CN115346415B - Immersive skiing simulation system and application method thereof - Google Patents
Immersive skiing simulation system and application method thereof Download PDFInfo
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- CN115346415B CN115346415B CN202211080016.9A CN202211080016A CN115346415B CN 115346415 B CN115346415 B CN 115346415B CN 202211080016 A CN202211080016 A CN 202211080016A CN 115346415 B CN115346415 B CN 115346415B
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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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/18—Training appliances or apparatus for special sports for skiing
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
Abstract
An immersive skiing simulation system and a use method thereof belong to the technical field of skiing equipment. To improve the skiing simulation effect of a skiing simulator. The invention comprises a motion simulation structure system, a motion position information acquisition system, a motion analysis and resolving control system, VR head display equipment, a motion vision resolving system, a six-degree-of-freedom motion mechanism system and a DC wind tunnel system; the motion simulation structure system is respectively connected with the motion position information acquisition system, the VR head display equipment and the six-degree-of-freedom motion mechanism system; the motion position information acquisition system is connected with the motion analysis and resolution control system and the motion vision resolution system; the motion analysis and calculation control system is respectively connected with the six-degree-of-freedom motion mechanism system and the direct current wind tunnel system; the VR head display device is connected with the motion vision resolving system; the motion simulation structure system comprises a bottom base, an arc-shaped slideway, a protection support railing, a pedal support device and a tensioning device. The invention can improve the effect of simulating skiing.
Description
Technical Field
The invention belongs to the technical field of skiing equipment, and particularly relates to an immersive skiing simulation system and a use method thereof.
Background
The athletes have high concentration of energy in the training process of ice and snow sports, the training times are limited every day, and the technical details are difficult to comprehensively adjust and efficiently and repeatedly practice in the training process. Auxiliary strength training, balance training and simulator auxiliary training are required outside the field training. The training of skiing sports is highly dangerous and is affected by environmental climate, space location, technical training and corresponding skiing equipment.
However, the current skiing simulation devices on the market have the following technical drawbacks: the commercial skiing simulation equipment is limited to visual virtual interaction or remote control, can only perform simulated skiing training with a single degree of freedom, lacks simulation of stroke feeling in the skiing process, and lacks simulation training with multiple degrees of freedom for the simulated skiing training. A skiing simulator and a using method thereof are given in a patent with the application number of 201910896346.7 by the university of south China university of China, guangzhou college Feng Ying, etc., but the skiing simulator lacks visual simulation and action capturing functions, and has weak immersive skiing simulation effect. At present, a skiing simulator widely applied is a skiing machine training instrument of a German Skitai sport company, which can simulate the rotary motion in the sport process and construct a skiing scene at the same time, so that visual scene simulation immersion is provided for skiers, but the sport experience with multiple degrees of freedom is lacking, interaction with experimenters is lacking in the scene simulation process, and the immersion type skiing simulation effect is not strong although visual sense is promoted.
Disclosure of Invention
The invention aims to improve the simulated skiing effect of a skiing simulator, and provides an immersive skiing simulation system and a use method thereof.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
an immersive skiing simulation system comprises a motion simulation structure system, a motion position information acquisition system, a motion analysis and resolving control system, VR head display equipment, a motion vision resolving system, a six-degree-of-freedom motion mechanism system and a direct current wind tunnel system;
the motion simulation structure system is respectively connected with the motion position information acquisition system, the VR head display equipment and the six-degree-of-freedom motion mechanism system;
the motion position information acquisition system is connected with the motion analysis and calculation control system and the motion vision calculation system;
the motion analysis and calculation control system is respectively connected with the six-degree-of-freedom motion mechanism system and the direct current wind tunnel system;
the VR head display device is connected with the motion vision resolving system;
the motion simulation structure system comprises a bottom base and an arc-shaped slide rail arranged on the bottom base, wherein a protection support railing is arranged on one side of the bottom base, a pedal support device is arranged on the arc-shaped slide rail, and a tensioning device is connected between the bottom of the pedal support device and the bottom base.
Further, the motion position information acquisition system is arranged on a pedal supporting device in the motion simulation structure system and used for acquiring action angles in the simulation motion process, and the motion analysis and calculation control system is connected with the motion position information acquisition system through a serial port communication data line.
Further, the motion vision resolving system is connected with the VR head display device through a data transmission line to transmit picture data.
