CN116612675A - Modularized six-degree-of-freedom driving simulator and primary and secondary motion control method thereof - Google Patents
Modularized six-degree-of-freedom driving simulator and primary and secondary motion control method thereof Download PDFInfo
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Abstract
The invention provides a modularized six-degree-of-freedom driving simulator which comprises a simulation platform, a damping device, a main motion driving module, a base and a secondary motion driving module, wherein the modules are sequentially arranged. In the main motion driving module, driving branched chains are distributed between the lower end of an upper connecting plate of the shock absorption component and the upper end of a base plate in the base along equal angles; in the secondary motion driving module, a secondary first driving branched chain component and a secondary second driving branched chain component form movable connection, and the secondary second driving branched chain component and a secondary driving turntable component form rotary connection. The invention also provides a primary and secondary motion control method, which realizes the closed-loop smooth motion control of the driving simulator through a kinematic inverse solution and a motor sine and cosine acceleration and deceleration algorithm. The invention utilizes the decoupling relation and the modularized design of the primary motion driving module and the secondary motion driving module, thereby realizing the independent motion simulation and control of the primary motion and the secondary motion, realizing multidimensional shock absorption through the shock absorption component, and having certain economical efficiency and reality.
Description
Technical Field
The invention relates to the field of automobile driving simulation, in particular to a modularized six-degree-of-freedom driving simulator and a primary and secondary motion control method thereof.
Background
Automobile driving simulators are increasingly demanded in the fields of traffic safety, auxiliary development and the like. The existing driving simulators are too single in structure, are mostly simple in parallel mechanisms, can simulate driving conditions only through vibration, have gaps with actual driving, and are difficult to apply to research and development tests of automobiles.
Patent CN106002957a discloses a six-degree-of-freedom full motion simulator mechanism, which comprises a cabin, a fixed base and a mechanical branched chain group connected between the cabin and the fixed base, wherein the mechanical branched chain group comprises six mechanical branched chains arranged according to 3-2-1, and each mechanical branched chain is staggered with each other and hinged with the cabin and the fixed base. Patent CN105235823a discloses a six-degree-of-freedom parallel stable seat, comprising a seat, armrests, a base, six drive branches connecting the seat and the base, and four spring-loaded branches. Four SPSP driving branches with the same structure in the six driving branches are arranged at two sides of the seat, and two SPS driving branches with the same structure are arranged below the seat; the four spring-loaded branches are SPS branches of identical construction.
The two patents can not analyze the main movement and the secondary movement in the driving simulation process, and can not realize the smooth independent decoupling control of the main movement and the secondary movement, and can not adapt to the simulation requirement of the current multi-working-condition movement. Therefore, there is a need for a driving simulator that is decoupled from primary and secondary motions, is modular in design, is compliant in control, and is economical and realistic.
Disclosure of Invention
According to the modularized six-degree-of-freedom driving simulator and the primary and secondary motion control method thereof, a modularized structure is adopted, and the primary motion driving module consisting of a first primary driving branched chain, a second primary driving branched chain and a third primary driving branched chain which are distributed between the lower end of an upper connecting plate of a shock absorption group and the upper end of a base plate in a base at equal angles is used for realizing the motion of the driving simulator in the X-axis rotation, the Y-axis rotation and the Z-axis movement in the motion process, and the secondary motion driving module consisting of a secondary first driving branched chain component, a secondary second driving branched chain component and a secondary driving turntable component which are mutually perpendicular is used for realizing the motion in the X-axis direction, the motion in the Y-axis rotation and the multi-degree-of-freedom coupling in the simulator, so that the simulator can simulate the independent degree of freedom, and the shock absorption device, the primary motion driving module and the secondary motion driving module are arranged to not only form a series-connection mechanism, but also realize the inverse solution of the kinematics and the decoupling of the degree of freedom, so that the whole motion accuracy of the simulator is provided and the control difficulty is reduced.
