CN110456661A - It is a kind of based on the real-time visual of Unity3D without person bicycle analogue system and method - Google Patents
It is a kind of based on the real-time visual of Unity3D without person bicycle analogue system and method Download PDFInfo
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- CN110456661A CN110456661A CN201910722350.1A CN201910722350A CN110456661A CN 110456661 A CN110456661 A CN 110456661A CN 201910722350 A CN201910722350 A CN 201910722350A CN 110456661 A CN110456661 A CN 110456661A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
It is a kind of based on the real-time visual of Unity3D without person bicycle analogue system and method, module is given by control instruction and inputs relevant control command signal；After traveling emulation module receives the relevant control command signal that control instruction gives module transmission, pass through unmanned bicycle running model, after traveling emulation module receives the relevant control command signal that control instruction gives module transmission, pass through unmanned bicycle running model, real-time simulation operation is carried out to the driving process of no person bicycle, the continuous running condition information of no person bicycle is obtained, and is exported to data transmission blocks；Unmanned bicycle running status information is uploaded to the data reception module of host computer by data transmission blocks by serial communication mode；After the running condition information that the data transmission blocks that data reception module receives slave computer upload, its information is imported in Unity3D platform, present invention accuracy that is more convenient, intuitively verifying unmanned bicycle running model and control algolithm.
Description
Technical field
The present invention relates to unmanned technical field of bicycles, in particular to a kind of real-time visual based on Unity3D nobody
Bicycle analogue system and method.
Background technique
Without person bicycle as a multiple hull construction, not only theoretically it is of great significance to its research, also has
There is very high practical value.No person bicycle control is a typical control equilibrium problem, can be reacted in control process
Many critical issues in control theory, such as Stabilization, nonlinear problem, robustness problem and tracking problem etc.,
Its structure and kinetic characteristics are more complicated, and control difficulty is big, are research variable-structure control, nonlinear Control, intelligent control etc.
The ideal experiment porch of control method.
People to the research process of no person bicycle control problem can be divided into object modeling, controller design and emulation,
Hardware design, software programming and integrated debugging.Object modeling and controller design and emulation are that people pass through no person bicycle
The parameters such as mechanical structure, executing agency establish the kinematics and dynamics modeling without person bicycle, then are directed to above-mentioned modelling
Then control algolithm carries out simulating, verifying by simulation software.Currently, most of simulation process are completed in computer platform
, however to the control of no person bicycle realized by embedded platform in real process.In view of the timeliness of emulation
Depending on the operational capability of model foundation mode, calculation method and controller, and no person bicycle integrated debugging when
It waits, if breaking down, it is possible to need again to analyze model, it is embedded flat that model data is transplanted to no person bicycle
It is debugged, is taken time and effort again in platform, greatly reduce debugging efficiency, increase development cost.So be badly in need of nobody from
Increase a kind of more convenient, intuitive artificial debugging mode in the research process of thermoacoustic prime engine problem, makes up tradition research process
Deficiency.
Summary of the invention
In order to solve the above technical problems, the purpose of the present invention is to provide a kind of real-time visuals based on Unity3D
Without person bicycle analogue system and method, standard that is more convenient, intuitively verifying unmanned bicycle running model and control algolithm
True property, hardware platform and software program are to the response efficiency of control signal and the compatibility of software and hardware.
To achieve the goals above, the technical solution adopted by the present invention is that:
It is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, including control instruction give module, under
Position machine and host computer；
Control instruction gives module, for issuing to slave computer without person bicycle relevant control command signal, control instruction
Given module definition extends out module for slave computer, is connected in different control modules outside according to different control modes；
The slave computer includes (no person bicycle) traveling emulation module and data transmission blocks；
Traveling emulation module is used to acquire the control instruction signal of unmanned bicycle running process and carries out driving status
Real-time simulation operation, to obtain the continuous spatial position of no person bicycle and posture information, the traveling emulation module is used
Embedded microcontroller platform establishes running model, is prefixed suitable numerical computation method, by given control signal and
Control algolithm, running condition information (spatial position and posture) of the final output without person bicycle, wherein the traveling that system uses
Model and control algolithm are all open sources, and user can be implanted into self-designed running model according to their own needs and control is calculated
Method, while running model and control algolithm are also built-in in embedded microcontroller platform；
TM32F103 Series Controller may be selected in the embedded microcontroller, and preferably STM32F103R8T6 chip is made
For the Embedded Hardware Platform of slave computer.
The numerical computation method is preferably interpolation computing method, by given data, extracts number from corresponding interpolation table
According to calculating current motor speed, steering engine corner and car body inclination angle.