Further, the bottom base of the motion simulation structure system is fixedly arranged at the center position of the moving plane of the six-degree-of-freedom motion mechanism system, and the motion information of the six-degree-of-freedom motion mechanism system is transmitted to the motion position information acquisition system in real time after being resolved by the motion analysis resolving control system.
Further, the direct current wind tunnel system is a horizontal direct current wind tunnel, and the direct current wind tunnel system is arranged right in front of the six-degree-of-freedom motion mechanism system and the motion simulation structure system and is used for realizing immersive simulation of wind sense in the motion process.
Further, the pedal support device is used for fixing the foot pedal.
Further, the tensioning device is composed of a plurality of elastic ropes.
The application method of the immersive ski simulation system is realized by virtue of the immersive ski simulation system, and comprises the following steps of:
s1, starting VR head display equipment and a motion vision resolving system, and starting a motion position information acquisition system;
s2, the experimenter stands on a step pedal of the movement position information acquisition system, wears VR head display equipment and a protective device, and the movement position information acquisition system acquires initial position information in a view of the movement view calculation system;
s3, starting an immersive skiing simulation system, wherein the motion position information acquisition system transmits the acquired position information of the motion simulation structure system and the visual information of the motion visual resolving system to the motion analysis resolving control system, angle information and relative motion information are obtained after resolving, and the motion analysis resolving control system transmits the angle information to the six-degree-of-freedom motion mechanism system and transmits the relative motion information to the direct-current wind tunnel system;
s4, continuously changing along with the vision in the VR head display equipment, and performing immersive skiing simulation movement on a movement simulation structural system by an experimenter;
s5, the motion position information acquisition system transmits the acquired real-time angle information of the experimenter to the motion analysis and resolution control system, the motion analysis and resolution control system carries out motion state resolution by combining the position scene information fed back by the motion scene resolution system, the position coordinates, the angle information, the speed information, the angular speed information, the acceleration information and the angular acceleration information in the settled space are respectively transmitted to the direct current wind tunnel system, the direct current wind tunnel system solves the relative wind speed of the real-time position and carries out wind sensation simulation, the motion scene resolution system carries out scene simulation transformation, and the six-degree-of-freedom motion mechanism system carries out corresponding angle simulation transformation;
s6, executing the steps S1-S5 to achieve immersion type skiing simulation exercise experience.
The invention has the beneficial effects that:
according to the immersive skiing simulation system, the arc-shaped slideway of the motion simulation structure system can realize the real motion condition during simulated skiing, the pedal supporting device is arranged on the arc-shaped slideway, the pedal pedals of two feet are fixed on the arc-shaped slideway, and meanwhile, the pedal pedals of the feet can rotate at different angles along with the sliding degree of the pedal pedals left and right, so that comfortable and real experience is provided. The pedal support device is fixed with the bottom base through the elastic rope in the tensioning device, the gravity component of a user acts on the elastic rope, so that the user can conveniently exert force and simultaneously strengthen training strength, and the quantity of the elastic ropes can be adjusted to train with different forces; the motion position information acquisition system is arranged on the pedal support device and used for measuring and acquiring action angles in the simulated motion process, and the motion analysis and calculation control system is connected with the motion position information acquisition system through a serial port communication data line.
According to the immersive skiing simulation system, the six-degree-of-freedom motion mechanism system is connected with the motion simulation structure system, and the bottom base of the motion simulation structure system is fixedly arranged at the center position of the motion plane of the six-degree-of-freedom motion mechanism system. The motion information of the six-degree-of-freedom motion mechanism system is transmitted in real time after being resolved by the motion analysis and resolving control system, and the scene and state change in the view is simulated more truly through the six-degree-of-freedom motion mechanism system.
The direct current wind tunnel system is arranged right in front of the six-degree-of-freedom motion mechanism system and the motion simulation structure system, and comprises a wind field collection and control system and a horizontal direct current wind tunnel for performing immersion simulation of wind sensation in the motion process. The wind tunnel system provides wind sense simulation, so that immersion sense can be improved and the real skiing is closer to each other.
