CN115424493A - Force feedback system for driving simulator - Google Patents
Force feedback system for driving simulator Download PDFInfo
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- CN115424493A CN115424493A CN202211058267.7A CN202211058267A CN115424493A CN 115424493 A CN115424493 A CN 115424493A CN 202211058267 A CN202211058267 A CN 202211058267A CN 115424493 A CN115424493 A CN 115424493A
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/052—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles characterised by provision for recording or measuring trainee's performance
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Abstract
The invention provides a force sense feedback system for a driving simulator, which comprises a manipulator, a driving control system, a force sense simulation mechanism and a real-time monitoring assembly, wherein the manipulator is connected with a manipulator connecting rod of the driving simulator and used for receiving an execution force F applied to the manipulator according to a driving operation instruction of a driving trainer i (ii) a A real-time monitoring component for detecting the manipulator according to the actuating force F i The resulting state change; a driving control system for controlling the operation of the force sense simulation mechanism according to the state change to generate a simulation force F r (ii) a Wherein the force sense simulation mechanism is configured as an electromagnetic control-based variable pressure simulation mechanism, both ends of which are respectively hinged to the manipulator link P and the driving simulator body, and generates a varying simulation force F in response to the state variation r Said simulated force F r Is applied directly to the manipulator to provide a feedback sensation to the driver trainer.
Description
Technical Field
The invention relates to the technical field of driving simulators, in particular to a force feedback system for a driving simulator.
Background
The driving simulator is a semi-physical simulation system, and the interaction state between people and vehicles and the vehicle state in the driving environment are reproduced by the participation of people and the combination of an electromechanical control system, so that the simulated driving training of the vehicles is realized. The driving simulator is a complex control system composed of an electric system and a hydraulic system, and mainly comprises an accelerator operation control (driving force control), a steering wheel operation control (steering control) and a brake pedal operation control (brake control) in the design process.
The driving control feedback feeling system is an important component of a driving simulator, is also called as a driving feeling system, a driving feeling feedback system, a human feeling system and the like, and aims to feed back the control upright rod to a driver when a training simulator applies control through an accelerator pedal, a steering wheel and a brake pedal, and accurately help the driver to judge currently applied vehicle control and the driving state of a vehicle in real time, so that the driver can make real-time judgment and corresponding control instructions.
The driving feeling system of the current mature driving simulator is realized based on motor-link transmission, electro-hydraulic hybrid transmission or hydraulic feedback, and the driving feeling is fed back to a driver by applying a pushing/pulling acting force. However, the response hysteresis caused by the electric, electro-hydraulic or hydraulic transmission mode influences the feedback of the driving feeling, and particularly, under the condition of electric and electro-hydraulic hybrid transmission, the driving mode of the motor and the speed reducer influences the real-time performance of response and feedback, so that larger hysteresis is caused.
Disclosure of Invention
According to a first aspect of the present invention, a force feedback system for a driving simulator is provided, comprising a manipulator, a driving manipulation system, a force simulation mechanism and a real-time monitoring component, wherein:
a manipulator connected with the manipulator link of the driving simulator for receiving the execution force F applied to the manipulator according to the driving operation command of the driving trainer i ；
A real-time monitoring component for detecting the manipulator according to the actuating force F i The resulting state change;
a driving control system for controlling the operation of the force sense simulation mechanism according to the state change to generate a simulation force F r ；
Wherein the force sense simulation mechanism is configured as an electromagnetic control-based variable pressure simulation mechanism, both ends of which are respectively hinged to the manipulator link P and the driving simulator body, andand generates a varying simulated force F in response to the change of state r The simulated force F r Is applied directly to the manipulator to provide a feedback sensation to the driver trainer.
As an alternative embodiment, the force sense simulation mechanism comprises a shell, magnetorheological fluid filled in the shell, and a piston which is positioned in the shell and is arranged in a state of being surrounded by the magnetorheological fluid, wherein the piston is provided with a piston rod connected with the piston, and the piston rod extends out of the shell and is hinged with a manipulator connecting rod at the end part of the piston rod;
the shell is provided with an electromagnetic coil, the driving control system is connected with the electromagnetic coil, the strength of a magnetic field generated by the electromagnetic coil is controlled by controlling the current flowing through the electromagnetic coil, the fluidity of magnetorheological fluid is changed, and therefore the resistance of the piston responding to the change of the fluidity is changed.