The running model uses second-order dynamic model；
Including setting dLPThe moment of momentum for rigid body relative to dynamic point P, MPIt is the external force system that is added on rigid body to the main square of the point,
M(QP) be added on rigid body mass center traction inertia force resultant force to the square of the point, according to theorem, (system of material points is relative to dynamic point
The moment of momentum to time-derivative be equal to external force system to the resultant force of the main square of the point and the traction inertia force being added on mass center to the point it
The vector sum of square) to composition bicycle system each rigid body portion, it is available below equation:
Facility adds power to be on the car body T to the torque of x-axisθ, the moment of face applied on front fork is TδIf M, C1、κo、κ2
For coefficient matrix, v is bicycle speed, and g is acceleration of gravity, by the angular momentum balance equations simultaneousness of 4 rigid bodies of system, small
Under the hypothesis of angle, by local linearization, the kinetic balance equation of whole system is just obtained:
The control algolithm is preferably FUZZY ALGORITHMS FOR CONTROL.
The data transmission blocks are supreme for uploading the running condition information (spatial position and posture) without person bicycle
Position machine.
The host computer includes data reception module and Unity3D platform, and data reception module is for receiving slave computer
The running condition information of biography, and import in Unity3D platform；Unity3D platform is used for traveling of the real-time display without person bicycle
Status information (spatial position and posture).
Communication mode between the data reception module and Unity3D platform be preferably based on multithreading and
The serial communication mode of Windows self-defined message.
Serial communication mode is used between the upper computer and lower computer.
A kind of application method based on the real-time visual of Unity3D without person bicycle analogue system, includes the following steps:
Step 1: researcher gives module by the control instruction and inputs relevant control command signal；
Step 2: after traveling emulation module receives the relevant control command signal that control instruction gives module transmission, passing through
Unmanned bicycle running model, the running model and control algolithm given by user are right using preset numerical computation method
The driving process of no person bicycle carries out real-time simulation operation, obtains the continuous running condition information (space bit of no person bicycle
Set and posture), and export to data transmission blocks；
Step 3: the unmanned bicycle running status information that data transmission blocks obtain step 2 passes through serial communication mode
It is uploaded to the data reception module of host computer；
Step 4: after the running condition information that the data transmission blocks that data reception module receives slave computer upload, by it
Information imports in Unity3D platform；
After step 5:Unity3D platform receives the running condition information of no person bicycle, pass through the void in oneself platform
Quasi- scene, is come out with third person real-time display.
Beneficial effects of the present invention:
The present invention combines the embedded development based on ARM with three dimensional visual simulation, and it is visual to realize no person bicycle
Change emulation, establishes technical foundation without person bicycle material object for production；Enable researcher is more convenient, intuitively verify nobody from
Response efficiency and software of accuracy, hardware platform and the software program of running model of driving a vehicle and control algolithm to control signal
With the compatibility of hardware, debugging efficiency is improved, reduces development cost.
Detailed description of the invention
Fig. 1 is present system functions of modules figure.
Fig. 2 is the basic block diagram of fuzzy controller of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, main includes control
Instruct given module, slave computer and host computer.
The control instruction gives module and is used to issue to slave computer without person bicycle relevant control command signal, such as
Speed, steering etc. control signal.Manual control can be selected in the control mode of no person bicycle, instruction controls etc., and control instruction
What given module may be defined as slave computer extends out module, can according to being connected in different control modules outside different control modes,
Citing are as follows:, can external key module or handle control module, etc. if manual control mode；It is controlled if instruction, it can be outer
It is connected in key module or touch screen module, etc..But, for the technical solution of conciser statement this system, the present invention
Preferably manual control mode.
The slave computer includes (no person bicycle) traveling emulation module and data transmission blocks；
Traveling emulation module is used to acquire the control instruction signal of unmanned bicycle running process and carries out driving status
Real-time simulation operation, to obtain the continuous spatial position of no person bicycle and posture information.The module is the core of this system
Point, running model is established using embedded microcontroller platform, is prefixed suitable numerical computation method, passes through given control
Signal and control algolithm, running condition information (spatial position and posture) of the final output without person bicycle.Wherein, system uses
Running model and control algolithm all be open source, user can be implanted into according to their own needs self-designed running model and
Control algolithm, while the running model and control algolithm of default are also built-in in embedded microcontroller platform；
TM32F103 Series Controller may be selected in the embedded microcontroller, and preferably STM32F103R8T6 chip is made
For the Embedded Hardware Platform of slave computer, be primarily due to it with powerful operational capability and interface function, it can be achieved that nobody
The foundation and resolving of bicycle running simulation model and Controlling model control signal acquisition and transport condition data transfer function.
