CN111968450A - Dynamic control method, device and system for train driving simulator and storage medium - Google Patents
Dynamic control method, device and system for train driving simulator and storage medium Download PDFInfo
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Abstract
The invention discloses a dynamic control method, a device, a system and a storage medium for a train driving simulator, wherein the method comprises the steps of acquiring a driving control signal in the use process of the train dynamic simulator; inputting the signals into a virtual driving environment of the dynamic simulation simulator to extract main control signals; searching a cab dynamic control file corresponding to the running condition in a train simulator dynamic control signal database based on vehicle dynamics, and reading 6-degree-of-freedom displacement, speed and acceleration control signals in the cab dynamic control file; and the dynamic sense is input to a control channel of a dynamic control system for correspondingly controlling the effect of the motion platform, and the motion of the train driving simulator is realized by using the motion platform as a motion system. The method and the system are simple and easy to operate, provide more real and comprehensive motion platform control information for the train driving dynamic simulation simulator, provide a more real cab vibration environment for a trainee driver, improve the training quality of the driver and ensure the safe operation of the train.
Description
Technical Field
The invention relates to the technical field of rail transit driving training, in particular to a dynamic control method, a device and a system of a train driving simulator and a storage medium.
Background
In a train driver training system, the dynamic simulation simulator has the advantages that through controlling a motion platform, a 'sound-motion-picture' three-in-one immersive training experience is provided for a trainee driver to simulate the vibration environment of a cab in the running process of a train, the training effect of the driver is improved, and the running quality and safety of the train are better guaranteed. The train driving dynamic simulation simulator simulates the vibration environment of a driver cab in the running process of a train by controlling the six-degree-of-freedom motion platform in real time. The motion platform control system directly determines the dynamic fidelity of the train driving dynamic simulation simulator and the training effect of drivers.
The six-degree-of-freedom motion platform can generally provide displacement, speed and acceleration control interfaces (18 in total) with 6 degrees of freedom at the same time. The designer of the dynamic simulation simulator can input dynamic control signals to the 18 control interfaces according to different requirements to realize different dynamic effects. Although a six-degree-of-freedom motion platform can open 18 groups of control signals, the current-stage train dynamic simulation simulator usually realizes dynamic effect by superposition of 1 to 2 degree-of-freedom control signals: such as by simulating the effects of random vibrations in the operation of the train in the transverse (axial direction of the axle) and vertical (direction of gravity) directions. In addition, the input signal of the motion platform is generally calculated by using a formula, for example, a random effect in the running process of the train is simulated by using a sine function superposition and fitting mode. The motion control strategy of the motion platform has the advantages that: the realization is simple, the occupied space of control information is small, and the program operation efficiency is higher; the dynamic control function has stronger translation performance and can be applied to dynamic simulators corresponding to different vehicle types.
However, the dynamic sense generated by such a motion platform control system has a certain difference (limited fidelity) from the real vibration situation of the cab: firstly, a train vehicle dynamics system is a multi-degree-of-freedom and nonlinear system, and under the action of random track irregularity, the vibration freedom of a cab is more and is difficult to express by a linear formula; secondly, the vibration environment of the train cab is different from vehicle to vehicle, and the suspension systems of different vehicle types are different, so that the vibration environment of the cab is different when different trains run on the same line at the same speed.
The undesirable fidelity not only reduces the immersive experience, training effect, and even creates erroneous perception and decision making, but also increases the probability of the trainee driver suffering from motion sickness, etc.
Disclosure of Invention
The invention aims to provide a dynamic control method, a device, a system and a storage medium for a train driving simulator, aiming at the defects of the prior art.
The invention is realized by the following technical scheme:
in a first aspect, the invention provides a train driving simulator dynamic control method based on vehicle dynamics, which comprises the following steps:
s1: acquiring a driving control signal of the train dynamic simulation simulator in the use process;
s2: inputting the acquired driving control signal to a virtual driving environment of a dynamic simulation simulator, and extracting a main control signal;
s3: according to the extracted master control signal information, a cab dynamic control file corresponding to the running condition is searched in a dynamic control signal database of a train simulator based on vehicle dynamics, and a 6-degree-of-freedom displacement control signal, a 6-degree-of-freedom speed control signal and a 6-degree-of-freedom acceleration control signal in the cab dynamic control file are read;
s4: and inputting the read 6-freedom-degree displacement control signal, the 6-freedom-degree speed control signal and the 6-freedom-degree acceleration control signal into a control channel of a dynamic control system for correspondingly controlling the effect of the motion platform, and realizing the dynamic effect of the train driving simulator by using the motion platform actuating system.