According to a second aspect of the present invention, a force feedback method for a driving simulator is provided, comprising the steps of:
receiving the operation of the operator to the manipulator, and applying an execution force F to the manipulator i ；
Detecting, by a real-time monitoring component, that the manipulator is performing a force F i The resulting state change;
the driving control system controls the operation of the force sense simulation mechanism according to the state change to generate simulation force F r Wherein the force sense simulation mechanism is configured as an electromagnetic control-based variable pressure simulation mechanism, two ends of the electromagnetic control-based variable pressure simulation mechanism are respectively hinged to the manipulator connecting rod and the driving simulator body, and in response to the state change, the driving manipulation system controls the strength of a magnetic field generated by an electromagnetic coil of the force sense simulation mechanism by controlling the current flowing through the electromagnetic coil to change the fluidity of the magnetorheological fluid in the force sense simulation mechanism, so that the resistance of the piston in response to the change of the fluidity is changed, and the changed simulation force F is generated r Said simulated force F r Is applied directly to the manipulator to provide a feedback sensation to the driver trainer;
when the operation of the manipulator is released by the driver, i.e. the actuating force F is applied to the manipulator i When the magnetic field is released, the driving control system controls to turn off the current flowing through the electromagnetic coil so as to release the magnetic field, so that the free flowability of the magnetorheological fluid is recovered, and the manipulator moves towards the trend of recovering the initial position.
Method incorporating the foregoing embodiment of the invention by
Drawings
The figures are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing.
Fig. 1 is a schematic diagram of a force feedback system for a driving simulator in accordance with an embodiment of the present invention.
Fig. 2 is a schematic diagram of a force feedback mechanism of a force feedback system for a driving simulator according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a force feedback mechanism of a force feedback system for a driving simulator according to an embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. Additionally, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
The force feedback system for a driving simulator, which is combined with the embodiment shown in fig. 1, 2 and 3, includes a manipulator 10, a driving manipulation system 20, a force simulation mechanism 30 and a real-time monitoring component 40.
As shown in fig. 1 and 2, a manipulator 10, connected to a manipulator link P of the driving simulator, receives an execution force F applied to the manipulator 10 according to a driving operation command of a driver training person i 。
In the embodiment of the present invention, the manipulator 10 is an accelerator pedal M1 or a brake pedal M2 of a driving simulator. When the accelerator pedal M1 or the brake pedal M2 is depressed, a corresponding movement, for example, a rotational movement about the upper hinge point, is produced, and a corresponding downward displacement is produced. These changes in motion state can be detected in real time by suitable means, such as an angle sensor for detecting a rotation angle or a displacement sensor for detecting a displacement.
As shown in connection with fig. 1 and 2, a real-time monitoring assembly 40 for detecting the manipulator 10 according to the execution force F i The resulting state change. As previously described, the real-time monitoring assembly 40 includes means for detecting a displacement or angular change of the manipulator 10.
A driving control system 20 for controlling the operation of the force-sensing simulation mechanism 30 according to the state change to generate a simulation force F r 。
In the embodiment of the present invention, as shown in connection with fig. 2 and 3, the force feeling simulation mechanism 30 is configured as a variable pressure simulation mechanism based on electromagnetic control.
As shown in fig. 2, both ends of the force sense simulation mechanism 30 are respectively hinged to the manipulator link P and the driving simulator body, and generate a varying simulation force F in response to a state change r Simulation force F r Is applied directly to the manipulator 10 to provide a feedback sensation to the driver trainer.
Referring to fig. 3, the force-sensing simulation mechanism 30 includes a housing 31, a magnetorheological fluid 34 filled in the housing, and a piston 32 disposed in the housing and disposed in a state of being surrounded by the magnetorheological fluid 34, wherein the piston 32 is configured with a piston rod 33 connected thereto, and the piston rod 33 extends out of the housing 31 and is hinged to the manipulator connecting rod at an end thereof.
The housing 31 is provided with an electromagnetic coil 36, the driving control system 20 is connected with the electromagnetic coil 36, and the strength of the magnetic field generated by the electromagnetic coil 36 is controlled by controlling the current flowing through the electromagnetic coil 36, so that the fluidity of the magnetorheological fluid 34 is changed, and the resistance of the piston 32 in response to the change of the fluidity is changed.
Therefore, the strength of the magnetic field is changed to influence the fluidity of the magnetorheological fluid 34, so that different resistances are generated to the movement of the piston 32. As shown in fig. 2 and 3, the piston 32 is connected with the piston rod 33 as a whole, one end of the piston rod 33 is fixedly connected with the piston 32, and the other end of the piston rod 33 is hinged to the manipulator connecting rod P through the first hinge 35A, so that when the manipulator 30 is stressed and changes states, such as rotation and displacement, the manipulator connecting rod P turns downward, the piston rod 33 drives the piston 32 to move downward together, and at this time, the magnetic field generated by the electromagnetic coil 36 controls the flowability, i.e., resistance, of the magnetorheological fluid 34, thereby applying resistance, the magnitude of the resistance and the generated simulated force to the piston 32 and the piston rod 33, and providing force feedback to the driving trainer.