The Series of MCU includes that CPU, RAM, ROM, I/O interface, timer/counter, UASRT, A/D and D/A converter etc. are more
A module, maximum operating frequency 72MHz, can software adjustment working frequency, and can realize that monocycle multiplication and hardware remove
Method.
The numerical computation method is preferably interpolation computing method, by given data, extracts number from corresponding interpolation table
According to calculating current motor speed, steering engine corner and car body inclination angle.
The default running model includes unmanned bicycle dynamics model, kinematics model, motor model and steering engine mould
Type etc., and establishing unmanned bicycle dynamics model is the key that this system, in order to facilitate client's understanding, this system default traveling
Model uses second-order dynamic model, and specific establishment process is as shown in embodiment one.
Embodiment one: it in order to which reasonably reduced equation is established, make the following assumptions:
1. bicycle includes 4 rigid bodies: front-wheel, rear-wheel, car body and front fork；
2. wheel is sufficiently fine, only has a contact point with ground；
3. wheel is during scrolling without opposite sliding；
4. angled system institute is a small amount of；
If dLPThe moment of momentum for rigid body relative to dynamic point P, MPThe main square for being the external force system that is added on rigid body to the point, M
(QP) be added on rigid body mass center traction inertia force resultant force to the square of the point, according to theorem, (system of material points is relative to dynamic point
The moment of momentum to time-derivative be equal to external force system to the resultant force of the main square of the point and the traction inertia force being added on mass center to the point it
The vector sum of square) to composition bicycle system each rigid body portion, it is available below equation:
Facility adds power to be on the car body T to the torque of x-axisθ, the moment of face applied on front fork is TδIf M, C1、κo、κ2
For coefficient matrix, v is bicycle speed, and g is acceleration of gravity.By the angular momentum balance equations simultaneousness of 4 rigid bodies of system, small
Under the hypothesis of angle, by local linearization, the kinetic balance equation of whole system is just obtained:
The default control algolithm is preferably FUZZY ALGORITHMS FOR CONTROL: due to kinetic characteristics and the speed of bicycle have it is non-
Often close connection, especially on specific critical speed point, and general controller is difficult under a variety of different speed
All reach good control effect, and bicycle speed is difficult to precise measurement in practice, so this system preferably uses fuzzy control,
Each local control can be weighted summation by its fuzzy controller, can increase the robustness of entire closed-loop system.Fig. 2
Give the basic structure of fuzzy controller.
The data transmission blocks are supreme for uploading the running condition information (spatial position and posture) without person bicycle
Position machine.
The host computer includes data reception module and Unity3D platform；
The data reception module is used to receive the running condition information of slave computer upload, and imports in Unity3D platform；
Wherein the communication mode between data reception module and Unity3D platform is preferably based on multithreading and Windows
The serial communication mode of self-defined message, which utilize the programming mode of multithreading, three-dimensional vision program are divided into two lines
Journey part: part is read as the driving status display processing of main thread, update part and as from the serial data of thread；Together
When, in order to guarantee flexible data interaction between master and slave thread, program is on the basis using shared memory, by certainly
Message is defined to realize the high speed communication function between master and slave thread, to ensure that higher asynchronous serial communication data are received
Rate is sent out, effective solution is unable to satisfy in the way of the single thread of traditional timer acquisition process message the transmission of high speed
Mode issue.
The Unity3D platform is used for running condition information (spatial position and posture) of the real-time display without person bicycle；
For no person bicycle running condition information Unity3D platform real-time display, need to establish one it is virtual
Scene, and required virtual scene is made of three peacekeeping two-dimensional bodies models, it is proposed that in a kind of Unity3D platform
Virtual scene method for building up: it is established using 3DS Max without threedimensional models such as person bicycle, building, landform, by the model of foundation
.FBX formatted file is exported as, and is configured in the resource folder Assets of Unity3D, Unity3D will be automatically imported correspondence
Threedimensional model and corresponding textures and animation file.
In order to allow researcher intuitively to see the moving situation of no person bicycle, this system is preferably the third person
The virtual display at visual angle writes CarCamera.cs script to main camera, and the position of main camera is made to have been at nobody certainly
The back upper place of driving model, and make video camera against the middle part of auto model, realize video camera relative to inhumanity bicycle
It is mobile with property.