Drawings
FIG. 1 is a diagram of the structural connection of an immersive ski simulation system in accordance with the present invention;
FIG. 2 is a schematic diagram of a motion simulation system in an immersive ski simulation system in accordance with the present invention;
FIG. 3 is a schematic diagram of the layout of a motion simulation system in an immersive ski simulation system in accordance with the present invention;
FIG. 4 is a schematic diagram of a six degree of freedom motion mechanism system of a motion simulation architecture system in an immersive ski simulation system in accordance with the present invention;
FIG. 5 is a flow chart of a method of using a motion simulation architecture system in an immersive ski simulation system in accordance with the present invention;
FIG. 6 is a pedal support device of a motion simulation system in an immersive ski simulation system in accordance with the present invention;
fig. 7 is a schematic diagram of the tension state of a motion simulation structure system in an immersive ski simulation system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and detailed description. It should be understood that the embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein can be arranged and designed in a wide variety of different configurations, and the present invention can have other embodiments as well.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
For a further understanding of the invention, its features and advantages, reference is made to the following detailed description of the invention taken in conjunction with the accompanying drawings 1-7, in which:
the first embodiment is as follows:
an immersive skiing simulation system comprises a motion simulation structure system 1, a motion position information acquisition system 2, a motion analysis and calculation control system 3, VR head display equipment 4, a motion vision calculation system 5, a six-degree-of-freedom motion mechanism system 6 and a direct current wind tunnel system 7;
the motion simulation structure system 1 is respectively connected with a motion position information acquisition system 2, a VR head display device 4 and a six-degree-of-freedom motion mechanism system 6;
the motion position information acquisition system 2 is connected with a motion analysis and resolution control system 3 and a motion vision resolution system 5;
the motion analysis and calculation control system 3 is respectively connected with the six-degree-of-freedom motion mechanism system 6 and the direct current wind tunnel system 7;
the VR head display device 4 is connected with the motion vision resolving system 5;
the motion simulation structure system 1 comprises a bottom base 1-1, wherein an arc-shaped slideway 1-3 is arranged on the bottom base 1-1, a protection support railing 1-2 is arranged on one side of the bottom base 1-1, a pedal support device 1-4 is arranged on the arc-shaped slideway 1-3, and a tensioning device 1-5 is connected between the bottom of the pedal support device 1-4 and the bottom base 1-1;
further, the motion position information acquisition system 2 is installed on the pedal support device 1-4 in the motion simulation structure system 1 and is used for acquiring the action angle in the simulation motion process, and the motion analysis and calculation control system 3 is connected with the motion position information acquisition system 2 through a serial port communication data line.
Further, the motion view resolving system 5 is connected with the VR head display device 4 through a data transmission line to perform image data transmission.
Further, the bottom base 1-1 of the motion simulation structure system 1 is fixedly installed at the center position of the motion plane of the six-degree-of-freedom motion mechanism system 6, and the motion information of the six-degree-of-freedom motion mechanism system 6 is transmitted to the motion position information acquisition system 2 in real time after being resolved by the motion analysis and resolution control system 3.
Further, the direct current wind tunnel system 7 is a horizontal direct current wind tunnel, and the direct current wind tunnel system 7 is placed right in front of the six-degree-of-freedom motion mechanism system 6 and the motion simulation structure system 1 and is used for realizing immersive simulation of wind sensation in a motion process.
Further, the pedal support device is shown in fig. 6, and is used for fixing the foot pedal.
Further, the tensioning device 1-5 is composed of a plurality of elastic ropes, and the tensioning state is shown in fig. 7.
Further, the arc-shaped slideway of the motion simulation structure system can realize the real motion condition during simulated skiing, the pedal support device is arranged on the arc-shaped slideway, the pedal pedals of two feet are fixed on the arc-shaped slideway, and simultaneously the pedal pedals of the feet can rotate at different angles along with the degree of left and right sliding so as to provide more comfortable and real experience. The pedal support device is fixed with the bottom base through the elastic rope in the tensioning device, the gravity component of a user acts on the elastic rope, so that the user can conveniently exert force and simultaneously strengthen training strength, and the quantity of the elastic ropes can be adjusted to train with different forces; the motion position information acquisition system is arranged on the pedal support device and used for measuring and acquiring action angles in the simulated motion process, and the motion analysis and calculation control system is connected with the motion position information acquisition system through a serial port communication data line.