The invention provides a modularized six-degree-of-freedom driving simulator which comprises a simulation platform, a damping device, a main motion driving module, a base and a secondary motion driving module which are sequentially arranged. The damping device comprises an outer spring damping component, a middle spring damping rod component, a damping group upper connecting plate and a damping group lower connecting plate, wherein the outer spring damping component is distributed between the damping group upper connecting plate and the damping group lower connecting plate, two ends of the outer spring damping component are respectively connected with outer ring connecting ends of the damping group upper connecting plate and the damping group lower connecting plate, two ends of the middle spring damping rod component are respectively connected with middle connecting ends of the damping group upper connecting plate and the damping group lower connecting plate, the lower connecting end of the damping group lower connecting plate is connected with a first mounting end of a platform support frame in the simulation platform, and U pairs are formed at connecting positions of the outer spring damping component and the middle spring damping rod component with the damping group upper connecting plate and the damping group lower connecting plate; the outer spring damping component comprises a spring sleeve, a spring sleeve cover, a spring pressing rod and a spring, wherein the spring is located inside the spring sleeve, the spring is connected with the first end of the spring pressing rod, the second end of the spring pressing rod extends out of the middle of the spring sleeve cover, and the mounting end of the spring sleeve is connected with the mounting end of the spring sleeve cover. The main motion driving module comprises a first main driving branched chain, a second main driving branched chain and a third main driving branched chain, wherein the first main driving branched chain, the second main driving branched chain and the third main driving branched chain are distributed between the lower end of the upper connecting plate of the damping group and the upper end of the base plate in the base at equal angles. The mounting end of the base plate of the base is connected with the upper end of the rotating base in the secondary driving turntable assembly; the secondary motion driving module comprises a secondary first driving branched chain component, a secondary second driving branched chain component, a secondary driving rotary table component, a first module connecting plate and a second module connecting plate, wherein a first moving sliding block in the secondary first driving branched chain component is connected with a first mounting end of the first module connecting plate, a second mounting end of the first module connecting plate is connected with a fixing block in the secondary second driving branched chain component, a second moving sliding block in the secondary second driving branched chain component is connected with a first mounting end of the second module connecting plate, and a second mounting end of the second module connecting plate is connected with a lower end of a rotating base in the secondary driving rotary table component. The main motion driving module realizes main motions of rotation of the driving simulator around an X axis, rotation of the driving simulator around a Y axis and Z-direction movement; the secondary motion driving module realizes secondary motions of X-direction movement, Y-direction movement and rotation around a Z axis of the driving simulator; the motion spirals between the secondary motions are mutually independent and form a mutually decoupled arrangement relationship; at the moment, the primary motion and the secondary motion of the six-degree-of-freedom driving simulator are decoupled from each other, and independent control is realized through the primary motion driving module and the secondary motion driving module respectively.
Preferably, the first main driving branched chain, the second main driving branched chain and the third main driving branched chain have the same structure, the first main driving branched chain comprises an electric cylinder, an electric pole, a ball head rod, a ball head seat and a pin shaft seat, a first end of the electric cylinder is connected with a first end of the electric pole, a second end of the electric pole is connected with a first end of the ball head rod, the ball head rod and the lower end of an upper connecting plate of the damping group form a ball pair, a second end of the ball head rod is connected with the ball head seat, a second end of the electric cylinder is connected with the pin shaft seat, and a pin shaft seat and the upper end of a base plate in the base form a rotating pair.
Preferably, the secondary first driving branched chain component comprises a first moving slide rail, a first moving slide block and a first driving motor, wherein the output end of the first driving motor is connected with the input end of the first moving slide rail, and the first moving slide rail is connected with the first moving slide block.
Preferably, the secondary second driving branched chain component comprises a second moving slide rail, a second moving slide block, a second driving motor and a fixed block, wherein the output end of the second driving motor is connected with the input end of the second moving slide rail, the second moving slide block and the upper end surface of the second moving slide rail form a sliding pair, and the fixed block is fixedly connected with the second moving slide rail.