The working principle is as follows:
in a train driver training system, certain differences (limited fidelity) exist between dynamic sense generated by a motion platform control system in the prior art and real vibration conditions of a cab: firstly, a train vehicle dynamics system is a multi-degree-of-freedom and nonlinear system, and under the action of random track irregularity, the vibration freedom of a cab is more and is difficult to express by a linear formula; secondly, the vibration environment of the train cab is different from vehicle to vehicle, and the suspension systems of different vehicle types are different, so that the vibration environment of the cab is different when different trains run on the same line at the same speed. The undesirable fidelity not only reduces the immersive experience, training effect, and even creates erroneous perception and decision making, but also increases the probability of the trainee driver suffering from motion sickness, etc.
Therefore, the invention designs a dynamic control method of a train driving simulator based on vehicle dynamics, which mainly comprises the following steps: by calling the control signal corresponding to the current master control signal in the motion platform control signal library based on train dynamics in real time, high-approximation simulation of the vibration environment of the cab in the running process of the train is realized, and the training effect of drivers is improved. The method has the advantages that the cab vibration signals (namely signals in the cab dynamic control files) obtained based on train vehicle dynamics are used as the control signals of the motion platform, considering that a train vehicle dynamics system is a multi-degree-of-freedom and nonlinear system, and the cab vibration freedom is more and difficult to express by a linear formula under the action of random track irregularity. Compared with the method for controlling the motion platform by using the approximate formula in the prior art, the method not only can provide dynamic sense with higher fidelity for the train driving simulator, but also can realize the effects of different vehicle types and different exclusive dynamic sense, thereby improving the training effect and quality of drivers.
Further, the driving control signal in step S1 includes a train traction handle level, a train brake handle level, a train traction force, a train brake force, a train operation acceleration, and a train operation speed.
Further, step S2 includes the following sub-steps:
s21: inputting the driving control signal acquired in the step S1 into the virtual driving environment of the dynamic simulation simulator;
s22: updating driving information of the train in a virtual driving environment, wherein the driving information comprises the current coordinate and the kilometer post of the train;
s23: and (5) extracting the master control signal according to the driving information in the step (S22) and the speed information of the master control signal.
Further, the master control signals in step S23 include a line type signal line _ type, a line parameter signal 01 index01, a line parameter signal 02 index02, and a train running speed signal vehicle _ speed, where the current train is located;
the line type signal line _ type comprises a straight line L, a turnout T, a ramp S and a curve C, and the line parameter signals 01 index01 and 02 index02 are correspondingly adjusted according to different line type signals line _ type; the method comprises the following steps:
when the line type signal line _ type is a straight line L, all of the line parameter signal 01 index01 and the line parameter signal 02 index02 are set to zero;
when the line type signal line _ type is a turnout T, the line parameter signal 01 index01 is a turnout type T _ type, and the line parameter signals 02 index02 are all automatically set to zero;
when the line type signal line _ type is a ramp S, the line parameter signal 01 index01 is a line slope S _ gradient, and the line parameter signal 02 index02 is a line ramp length S _ length;
when the line type signal line _ type is curve C, the line parameter signal 01 index01 is curve radius C _ radius, and the line parameter signal 02 index02 is curve length C _ length.
Further, step S3 includes the following sub-steps:
s31: according to the main control signal extracted in the step S2, according to a retrieval rule in a dynamic control signal database of a train simulator based on vehicle dynamics, generating a file name of a driver cab dynamic control file, and retrieving a corresponding file;
s32: and reading a 6-freedom displacement control signal, a 6-freedom speed control signal and a 6-freedom acceleration control signal in the cab dynamic control file.