Further, the six-degree-of-freedom motion mechanism system is connected with the motion simulation structure system, and the bottom base of the motion simulation structure system is fixedly arranged at the center position of the motion plane of the six-degree-of-freedom motion mechanism system. The motion information of the six-degree-of-freedom motion mechanism system is transmitted in real time after being resolved by the motion analysis and resolving control system, and the scene and state change in the view is simulated more truly through the six-degree-of-freedom motion mechanism system.
Further, the direct current wind tunnel system is arranged right in front of the six-degree-of-freedom motion mechanism system and the motion simulation structure system, and comprises a wind field collection, control system and a horizontal direct current wind tunnel, so that immersion simulation of wind sensation in the motion process is carried out. The wind tunnel system provides wind sense simulation, so that immersion sense can be improved and the real skiing is closer to each other.
The second embodiment is as follows:
a method for using an immersive ski simulation system according to an embodiment, comprising the following steps:
s1, starting VR head display equipment and a motion vision resolving system, and starting a motion position information acquisition system;
s2, the experimenter stands on a step pedal of the movement position information acquisition system, wears VR head display equipment and a protective device, and the movement position information acquisition system acquires initial position information in a view of the movement view calculation system;
s3, starting an immersive skiing simulation system, wherein the motion position information acquisition system transmits the acquired position information of the motion simulation structure system and the visual information of the motion visual resolving system to the motion analysis resolving control system, angle information and relative motion information are obtained after resolving, and the motion analysis resolving control system transmits the angle information to the six-degree-of-freedom motion mechanism system and transmits the relative motion information to the direct-current wind tunnel system;
s4, continuously changing along with the vision in the VR head display equipment, and performing immersive skiing simulation movement on a movement simulation structural system by an experimenter;
s5, the motion position information acquisition system transmits the acquired real-time angle information of the experimenter to the motion analysis and resolution control system, the motion analysis and resolution control system carries out motion state resolution by combining the position scene information fed back by the motion scene resolution system, the position coordinates, the angle information, the speed information, the angular speed information, the acceleration information and the angular acceleration information in the settled space are respectively transmitted to the direct current wind tunnel system, the direct current wind tunnel system solves the relative wind speed of the real-time position and carries out wind sensation simulation, the motion scene resolution system carries out scene simulation transformation, and the six-degree-of-freedom motion mechanism system carries out corresponding angle simulation transformation;
s6, executing the steps S1-S5 to achieve immersion type skiing simulation exercise experience.
Further, a flowchart of the method for using the motion simulation structure system in the immersive ski simulation system is shown in fig. 5:
after initialization of each subsystem is completed, the motion position information acquisition system firstly reads scene information of VR views in VR head display equipment to obtain an initial point (x 0 ，y 0 ) After settlement analysis of the scene information, carrying out overall initialization of the system, and carrying out kinematic analysis and solution by a kinematic analysis and solution control system:
establishing a snow channel coordinate system, taking the sliding direction of the snow surface as the positive x-axis direction, taking the right direction of the vertical x-axis as the positive y-axis direction, and performing motion analysis and solution by a motion analysis and solution control system according to the law of conservation of energy and the Newton second law, wherein a motion experimenter in the view is regarded as a particle, and the motion analysis and solution is based on the following equation:
the equation of motion is:
in the middle ofFor the component speed in the x-axis direction, +.>For the component speed in the y-axis direction, alpha is the angle between the axis of the snowboard and the x-axis, gamma is the included angle between the speed direction of the snowboard and the axis of the snowboard, and gamma=0 when the snowboard does not slip;
the snowboard constraint equation is:
wherein R is the curvature radius of the edge of the snowboard; r is 15, and can be corrected according to different scenes and requirements of experimenters;for angular velocity +.>The angular velocity of the snowboard around the axis of the snowboard;
the kinetic energy equation is:
wherein T is particle kinetic energy, m is particle mass, and u is particle linear velocity;
the potential energy equation is:
V＝mgh
wherein V is particle potential energy, h is height, g is gravitational acceleration;
the air resistance equation is:
wherein F is air resistance, ρ is air density, S Human body Is windward area S Human body Take the value of 1, K Air-conditioner Is the air resistance coefficient, K Air-conditioner The value is 0.3;
the snowboard friction equation is:
in the middle ofK is the slope angle of the snow road at the current position Snow made of snow Is the friction coefficient of the snow surface, K Snow made of snow The value is 0.03, f is the friction force of the snowboard;
the potential energy change equation is:
in the middle ofFor the snow road slope angle of the current position at the moment i, deltat is a time interval, and the deltat takes a value of 0.02 and deltaV i Is the potential energy variation;
the kinetic energy variation equation is:
u in the formula i+1 The speed of the position at time i+1, u i For the speed of the position at time i, deltaT i Is the kinetic energy variation;
the energy conservation equation is:
ΔV i ＝ΔT i +u i ·Δt·(F+f)
only the air resistance and the snowboard friction force in the movement process are considered to do work, and the kinetic energy and potential energy are converted to obtain the real-time movement speed u i ；
Calculating the angular velocity between the moment and the next moment:
beta in i+1 Is the included angle between the foot step at the moment i+1 and the ground, and beta is the angle when standing i+1 At 90,for the angular velocity at time i +.>An angular velocity at time i+1;
calculating the component speeds in the x and y directions at the moment i+1:
for the component speed in x direction at time i+1, < >>The component speed in the y direction at the moment i+1;
in which x is i+1 、y i+1 Coordinate values at the moment i+1 respectively;
further, the coordinate position is fed back to the VR head display device, and parameters of the coordinate position at the moment and the slope inclination angle of the snow road slope are substituted into the formula to sequentially perform continuous iterative operation, so that the speed and the position at each moment are obtained.