Preferably, the pin shaft seats and the ball head seats are equal in number; the motion axes of the secondary first driving branched chain component and the secondary second driving branched chain component are perpendicular to each other, and the first module connecting plate and the second module connecting plate are arranged in parallel.
Preferably, the secondary driving turntable assembly comprises a rotating platform, a rotating base and a rotating motor, wherein the fixed end of the rotating motor is connected with the rotating base, and the output end of the rotating motor is connected with the rotating platform.
Preferably, the simulation platform comprises a seat, a platform support frame, a display screen assembly, a steering wheel assembly and a brake pedal assembly, wherein the display screen assembly, the steering wheel assembly and the brake pedal assembly are respectively connected with a second installation end, a third installation end and a fourth installation end of the platform support frame, and the installation end of the seat is connected with the upper end of a damping group upper connecting plate in the damping device.
In another aspect of the present invention, there is provided a primary and secondary motion control method using the aforementioned modular six-degree-of-freedom driving simulator, comprising the steps of:
s1, respectively establishing a fixed coordinate system, a main dynamic coordinate system and a secondary dynamic coordinate system on the substrate, the main motion driving module and the secondary motion driving module;
s2, solving the inverse kinematics solution of the main motion driving module to obtain a center point O of the platform support frame 1 As a motion reference point, a motion reference point O 1 The coordinate value in the coordinate system of the substrate is set to p= (X) P ，Y P ，Z P ) Each installation position a on the platform support frame i Coordinate point B in the substrate coordinate system i The method comprises the following steps:
B i ＝T·a i +P
wherein T is a rotation transformation matrix;
knowing the coordinate point B of the moving platform at the fixed platform i Coordinate point A of sum-fixed platform i Thus, the stem length d of each branch i The calculation formula of (2) is as follows:
s3, because the installation positions on the platform support frame are distributed on the circle with the radius r, and the angle between the installation positions and the connecting line of the circle center is 120 degrees, each installation position B on the platform support frame is obtained i Since the mounting positions on the substrate are distributed on the circle with radius R and the angle between the mounting positions and the connecting line of the circle center is 120 DEG, each mounting position A on the substrate is obtained i Is a coordinate matrix of (a);
s4, obtaining a set constraint condition of the main motion driving module according to the motion form of the main motion driving module, and combining the step S2 and the step S3 to obtain an expression of a parameter decoupling equation of the main motion driving module, wherein the expression is as follows:
y 0 ＝-rsinγcosβ
s5, substituting the parameter decoupling equation in the step S4 into the formula in the step S2 to obtain the unique motion inverse solution of the main motion driving module;
s6, solving a kinematic inverse solution of the secondary motion driving module, wherein the kinematic inverse solution expression of the secondary motion driving module is obtained due to mutual decoupling property among all motion pairs of the secondary motion driving module:
wherein L is x 、L y And R is z Respectively, the movement output in the X direction and the Y direction and the rotation output in the Z direction, d 4 、d 5 And d 6 The input method comprises the steps of respectively inputting movement in the X direction and the Y direction and inputting rotation in the Z direction;
s7, multiplying the kinematic inverse solution of the main motion driving module and the kinematic inverse solution of the secondary motion driving module to obtain a kinematic inverse solution of the driving simulator;
s8, defining a motor acceleration and deceleration track planning curve in the main motion driving module and the secondary motion driving module according to a sine and cosine type S curve acceleration and deceleration method, wherein the specific expression is as follows:
wherein v represents the acceleration and deceleration speed of the driving motor, v m Represents the acceleration and deceleration amplitude of the driving motor, t 1 、t 2 Respectively representing planned time points, t represents system time, and q represents sine and cosine track frequency;
s9, substituting the actual target state parameters into the kinematic inverse solution of the driving simulator obtained in the step S7 to obtain the driving quantity in the main motion driving module and the secondary motion driving module, and realizing pose control by combining the motor acceleration and deceleration track planning curve defined in the step S8.