The larger the force applied to the manipulator 10 is, the larger the resulting displacement and rotation angle is, the larger the current of the electromagnetic coil 36 is controlled to be increased, especially the magnitude of the current is changed in a linear change manner, so as to change the strength of the magnetic field generated by the electromagnetic coil 36, reduce the fluidity of the magnetorheological fluid 34, provide a larger resistance, and generate a larger analog force feedback.
In the embodiment of the present invention, a sensor for detecting a change in displacement of the manipulator 10 will be described as an example. The real-time monitoring assembly 40 is arranged on the piston rod 33 and is used for detecting the downward movement stroke of the manipulator 10 when the manipulator is stressed in real time; the driving operation system 20 determines the current of the solenoid 36 according to the stroke.
As shown in fig. 3, the force simulation mechanism 30 further includes a pressure sensor 38 disposed inside the housing 31 for sensing the pressure generated by the magnetorheological fluid 34 and feeding the pressure back to the driving control system 20.
As shown in fig. 3, the lower part of the housing 31 of the force-sensing simulation mechanism 30 is also hinged to the body of the driving simulator via a second hinge 35B.
As an alternativeIn an embodiment, the end of the manipulator link of the driving simulator is hinged to the body of the driving simulator and in the hinged position a return spring (not shown) is provided for performing the force F i When the release is performed, the manipulator connecting rod P and the manipulator 10 are driven to move towards the trend of returning to the initial position through the return spring.
Wherein the driving steering system 20 is responsive to the actuating force F i To control the current flowing through the electromagnetic coil 36 to be turned off to release the magnetic field.
It should be appreciated that in embodiments of the present invention, the magnetorheological fluid 34 is a fluid having a controlled flow property that exhibits low viscosity newtonian fluid behavior in the absence of an external magnetic field. Exhibits a high viscosity, low flow Bingham fluid (Bingham) upon application of a magnetic field. The viscosity of the magnetorheological fluid 34 is in a corresponding relation with the magnetic field strength/magnetic flux, and the magnetorheological fluid is implemented in force-sensitive feedback simulation, so that the control strategy is simple, the response speed is quick, the millisecond-level response speed can be achieved, the response speed is improved, and the hysteresis response brought by the traditional electric, electro-hydraulic or hydraulic drive is reduced.
With reference to fig. 1, 2 and 3, an embodiment of the disclosure further provides a force feedback method for a driving simulator, including the following steps:
receiving the operation of the manipulator 10 by the driver training person, and applying the execution force F to the manipulator 10 i ；
Detection of manipulator 10 as a function of execution force F by real-time monitoring assembly 40 i The resulting state change;
the driving control system 20 controls the operation of the force sense simulation mechanism 30 according to the state change to generate the simulation force F r Wherein, the force sense simulation mechanism 30 is configured as an electromagnetic control-based variable pressure simulation mechanism, two ends of which are respectively hinged to the manipulator connecting rod P and the driving simulator body, and in response to the state change, the driving manipulation system 20 changes the fluidity of the magnetorheological fluid 34 in the force sense simulation mechanism 30 by controlling the magnitude of the current flowing through the electromagnetic coil 36 of the force sense simulation mechanism 30 to control the strength of the magnetic field generated by the electromagnetic coil 36, thereby changing the resistance of the piston 32 in response to the change of the fluidity, and generating the changeSimulated force F of r Simulating force F r Is applied directly to the manipulator 10 to provide a feedback sensation to the driver training person;
when the operation of the manipulator 10 by the driver training person is released, the execution force F is applied to the manipulator 10 i When released, the steering system 20 controls to turn off the current flowing through the electromagnetic coil 36 to release the magnetic field, thereby restoring the free mobility of the magnetorheological fluid 34, and the steering 10 moves toward the tendency of restoring the initial position.
Although the invention has been described with reference to preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. A force-sensing feedback system for a driving simulator, comprising a manipulator (10), a driving manipulation system (20), a force-sensing simulation mechanism (30), and a real-time monitoring component (40), wherein:
a manipulator (10) connected to a manipulator link (P) of the driving simulator for receiving an execution force (F) applied to the manipulator (10) according to a driving operation command of a driver training person i )；
A real-time monitoring assembly (40) for detecting the manipulator (10) as a function of the execution force (F) i ) The resulting state change;
a driving control system (20) for controlling the operation of the force sense simulation mechanism (30) according to the state change to generate a simulation force (F) r )；
Wherein the force sense simulation mechanism (30) is configured as a variable pressure simulation mechanism based on electromagnetic control, both ends of which are respectively hinged to a manipulator link (P) and a driving simulator body, and generates a varying simulation force (F) in response to the state variation r ) Said simulated force (F) r ) Is applied directly to the manipulator (10) to provide a feedback sensation to the driver training person.