Claims (1)
1. The use method of the immersive skiing simulation system is realized by means of the immersive skiing simulation system, and the immersive skiing simulation system comprises a motion simulation structure system (1), a motion position information acquisition system (2), a motion analysis and resolution control system (3), VR head display equipment (4), a motion vision resolution system (5), a six-degree-of-freedom motion mechanism system (6) and a direct current wind tunnel system (7);
the motion simulation structure system (1) is respectively connected with the motion position information acquisition system (2), the VR head display equipment (4) and the six-degree-of-freedom motion mechanism system (6);
the motion position information acquisition system (2) is connected with the motion analysis and resolution control system (3) and the motion vision resolution system (5);
the motion analysis and calculation control system (3) is respectively connected with the six-degree-of-freedom motion mechanism system (6) and the direct current wind tunnel system (7);
the VR head display device (4) is connected with the motion vision resolving system (5);
the motion simulation structure system (1) comprises a bottom base (1-1), wherein an arc-shaped slideway (1-3) is arranged on the bottom base (1-1), a protection support railing (1-2) is arranged on one side of the bottom base (1-1), a pedal support device (1-4) is arranged on the arc-shaped slideway (1-3), and a tensioning device (1-5) is connected between the bottom of the pedal support device (1-4) and the bottom base (1-1);
the motion position information acquisition system (2) is arranged on a pedal supporting device (1-4) in the motion simulation structure system (1) and is used for acquiring action angles in the simulation motion process, and the motion analysis and calculation control system (3) is connected with the motion position information acquisition system (2) through a serial port communication data line;
the motion vision resolving system (5) is connected with the VR head display device (4) through a data transmission line to transmit picture data;
the motion simulation system comprises a motion simulation structure system (1), a motion analysis and calculation control system (3), a motion position information acquisition system (2) and a motion simulation system (6), wherein a bottom base (1-1) of the motion simulation structure system (1) is fixedly arranged at the center position of a motion plane of the six-degree-of-freedom motion mechanism system (6), and motion information of the six-degree-of-freedom motion mechanism system (6) is calculated by the motion analysis and calculation control system and then transmitted to the motion position information acquisition system (2) in real time;
the direct current wind tunnel system (7) is a horizontal direct current wind tunnel, and the direct current wind tunnel system (7) is arranged right in front of the six-degree-of-freedom motion mechanism system (6) and the motion simulation structure system (1) and is used for realizing immersive simulation of wind sensation in the motion process;
the pedal support device (1-4) is used for fixing a foot pedal;
the tensioning device (1-5) is composed of a plurality of elastic ropes; the method is characterized in that: the method comprises the following steps:
s1, starting VR head display equipment and a motion vision resolving system, and starting a motion position information acquisition system;
s2, the experimenter stands on a step pedal of the movement position information acquisition system, wears VR head display equipment and a protective device, and the movement position information acquisition system acquires initial position information in a view of the movement view calculation system;
s3, starting an immersive skiing simulation system, wherein the motion position information acquisition system transmits the acquired position information of the motion simulation structure system and the visual information of the motion visual resolving system to the motion analysis resolving control system, angle information and relative motion information are obtained after resolving, and the motion analysis resolving control system transmits the angle information to the six-degree-of-freedom motion mechanism system and transmits the relative motion information to the direct-current wind tunnel system;
s4, continuously changing along with the vision in the VR head display equipment, and performing immersive skiing simulation movement on a movement simulation structural system by an experimenter;