Further, the train simulator dynamic control signal database based on the vehicle dynamics obtains a 6-freedom-degree displacement control signal, a 6-freedom-degree speed control signal and a 6-freedom-degree acceleration control signal of the position of a train cab through vehicle dynamics simulation; the dynamic simulation condition is carried out according to an actual line, and the operation condition division is carried out according to four line types of a straight line L, a turnout T, a ramp S and a curve C; and storing the cab dynamic control files (namely cab vibration signal files) under each operating condition in the dynamic control signal database of the train simulator based on the vehicle dynamics according to the definition rules of the step S23.
The definition rule of the cab dynamic control file is as follows: the line type signal line _ type comprises a straight line L, a turnout T, a ramp S and a curve C, and the line parameter signals 01 index01 and 02 index02 are correspondingly adjusted according to different line type signals line _ type; the method comprises the following steps:
when the line type signal line _ type is a straight line L, all of the line parameter signal 01 index01 and the line parameter signal 02 index02 are set to zero;
when the line type signal line _ type is a turnout T, the line parameter signal 01 index01 is a turnout type T _ type, and the line parameter signals 02 index02 are all automatically set to zero;
when the line type signal line _ type is a ramp S, the line parameter signal 01 index01 is a line slope S _ gradient, and the line parameter signal 02 index02 is a line ramp length S _ length;
when the line type signal line _ type is curve C, the line parameter signal 01 index01 is curve radius C _ radius, and the line parameter signal 02 index02 is curve length C _ length.
Further, step S4 includes the following sub-steps:
s41: inputting the 6-degree-of-freedom displacement control signal, the 6-degree-of-freedom speed control signal and the 6-degree-of-freedom acceleration control signal read in the step S32 into a displacement control channel, a speed control channel and an acceleration control channel which correspond to the 6 degrees of freedom of the dynamic control system;
s42: signals are input through a displacement control channel, a speed control channel and an acceleration control channel with 6 degrees of freedom to drive the motion platform to act, and therefore the dynamic effect of the simulator corresponding to the vibration environment of the cab under the running working condition of the train is achieved.
In a second aspect, the present invention provides a dynamic control device for a train driving simulator based on vehicle dynamics, which supports the dynamic control method for the train driving simulator based on vehicle dynamics, and the control device includes:
the driving simulation control unit is used for generating train operation related signals according to traction and braking operations of a trained cab in the driving simulation process, wherein the train operation related signals comprise speed, acceleration, kilometer posts and the like;
the virtual driving environment unit is used for updating the position of the train in the driving process according to the running related signals of the simulated driving control unit in the simulated driving process and acquiring the current line parameters of the train;
the dynamic control signal base of the motion platform based on dynamics analysis is used for storing cab position vibration signals of a train calculated through dynamics under different operation conditions, the cab position vibration signals comprise 6-degree-of-freedom displacement control signals, 6-degree-of-freedom speed control signals and 6-degree-of-freedom acceleration control signals, and the database storage-retrieval rules are formulated according to the operation conditions;
and the dynamic control unit is used for receiving the dynamic control signal corresponding to the current operation condition retrieved by the dynamic control signal library of the motion platform based on the dynamics analysis and driving the six-freedom-degree motion platform to realize the corresponding dynamic effect according to the control signal.
In a third aspect, the invention provides a train driving simulator dynamic control system based on vehicle dynamics, which comprises the train driving simulator dynamic control device based on vehicle dynamics, wherein the dynamic control unit is further used for opening and closing different dynamic control channels according to training courses to realize the dynamic enhanced experience in a certain direction; and the dynamic intensity is adjusted according to the training course so as to realize the experience of different dynamic intensities.
In a fourth aspect, the present invention further provides a computer readable storage medium storing a computer program, wherein the program is executed by a processor to implement the train dynamics-based dynamic control method for a train driving simulator.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the method and the system realize high approximation degree simulation of the vibration environment of the cab in the running process of the train and improve the training effect of drivers mainly by calling the control signal corresponding to the current master control signal in the motion platform control signal library based on train dynamics in real time. The method has the advantage that cab vibration signals acquired based on train vehicle dynamics are used as control signals of the motion platform. Compared with the method for controlling the motion platform by using the approximate formula in the prior art, the method not only can provide dynamic sense with higher fidelity for the train driving simulator, but also can realize the effects of different vehicle types and different exclusive dynamic sense, thereby improving the training effect and quality of drivers.