2. Force-sensitive feedback system for a driving simulator according to claim 1, characterized in that the manipulator (10) is an accelerator pedal (M1) or a brake pedal (M2) of the driving simulator.
3. Force-sensitive feedback system for a driving simulator according to claim 1, characterized in that said real-time monitoring assembly (40) comprises means for detecting a displacement or angular change of said manipulator (10).
4. The force feedback system for a driving simulator according to claim 1, wherein said force simulation mechanism (30) comprises a housing (31), a magnetorheological fluid (34) filled in the housing, and a piston (32) located in said housing and disposed in a surrounding state of said magnetorheological fluid (34), said piston (32) being provided with a piston rod (33) connected thereto, said piston rod (33) extending out of said housing (31) and being hinged at its end to a manipulator linkage;
the shell (31) is provided with an electromagnetic coil (36), the driving control system (20) is connected with the electromagnetic coil (36), and the strength of a magnetic field generated by the electromagnetic coil (36) is controlled by controlling the magnitude of current flowing through the electromagnetic coil (36), so that the fluidity of the magneto-rheological fluid (34) is changed, and the resistance of the piston (32) in response to the change of the fluidity is changed.
5. Force-sensitive feedback system for a driving simulator according to claim 4, characterized in that said real-time monitoring assembly (40) is provided on said piston rod (33) for real-time detection of the stroke of downward movement of the manipulator (10) when subjected to pressure;
the drive control system (20) determines the current of the electromagnetic coil (36) according to the stroke.
6. Force-sensing feedback system for driving simulator according to claim 4, characterized in that said driving maneuver system (20) controls the current of said electromagnetic coil (36) to vary linearly according to said stroke.
7. The force feedback system for a driving simulator according to claim 4, wherein said force simulation mechanism (30) further comprises a pressure sensor (38) disposed inside the housing (31) for sensing the magnitude of the pressure generated by the magnetorheological fluid (34) and feeding back to said driving maneuver system (20).
8. Force-sensitive feedback system for a driving simulator according to any of claims 4-7, characterized in that the end of the manipulator link of the driving simulator is hinged to the body of the driving simulator and in that a return spring is provided in the hinged position for the execution force (F) i ) When the manipulator is released, the manipulator connecting rod (P) and the manipulator (10) are driven to move towards the trend of recovering the initial position through the return spring.
9. Force-sensitive feedback system for a driving simulator according to claim 8, characterized in that said driving maneuver system (20) is responsive to said execution force (F) i ) To control the current flowing through the electromagnetic coil (36) to be turned off to release the magnetic field.
10. The force feedback method for a driving simulator of a force feedback system for a driving simulator according to claim 1, characterized by comprising the steps of:
receiving an operation of a driver training person on the manipulator (10), and applying an execution force (F) to the manipulator (10) i )；
Detecting the manipulator (10) as a function of the actuating force (F) by means of a real-time monitoring assembly (40) i ) The resulting state change;
the driving control system (20) controls the operation of the force sense simulation mechanism (30) according to the state change to generate simulation force (F) r ) Wherein the force sense simulation mechanism (30) is configured as a solenoid-based variable pressure simulation mechanism, both ends of which are respectively hinged to a manipulator link (P) and a driving simulator body, and responds to the state changeThe driving control system (20) controls the strength of a magnetic field generated by an electromagnetic coil (36) of the force sense simulation mechanism (30) by controlling the current flowing through the electromagnetic coil (36) to change the fluidity of the magnetorheological fluid (34) in the force sense simulation mechanism (30), so that the resistance of the piston (32) in response to the change of the fluidity is changed, and the changed simulation force (F) is generated r ) Said simulated force (F) r ) Is applied directly to the manipulator (10) to provide a feedback sensation to the driver training person;
when the operation of the manipulator (10) by the driver training person is released, an execution force (F) is applied to the manipulator (10) i ) When the magnetic field is released, the driving control system (20) controls the current flowing through the electromagnetic coil (36) to be turned off so as to release the magnetic field, so that the free flowability of the magneto-rheological fluid (34) is recovered, and the manipulator (10) moves towards the trend of recovering the initial position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211058267.7A CN115424493A (en) | 2022-08-31 | 2022-08-31 | Force feedback system for driving simulator |
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| CN202211058267.7A CN115424493A (en) | 2022-08-31 | 2022-08-31 | Force feedback system for driving simulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024142072A1 (en) * | 2022-12-30 | 2024-07-04 | Shabat Matan | Vehicle driving simulator |
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- 2022-08-31 CN CN202211058267.7A patent/CN115424493A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024142072A1 (en) * | 2022-12-30 | 2024-07-04 | Shabat Matan | Vehicle driving simulator |
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