s5, the motion position information acquisition system transmits the acquired real-time angle information of the experimenter to the motion analysis and resolution control system, the motion analysis and resolution control system carries out motion state resolution by combining the position scene information fed back by the motion scene resolution system, the position coordinates, the angle information, the speed information, the angular speed information, the acceleration information and the angular acceleration information in the settled space are respectively transmitted to the direct current wind tunnel system, the direct current wind tunnel system solves the relative wind speed of the real-time position and carries out wind sensation simulation, the motion scene resolution system carries out scene simulation transformation, and the six-degree-of-freedom motion mechanism system carries out corresponding angle simulation transformation;
s6, executing the steps S1-S5 to realize immersive skiing simulation exercise experience;
after initialization of each subsystem is completed, the motion position information acquisition system firstly reads scene information of VR views in VR head display equipment to obtain an initial point (x 0 ，y 0 ) After settlement analysis of the scene information, carrying out overall initialization of the system, and carrying out kinematic analysis and solution by a kinematic analysis and solution control system:
establishing a snow channel coordinate system, taking the sliding direction of the snow surface as the positive x-axis direction, taking the right direction of the vertical x-axis as the positive y-axis direction, and performing motion analysis and solution by a motion analysis and solution control system according to the law of conservation of energy and the Newton second law, wherein a motion experimenter in the view is regarded as a particle, and the motion analysis and solution is based on the following equation:
the equation of motion is:
in the middle ofFor the component speed in the x-axis direction, +.>For the component speed in the y-axis direction, alpha is the angle between the axis of the snowboard and the x-axis, gamma is the included angle between the speed direction of the snowboard and the axis of the snowboard, and gamma=0 when the snowboard does not slip;
the snowboard constraint equation is:
wherein R is the curvature radius of the edge of the snowboard; r is 15, and can be corrected according to different scenes and requirements of experimenters;for angular velocity +.>The angular velocity of the snowboard around the axis of the snowboard;
the kinetic energy equation is:
wherein T is particle kinetic energy, m is particle mass, and u is particle linear velocity;
the potential energy equation is:
V＝mgh
wherein V is particle potential energy, h is height, g is gravitational acceleration;
the air resistance equation is:
wherein F is air resistance, ρ is air density, S Human body Is windward area S Human body Take the value of 1, K Air-conditioner Is the air resistance coefficient, K Air-conditioner The value is 0.3;
the snowboard friction equation is:
in the middle ofK is the slope angle of the snow road at the current position Snow made of snow Is the friction coefficient of the snow surface, K Snow made of snow The value is 0.03, f is the friction force of the snowboard;
the potential energy change equation is:
in the middle ofFor the snow road slope angle of the current position at the moment i, deltat is a time interval, and the deltat takes a value of 0.02 and deltaV i Is the potential energy variation;
the kinetic energy variation equation is:
u in the formula i+1 The speed of the position at time i+1, u i For the speed of the position at time i, deltaT i Is the kinetic energy variation;
the energy conservation equation is:
ΔV i ＝ΔT i +u i ·Δt·(F+F)
only the air resistance and the snowboard friction force in the movement process are considered to do work, and the kinetic energy and potential energy are converted to obtain the real-time movement speed u i ；
Calculating the angular velocity between the moment and the next moment:
beta in i+1 Is the included angle between the foot step at the moment i+1 and the ground, and beta is the angle when standing i+1 At 90,the angular velocity at the moment i is the angular velocity at the moment i,an angular velocity at time i+1;
calculating the component speeds in the x and y directions at the moment i+1:
for the component speed in x direction at time i+1, < >>The component speed in the y direction at the moment i+1;
in which x is i+1 、y i+1 Coordinate values at the moment i+1 respectively;
and feeding back the coordinate position to VR head display equipment, substituting the coordinate position at the moment and parameters of the slope inclination angle of the snow road into the formula to sequentially perform continuous iterative operation, and obtaining the speed and the position at each moment.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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