2. The method and the system provided by the invention are simple and easy to operate, can provide more real and comprehensive motion platform control information for the train driving dynamic simulator, provide a more real cab vibration environment for a trainee driver, improve the training quality of the driver and ensure the safe operation of the train.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a flow chart of a dynamic control method of a train driving simulator based on vehicle dynamics.
Fig. 2 is a schematic diagram of a dynamic control signal database of a train simulator based on vehicle dynamics according to an embodiment of the present invention.
Fig. 3 is a content diagram of an animation control signal file HXD1_ C _00300_00300_060 _ csv according to an embodiment of the present invention.
FIG. 4 is a schematic view of an embodiment of the motion platform;
fig. 5 is a schematic diagram of a dynamic control device of a train driving simulator based on vehicle dynamics.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the scope of the present invention.
Example 1
As shown in fig. 1 to 4, the dynamic control method of the train driving simulator based on vehicle dynamics of the present invention includes the following steps as shown in fig. 1:
s1: acquiring a driving control signal of the train dynamic simulation simulator in the use process;
s2: inputting the acquired driving control signal to a virtual driving environment of a dynamic simulation simulator, and extracting a main control signal;
s3: according to the extracted master control signal information, a cab dynamic control file corresponding to the running condition is searched in a dynamic control signal database of a train simulator based on vehicle dynamics, and a 6-degree-of-freedom displacement control signal, a 6-degree-of-freedom speed control signal and a 6-degree-of-freedom acceleration control signal in the cab dynamic control file are read;
s4: and inputting the read 6-freedom-degree displacement control signal, the 6-freedom-degree speed control signal and the 6-freedom-degree acceleration control signal into a control channel of a dynamic control system for correspondingly controlling the effect of the motion platform, and realizing the dynamic effect of the train driving simulator by using the motion platform actuating system.
In the implementation of the invention, the method is explained by taking an HXD1 type locomotive dynamic simulation simulator as an example for dynamic control in the process of passing through a curve with the radius of 3300m and the length of 300m at the speed of 60 km/h. The specific implementation is as follows:
s1: acquiring a driving control signal of the train dynamic simulation simulator in the use process;
in the process of simulating driving, a driver operates a traction handle and a brake handle to control the train to run, and simultaneously generates a train running acceleration signal ax and a speed signal vehicle _ speed.
S2: inputting the acquired driving control signal to a virtual driving environment of a dynamic simulation simulator, and extracting a main control signal;
the train running acceleration signal ax (0) and the speed signal vehicle _ speed (60 km/h) can calculate the running mileage/kilometer post of the train in real time in an integral mode, update the position of the train in a virtual driving environment in real time, query a line flat longitudinal section map according to the real-time position of the train, and acquire line information of a current running section, wherein the line type is a curve (C), the line parameter 01 is a curve radius (300 m), and the line parameter 02 is a curve length (300 m). And (3) extracting information in the master control signal:
line type signal line _ type: c (curve);
train running speed signal vehicle _ speed: 60 (running speed).
S3: according to the extracted master control signal information, a cab dynamic control file corresponding to the running condition is searched in a dynamic control signal database of a train simulator based on vehicle dynamics, and a 6-degree-of-freedom displacement control signal, a 6-degree-of-freedom speed control signal and a 6-degree-of-freedom acceleration control signal in the cab dynamic control file are read; as shown in fig. 2, fig. 2 is a schematic diagram of a dynamic control signal database of a train simulator based on vehicle dynamics, according to an embodiment of the present invention, where the dynamic control signal database of the train simulator based on vehicle dynamics is a database table file including a 6-degree-of-freedom displacement control signal, a 6-degree-of-freedom speed control signal, and a 6-degree-of-freedom acceleration control signal of vehicle dynamics; each table file includes displacement X, displacement Y, displacement Z, velocity X, velocity Y, velocity Z, acceleration X, acceleration Y, acceleration Z, angle X, angle Y, angle Z, angular velocity X, angular velocity Y, angular velocity Z, angular acceleration X, angular acceleration Y, angular acceleration Z.