Compared with the prior art, the invention has the following advantages:
1. the invention realizes six-degree-of-freedom simulation motion by the simulator composed of the main motion driving module and the secondary motion driving module, realizes the motion around X, Y and Z directions in the motion process of the driving simulator by the main motion driving module, and realizes the motion in X, Y and Z directions by the secondary motion driving module, thereby realizing the motion simulation of the general working condition of the automobile, and also realizing the motion simulation of special working conditions such as tail flicking, out of control, sideslip, long-time acceleration, large-angle turning and the like. The motion of overall structure is nimble, adopts the modularized design, and the user can purchase corresponding module according to different demands to reduce certain use cost.
2. The invention adopts the main motion driving module and the secondary motion driving module to realize the main motion and the secondary motion respectively, thereby realizing the decoupling of the main motion direction and the secondary motion direction of the simulator, and being capable of combining different simulation conditions to control different degrees of freedom, thereby reducing the control difficulty of the whole simulator and improving the motion precision, the control efficiency and the simulation space of the simulator.
3. The invention buffers the impact generated by the secondary motion driving module through the damping devices with the two ends connected in the U pair, keeps the limit on one rotation and one movement, increases the stability in use on the basis of meeting the buffering requirement, and realizes the multidimensional damping effect in the driving simulation process.
4. The primary and secondary motion control method comprises a platform mixed motion inverse solution algorithm and a motor acceleration and deceleration control method, and servo closed-loop motion control of the driving simulator is realized through sensor feedback, so that the motor acceleration and deceleration control can meet the smooth requirement, and the simulation and the control are more convenient.
Drawings
FIG. 1 is an overall block diagram of a modular six degree-of-freedom driving simulator of the present invention;
FIG. 2 is a schematic diagram of the motion of the modular six-degree-of-freedom driving simulator of the present invention;
FIG. 3 is a top view of the modular six degree of freedom driving simulator of the present invention;
FIG. 4 is a block diagram of a simulation platform of the modular six-degree-of-freedom driving simulator of the present invention;
FIG. 5 is a schematic diagram of a first primary driving branch in a modular six degree-of-freedom driving simulator of the invention;
FIG. 6 is a block diagram of a base in a modular six-degree-of-freedom driving simulator of the invention;
FIG. 7 is a block diagram of a secondary motion drive module in a modular six degree-of-freedom driving simulator of the present invention;
FIG. 8 is a block diagram of a secondary first drive branch assembly in a modular six degree-of-freedom ride simulator of the invention;
FIG. 9 is a block diagram of a secondary second drive branch assembly in a modular six degree-of-freedom ride simulator of the invention;
FIG. 10 is a block diagram of a secondary drive turret assembly in a modular six degree-of-freedom ride simulator of the invention;
FIG. 11 is a block diagram of a damping device in a modular six-degree-of-freedom driving simulator of the present invention;
FIG. 12 is a block diagram of an outer spring damper assembly of a damper device in a modular six degree-of-freedom driving simulator of the present invention;
FIG. 13 is a graph of motor acceleration and deceleration control in the primary and secondary motion control method of the modular six degree-of-freedom driving simulator of the present invention;
FIG. 14 is a control flow diagram of a primary and secondary motion control method of the modular six degree-of-freedom driving simulator of the present invention;
FIG. 15 is a flowchart illustrating the operation of the primary and secondary motion control method of the modular six-degree-of-freedom driving simulator of the present invention.