Serial communication mode is used between the upper computer and lower computer；
A kind of working method based on the real-time visual of Unity3D without person bicycle analogue system, includes the following steps:
Step 1: researcher gives module by the control instruction and inputs relevant control command signal；
Step 2: after traveling emulation module receives the relevant control command signal that control instruction gives module transmission, passing through
Unmanned bicycle running model, the running model and control algolithm given by user are right using preset numerical computation method
The driving process of no person bicycle carries out real-time simulation operation, obtains the continuous running condition information (space bit of no person bicycle
Set and posture), and export to data transmission blocks；
Step 3: the unmanned bicycle running status information that data transmission blocks obtain step 2 passes through serial communication mode
It is uploaded to the data reception module of host computer；
Step 4: after the running condition information that the data transmission blocks that data reception module receives slave computer upload, by it
Information imports in Unity3D platform；
After step 5:Unity3D platform receives the running condition information of no person bicycle, pass through the void in oneself platform
Quasi- scene, is come out with third person real-time display.
Claims (9)
1. it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, which is characterized in that given including control instruction
Cover half block, slave computer and host computer；
Control instruction gives module, and for issuing to slave computer without person bicycle relevant control command signal, control instruction is given
Module definition extends out module for slave computer, is connected in different control modules outside according to different control modes；
The slave computer includes traveling emulation module and data transmission blocks；
Traveling emulation module is used to acquire the control instruction signal of unmanned bicycle running process and carries out the real-time of driving status
Simulation calculating, to obtain the continuous spatial position of no person bicycle and posture information, the traveling emulation module uses insertion
Formula microcontroller platform establishes running model, is prefixed suitable numerical computation method, passes through given control signal and control
Algorithm, running condition information of the final output without person bicycle, wherein the running model and control algolithm that system uses all are opened
Source, user can be implanted into self-designed running model and control algolithm, while embedded microcontroller according to their own needs
Running model and control algolithm are also built-in in device platform.
2. it is according to claim 1 it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, feature
It is, TM32F103 Series Controller may be selected in the embedded microcontroller, under preferably STM32F103R8T6 chip is used as
The Embedded Hardware Platform of position machine.
3. it is according to claim 1 it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, feature
It is, the numerical computation method is preferably interpolation computing method, by given data, data are extracted from corresponding interpolation table,
Calculate current motor speed, steering engine corner and car body inclination angle.
4. it is according to claim 1 it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, feature
It is, the running model uses second-order dynamic model；
Including setting dLPThe moment of momentum for rigid body relative to dynamic point P, MPThe main square for being the external force system that is added on rigid body to the point, M
(QP) be added on rigid body mass center traction inertia force resultant force to the square of the point, according to theorem, (system of material points is relative to dynamic point
The moment of momentum to time-derivative be equal to external force system to the resultant force of the main square of the point and the traction inertia force being added on mass center to the point it
The vector sum of square) to composition bicycle system each rigid body portion, it is available below equation:
Facility adds power to be on the car body T to the torque of x-axisθ, the moment of face applied on front fork is TδIf M, C1、κo、κ2It is to be
Matrix number, v are bicycle speed, and g is acceleration of gravity, by the angular momentum balance equations simultaneousness of 4 rigid bodies of system, in low-angle
Hypothesis under, by local linearization, just obtain the kinetic balance equation of whole system:
The control algolithm is preferably FUZZY ALGORITHMS FOR CONTROL.
5. it is according to claim 1 it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, feature
It is, the data transmission blocks are for uploading the running condition information without person bicycle to host computer.
6. it is according to claim 1 it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, feature
It is, the host computer includes data reception module and Unity3D platform, and data reception module is used to receive slave computer upload
Running condition information, and import in Unity3D platform；Unity3D platform is used for driving status of the real-time display without person bicycle
Information (spatial position and posture).
7. it is according to claim 6 it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, feature
It is, the communication mode between the data reception module and Unity3D platform is preferably based on multithreading and Windows certainly
Define the serial communication mode of message.
8. it is according to claim 1 it is a kind of based on the real-time visual of Unity3D without person bicycle analogue system, feature
It is, serial communication mode is used between the upper computer and lower computer.
9. based on a kind of use based on the real-time visual of Unity3D without person bicycle analogue system described in claim 1
Method, which comprises the steps of:
Step 1: researcher gives module by the control instruction and inputs relevant control command signal；
Step 2: after traveling emulation module receives the relevant control command signal that control instruction gives module transmission, by nobody
Bicycle running model, the running model and control algolithm given by user, using preset numerical computation method, to nobody
The driving process of bicycle carries out real-time simulation operation, obtains the continuous running condition information of no person bicycle, and export to number
According to sending module；
Step 3: the unmanned bicycle running status information that data transmission blocks obtain step 2 is uploaded by serial communication mode
To the data reception module of host computer；
Step 4: after the running condition information that the data transmission blocks that data reception module receives slave computer upload, by its information
It imports in Unity3D platform；
After step 5:Unity3D platform receives the running condition information of no person bicycle, pass through the virtual field in oneself platform
Scape is come out with third person real-time display.
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