Specifically, according to the main control signal information extracted in step S2, a retrieval name of the motion control signal file is generated: HXD1_ C _00300_00300_060. csv; wherein, HXD1_ C is a line type signal, 00300 and 00300 are respectively a line parameter signal 01 and a line parameter signal 02, and 060 is a train running speed signal; searching the file in a database, opening the file, and reading a 6-freedom-degree displacement control signal, a 6-freedom-degree speed control signal and a 6-freedom-degree acceleration control signal; fig. 3 shows a 6-degree-of-freedom displacement control signal, a 6-degree-of-freedom velocity control signal, and a 6-degree-of-freedom acceleration control signal in this document.
S4: and inputting the read 6-freedom-degree displacement control signal, the 6-freedom-degree speed control signal and the 6-freedom-degree acceleration control signal into a control channel of a dynamic control system for correspondingly controlling the effect of the motion platform, and realizing the dynamic effect of the train driving simulator by using the motion platform actuating system.
As shown in fig. 4, the control signals of displacement, velocity and acceleration with 6 degrees of freedom read in step S3 are respectively input to the control interface of displacement, velocity and acceleration of the motion platform in the motion platform control unit to drive the motion platform actuation system, so as to realize the 6 degrees of freedom movement of the cab during the process that the HXD1 locomotive passes through the curve with radius of 300m and length of 300m at the running speed of 60 km/h.
The 6-degree-of-freedom dynamic sense is a moving degree of freedom along the directions of three orthogonal coordinate axes of x, y and z and a rotating degree of freedom around the three coordinate axes.
When in implementation: the invention designs a dynamic control method of a train driving simulator based on vehicle dynamics, which mainly comprises the following steps: by calling the control signal corresponding to the current master control signal in the motion platform control signal library based on train dynamics in real time, high-approximation simulation of the vibration environment of the cab in the running process of the train is realized, and the training effect of drivers is improved. The method has the advantages that the cab vibration signals (namely signals in the cab dynamic control files) obtained based on train vehicle dynamics are used as the control signals of the motion platform, considering that a train vehicle dynamics system is a multi-degree-of-freedom and nonlinear system, and the cab vibration freedom is more and difficult to express by a linear formula under the action of random track irregularity. Compared with the method for controlling the motion platform by using the approximate formula in the prior art, the method not only can provide dynamic sense with higher fidelity for the train driving simulator, but also can realize the effects of different vehicle types and different exclusive dynamic sense, thereby improving the training effect and quality of drivers.
Example 2
As shown in fig. 1 to 5, the present embodiment is different from embodiment 1 in that the present embodiment provides a dynamic control device for a train driving simulator based on vehicle dynamics, which supports the dynamic control method for a train driving simulator based on vehicle dynamics described in embodiment 1, and as shown in fig. 5, the control device includes:
the driving simulation control unit is used for generating train operation related signals according to traction and braking operations of a trained cab in the driving simulation process, wherein the train operation related signals comprise speed, acceleration, kilometer posts and the like;
the virtual driving environment unit is used for updating the position of the train in the driving process according to the running related signals of the simulated driving control unit in the simulated driving process and acquiring the current line parameters of the train;
the dynamic control signal base of the motion platform based on dynamics analysis is used for storing cab position vibration signals of a train calculated through dynamics under different operation conditions, the cab position vibration signals comprise 6-degree-of-freedom displacement control signals, 6-degree-of-freedom speed control signals and 6-degree-of-freedom acceleration control signals, and the database storage-retrieval rules are formulated according to the operation conditions;
and the dynamic control unit is used for receiving the dynamic control signal corresponding to the current operation condition retrieved by the dynamic control signal library of the motion platform based on the dynamics analysis and driving the six-freedom-degree motion platform to realize the corresponding dynamic effect according to the control signal.