The main reference numerals:
the simulation platform 1, the seat 11, the platform support frame 12, the display screen assembly 13, the steering wheel assembly 14, the brake pedal assembly 15, the damper device 2, the outer spring damper assembly 21, the spring sleeve 211, the spring sleeve cover 212, the spring strut 213, the spring 214, the middle spring damper assembly 22, the damper upper connecting plate 23, the damper lower connecting plate 24, the main movement driving module 3, the first main driving branched chain 31, the electric cylinder 311, the electric pole 312, the ball rod 313, the ball seat 314, the pin seat 315, the driving motor 316, the second main driving branched chain 32, the third main driving branched chain 33, the base 4, the base plate 41, the control box 42, the secondary movement driving module 5, the secondary first driving branched chain assembly 51, the first moving slide 511, the first moving slide 512, the first driving motor 513, the secondary second driving branched chain assembly 52, the second moving slide 521, the second moving slide 522, the second driving motor 523, the fixed block 524, the secondary driving turntable assembly 53, the rotating platform 531, the rotating base 532, the rotating motor 533, the first module connecting plate 54, and the second module connecting plate 55.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The modularized six-degree-of-freedom driving simulator comprises a simulation platform 1, a damping device 2, a main motion driving module 3, a base 4 and a secondary motion driving module 5, wherein the simulation platform 1, the damping device 2, the main motion driving module 3, the base 4 and the secondary motion driving module 5 are distributed in sequence from the upper end to the lower end of the six-degree-of-freedom driving simulator. The simulation platform 1 is connected with the base 4 through the main motion driving module 3, the main motion driving module 3 and the secondary motion driving module 5 are both in communication connection with the simulation platform 1 and controlled by the simulation platform 1, and the simulation platform 1 drives the six-degree-of-freedom driving simulator and the main and secondary motion control method thereof to realize pitching, rollover, lifting, advancing, retreating, traversing and slewing motions by controlling the main motion driving module 3 and the secondary motion driving module 5.
According to the invention, through the design of the modularized six-degree-of-freedom driving simulator, the main motion and the secondary motion of the automobile driving simulation are realized in a series-parallel mode. The primary motion two-rotation one-movement comprises three degrees of freedom states of rotation around X, rotation around Y and movement in Z, and the secondary motion two-rotation one-rotation comprises three degrees of freedom states of movement in X, movement in Y and rotation around Z.
The simulation platform 1, as shown in fig. 4, comprises a seat 11, a platform support frame 12, a display screen assembly 13, a steering wheel assembly 14 and a brake pedal assembly 15, wherein the disc surface of the steering wheel assembly 14 has a certain inclination angle with the horizontal plane, and the centers of the seat 11, the brake pedal assembly 15, the display screen assembly 13 and the steering wheel assembly 14 and the central connecting lines of a pin shaft seat 315 and a base plate 41 are all on the plane of a two-dimensional coordinate system XZ.
The display screen assembly 13, the steering wheel assembly 14 and the brake pedal assembly 15 are respectively connected with the second mounting end, the third mounting end and the fourth mounting end of the platform support frame 12, and the mounting end of the seat 11 is connected with the upper end of a damping group upper connecting plate 23 in the damping device 2.
The damping device 2, as shown in fig. 11 and 12, comprises an outer spring damping component 21, an intermediate spring damping rod component 22, a damping group upper connecting plate 23 and a damping group lower connecting plate 24, wherein the outer spring damping component 21 is symmetrically distributed between the damping group upper connecting plate 23 and the damping group lower connecting plate 24 by 120 degrees, two ends of the outer spring damping component 21 are respectively connected with outer ring connecting ends of the damping group upper connecting plate 23 and the damping group lower connecting plate 24, two ends of the intermediate spring damping rod component 22 are respectively connected with middle connecting ends of the damping group upper connecting plate 23 and the damping group lower connecting plate 24, and a lower connecting end of the damping group lower connecting plate 24 is connected with a first mounting end of a platform supporting frame 12 in the simulation platform 1.
Specifically, the outer spring damper assembly 21 and the middle spring damper rod assembly 22 have the same structure and different installation positions, and include a spring sleeve 211, a spring sleeve cover 212, a spring pressing rod 213 and a spring 214, wherein the spring 214 is located inside the spring sleeve 211, the spring 214 is connected with a first end of the spring pressing rod 213, a second end of the spring pressing rod 213 extends out from the middle of the spring sleeve cover 212, and an installation end of the spring sleeve 211 is connected with an installation end of the spring sleeve cover 212.
