiting for buffering, limiting
Block translates and at least one translator slider for installation bearing sideslip platform is equipped on sliding rail；
The sideslip platform is unlimited number of to be positioned in along translation sliding rail round-trip on sideway platform；
Between the sideslip platform and supporting platform, including：Between the sideslip platform and supporting platform at least
A set of guider, at least three electric cylinder between the sideslip platform and supporting platform, mounted on described
Hinge between sideslip platform and supporting platform；
The supporting platform is unlimited number of to be rotated around vehicle axis system X, Y-axis, is moved along vehicle axis system Z axis.
A kind of 3. drive simulation experiment porch according to claim 1, which is characterized in that the central processing module
(C) include：With polylith graphics processor, audio output interface, video output interface and driving environment simulation softwares
High-performance computer.
4. a kind of drive simulation experiment porch according to claim 1, it is characterised in that：
The visual simulation module (F) includes：Boiler-plate, boiler-plate front windshield screen, the lateral left and right windscreen screen of boiler-plate,
It is positioned at least one environment sound equipment inside boiler-plate, the pilot set being positioned in boiler-plate and copilot's seat
Chair；
The boiler-plate is positioned in supporting platform, and pilot set and co pilot's seat are mounted in boiler-plate, simulation
The lateral left and right windscreen screen of cabin front windshield screen, boiler-plate, environment sound equipment are arranged in boiler-plate, pass through data line and centre
Reason module is connected.
5. a kind of drive simulation experiment porch according to claim 1, it is characterised in that：
The riding manipulation module (A) includes：Drive manipulation device, brake control device, steering apparatus；
The riding manipulation module (A) is positioned in boiler-plate, and steering apparatus, brake control device, driving manipulate dress
Adjustably mounting is put to be mounted in front of pilot set；
The driving manipulation device includes：Gas pedal, gas pedal rocking arm, gas pedal rocker arm shaft, gas pedal playback
Electric machine support, gas pedal playback motor；
The brake control device includes：Brake pedal, brake pedal rocking arm, brake pedal rocker arm shaft, brake pedal playback
Electric machine support, brake pedal playback motor；
The steering apparatus includes：Steering wheel, steering shaft, steering column tube, steering column tube stent, steering wheel return positive electricity
Machine, bearing, clamp nut, shaft coupling, axle sleeve；
The driving manipulation device, brake control device, steering apparatus can unlimited number of work, can be in non-manipulation shape
Initial position can be accurately returned under state rapidly, and true resistive state can be imitated in operation state lower die.
6. a kind of drive simulation experiment porch according to claim 1, it is characterised in that：
The data processing module (B) includes：Electric cylinder displacement sensor, sideslip displacement sensor, sideway angular transducer,
Inertial Measurement Unit, brake apparatus angular transducer, transfer angular transducer, manipulates number at driving device angular transducer
According to capture card, boiler-plate data collecting card, data processing card；
The manipulation data collecting card acquires driving device angular transducer, brake apparatus angular transducer, transfer angle
The data of sensor are spent, boiler-plate data collecting card acquisition electric cylinder displacement sensor, sideslip displacement sensor, sideway angle pass
The data of sensor, Inertial Measurement Unit；
The data processing card handles the data for manipulating data collecting card and the acquisition of boiler-plate state data acquisition card,
Handling result is sent to central processing module (C).
7. a kind of drive simulation experiment porch according to claim 1, it is characterised in that：
The motion-control module (D) includes：Motion control card, controller, driver；During the motion control card receives
The exercise data of centre processing module (C) carries out overall control by the controller being dispersed in each moving component；
The motion controller receives the movement instruction of motion control card, and control driver drive motion components realize movement.
8. the drive simulation experiment porch according to claim 1 to 7, it is characterised in that：
The riding manipulation module (A) is according to driver due to perceiving movement analog module (E) and visual simulation module (F)
Variation and the riding manipulation behavior that generates moved accordingly；
The data of described data acquisition module (B) acquisition riding manipulation module (A) and the status data of boiler-plate, and by data
It is pre-processed, sends central processing module (C) to；
The central processing module (C) receive the riding manipulation module (A) that data acquisition module (B) acquires manipulation data and
Boiler-plate status data, handles data, the exercise data calculated is transmitted in motion-control module (D), environment
Change data are transmitted in visual simulation module (F)；
Driving environment simulation softwares artificial intelligence is incident upon boiler-plate front windshield screen by the visual simulation module (F)
On curtain and the lateral left and right windscreen screen of boiler-plate, environmental sound is played by environment sound equipment；
Exercise data is carried out processing formation movement instruction and is transferred to movement analog module (E) by the motion-control module (D)
In；
The movement analog module (E) is moved accordingly according to the instruction of the motion-control module (D) of receiving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810205398.0A CN108154746A (en) | 2018-03-13 | 2018-03-13 | A kind of drive simulation experiment porch |
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| CN201810205398.0A CN108154746A (en) | 2018-03-13 | 2018-03-13 | A kind of drive simulation experiment porch |
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