The simulated driving control unit provides a trainee driver with a traction control handle and a brake control handle corresponding to a train, generates a train running speed signal corresponding to the traction brake operation of the driver in real time when the trainee driver operates the dynamic simulation device, and transmits the train running speed signal to the virtual driving environment unit in real time. After the virtual driving environment unit receives the real-time running speed signal of the train, the running speed signal of the train is converted into running kilometers (running mileage) of the train in the virtual driving environment unit through the integral of speed and time, the position of the train in the virtual driving environment is updated, the current line condition of the train in the virtual driving environment is obtained, and four indexes of the line condition, the line parameter 01, the line parameter 02 and the running speed are extracted from the main control signal. And retrieving a corresponding dynamic signal control file in the dynamic control signal library of the motion platform based on dynamics analysis according to four indexes extracted from the master control signal, and reading a 6-freedom-degree displacement control signal, a 6-freedom-degree speed control signal and a 6-freedom-degree acceleration control signal in the file. And finally, inputting the read 6-degree-of-freedom displacement control signal, 6-degree-of-freedom speed control signal and 6-degree-of-freedom acceleration control signal into the dynamic control unit, and controlling the motion platform actuating system to realize corresponding cab dynamic.
The method and the system provided by the invention are simple and easy to operate, can provide more real and comprehensive motion platform control information for the train driving dynamic simulator, provide a more real cab vibration environment for a trainee driver, improve the training quality of the driver and ensure the safe operation of the train.
Example 3
As shown in fig. 1 to 5, the present embodiment is different from embodiment 1 in that the present embodiment provides a train driving simulator dynamic control system based on vehicle dynamics, including the train driving simulator dynamic control device based on vehicle dynamics described in embodiment 2, wherein the dynamic control unit is further configured to open and close different dynamic control channels according to a training course, so as to implement a dynamic enhanced experience in a certain direction; and the dynamic intensity is adjusted according to the training course so as to realize the experience of different dynamic intensities.
Example 4
As shown in fig. 1 to 5, the present embodiment is different from embodiment 1 in that the present embodiment provides a computer readable storage medium storing a computer program, and the computer program, when executed by a processor, implements the train dynamics-based dynamic control method for a train driving simulator according to embodiment 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A dynamic control method of a train driving simulator based on vehicle dynamics is characterized by comprising the following steps:
s1: acquiring a driving control signal of the train dynamic simulation simulator in the use process;
s2: inputting the acquired driving control signal to a virtual driving environment of a dynamic simulation simulator, and extracting a main control signal;
s3: according to the extracted master control signal information, a cab dynamic control file corresponding to the running condition is searched in a dynamic control signal database of a train simulator based on vehicle dynamics, and a 6-degree-of-freedom displacement control signal, a 6-degree-of-freedom speed control signal and a 6-degree-of-freedom acceleration control signal in the cab dynamic control file are read;
s4: and inputting the read 6-freedom-degree displacement control signal, the 6-freedom-degree speed control signal and the 6-freedom-degree acceleration control signal into a control channel of a dynamic control system for correspondingly controlling the effect of the motion platform, and realizing the dynamic effect of the train driving simulator by using the motion platform actuating system.
2. The vehicle dynamics-based dynamic control method for the train driving simulator according to claim 1, wherein the driving control signals in step S1 include train traction handle level, train brake handle level, train traction, train brake force, train operation acceleration, and train operation speed.
3. The dynamic control method of the train driving simulator based on vehicle dynamics as claimed in claim 1, wherein the step S2 comprises the following substeps:
s21: inputting the driving control signal acquired in the step S1 into the virtual driving environment of the dynamic simulation simulator;
s22: updating driving information of the train in a virtual driving environment, wherein the driving information comprises the current coordinate and the kilometer post of the train;
s23: and (5) extracting the master control signal according to the driving information in the step (S22) and the speed information of the master control signal.
4. The dynamic control method of the train driving simulator based on vehicle dynamics as claimed in claim 3, wherein the master control signal in step S23 includes a line type signal, a line parameter signal 01, a line parameter signal 02 and a train running speed signal of the current train;
the line type signals comprise straight lines, turnouts, ramps and curves, and the line parameter signals 01 and the line parameter signals 02 are correspondingly adjusted according to different line type signals; the method comprises the following steps:
when the line type signal is a straight line, setting the line parameter signal 01 and the line parameter signal 02 to be zero;
when the line type signal is a turnout, the line parameter signal 01 is the turnout model, and the line parameter signals 02 are all automatically set to zero;
when the line type signal is a ramp, the line parameter signal 01 is a line gradient, and the line parameter signal 02 is a line ramp length;
when the line type signal is a curve, the line parameter signal 01 is a curve radius, and the line parameter signals 02 are curve lengths.
5. The dynamic control method for the train driving simulator based on vehicle dynamics as claimed in claim 1, 3 or 4, wherein the step S3 comprises the following substeps:
s31: according to the main control signal extracted in the step S2, according to a retrieval rule in a dynamic control signal database of a train simulator based on vehicle dynamics, generating a file name of a driver cab dynamic control file, and retrieving a corresponding file;
s32: and reading a 6-freedom displacement control signal, a 6-freedom speed control signal and a 6-freedom acceleration control signal in the cab dynamic control file.
6. The train dynamics-based train driving simulator dynamic control method according to claim 5, wherein the train dynamics-based train simulator dynamic control signal database obtains a 6-degree-of-freedom displacement control signal, a 6-degree-of-freedom speed control signal and a 6-degree-of-freedom acceleration control signal of a train cab position by performing vehicle dynamics simulation; the dynamic simulation condition is carried out according to an actual line, and the operation working condition is divided according to four line types of a straight line, a turnout, a ramp and a curve; and the cab dynamic control files under each operating condition are stored in the dynamic control signal database of the train simulator based on the vehicle dynamics.
7. The dynamic control method for the train driving simulator based on vehicle dynamics as claimed in claim 5, wherein the step S4 comprises the following substeps:
s41: inputting the 6-degree-of-freedom displacement control signal, the 6-degree-of-freedom speed control signal and the 6-degree-of-freedom acceleration control signal read in the step S32 into a displacement control channel, a speed control channel and an acceleration control channel which correspond to the 6 degrees of freedom of the dynamic control system;
s42: signals are input through a displacement control channel, a speed control channel and an acceleration control channel with 6 degrees of freedom to drive the motion platform to act, and therefore the dynamic effect of the simulator corresponding to the vibration environment of the cab under the running working condition of the train is achieved.
8. A train dynamics-based dynamic control device of a train driving simulator, which supports a dynamic control method of a train dynamics-based dynamic control device of a train driving simulator according to any one of claims 1 to 7, the control device comprising:
the driving simulation control unit is used for generating train operation related signals according to traction and braking operations of a trained cab in the driving simulation process, wherein the train operation related signals comprise speed, acceleration and kilometer post;
the virtual driving environment unit is used for updating the position of the train in the driving process according to the running related signals of the simulated driving control unit in the simulated driving process and acquiring the current line parameters of the train;
the dynamic control signal base of the motion platform based on dynamics analysis is used for storing cab position vibration signals of a train calculated through dynamics under different operation conditions, the cab position vibration signals comprise 6-degree-of-freedom displacement control signals, 6-degree-of-freedom speed control signals and 6-degree-of-freedom acceleration control signals, and the database storage-retrieval rules are formulated according to the operation conditions;
and the dynamic control unit is used for receiving the dynamic control signal corresponding to the current operation condition retrieved by the dynamic control signal library of the motion platform based on the dynamics analysis and driving the six-freedom-degree motion platform to realize the corresponding dynamic effect according to the control signal.
9. The train dynamics-based train driving simulator dynamic control system is characterized by comprising the train dynamics-based train driving simulator dynamic control device according to claim 8, wherein the dynamic control unit is further used for opening and closing different dynamic control channels according to training courses to realize the dynamic intensified experience in a certain direction; and the dynamic intensity is adjusted according to the training course so as to realize the experience of different dynamic intensities.
10. A computer-readable storage medium storing a computer program, wherein the program, when executed by a processor, implements a method of vehicle dynamics-based dynamic control of a train driving simulator according to any one of claims 1 to 7.
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