The outer spring damper assembly 21 forms a U pair through the installation position of the hinge and the damper group lower connecting plate 24, the outer spring damper assembly 21 forms a U pair through the installation position of the hinge and the damper group upper connecting plate 23, the middle spring damper rod assembly 22 forms a revolute pair with the middle installation position of the upper surface of the damper group lower connecting plate 24, and the middle spring damper rod assembly 22 forms a ball pair with the middle installation position of the lower surface of the damper group upper connecting plate 23.
The main motion driving module 3 includes a first main driving branched chain 31, a second main driving branched chain 32 and a third main driving branched chain 33, and the first main driving branched chain 31, the second main driving branched chain 32 and the third main driving branched chain 33 are distributed between the lower end of the damper group upper connecting plate 23 and the upper end of the base plate 41 in the base 4 along 120 degrees.
In a preferred embodiment of the present invention, the first main driving branch 31, the second main driving branch 32 and the third main driving branch 33 are identical in structure, and the first main driving branch 31 includes an electric cylinder 311, an electric pole 312, a ball rod 313, a ball seat 314 and a pin seat 315, a first end of the electric cylinder 311 is connected to a first end of the electric pole 312, a second end of the electric pole 312 is connected to a first end of the ball rod 313, a second end of the ball rod 313 is connected to the ball seat 314, and a second end of the electric cylinder 311 is connected to the pin seat 315.
The direction of the central connecting line of the pin shaft seat 315 and the base plate 41 is consistent with the direction of the X axis of the static platform, and the pin shaft seat and the ball seat are equal in number and correspond to each other one by one.
Preferably, as shown in fig. 5, in the first main driving branched chain 31, a first ball seat is fixedly connected with a first installation position at the lower end of the platform support frame 12, a first ball head rod and the first ball seat form a ball pair, a first electric pole and a first electric cylinder form a sliding pair, a first pin shaft seat and the first electric cylinder form a rotating pair, and the first pin shaft seat is fixedly connected with a first installation position of the base plate 41; in the second main driving branched chain 32, a second ball seat is fixedly connected with a second installation position at the lower end of the platform support frame 12, a second ball head rod and the second ball seat form a ball pair, a second electric pole and a second electric cylinder form a sliding pair, a second pin shaft seat and the second electric cylinder form a revolute pair, and the second pin shaft seat is fixedly connected with a second installation position of the base substrate 41; in the third main driving branched chain 33, a third ball seat is fixedly connected with a third mounting position at the lower end of the platform support frame 12, a third ball rod and the third ball seat form a ball pair, a third electric pole and a third electric cylinder form a sliding pair, a third pin shaft seat and the third electric cylinder form a revolute pair, and the third pin shaft seat is fixedly connected with a third mounting position of the base plate 41.
The base 4, as shown in fig. 6, includes a base plate 41 and a control box 42, the base plate 41 has an approximately regular triangle structure, the control box 42 is located in the middle of the upper end of the base plate 41, and the mounting end of the lower end of the base plate 41 is connected with the upper end of the rotating base 532 in the secondary driving turntable assembly 5.
The secondary movement driving module 5, as shown in fig. 7, includes a secondary first driving branched chain assembly 51, a secondary second driving branched chain assembly 52, a secondary driving turntable assembly 53, a first module connection plate 54 and a second module connection plate 55, wherein the movement axes of the secondary first driving branched chain assembly 51 and the secondary second driving branched chain assembly 52 are mutually perpendicular, the upper sides of the secondary first driving branched chain assembly 51 and the secondary second driving branched chain assembly 52 are parallel to the ground and respectively execute the X-axis movement and the Y-axis movement, the secondary first driving branched chain assembly 51 is arranged according to the direction of the automobile seat, the upper sides of the secondary first driving branched chain assembly 51 and the secondary second driving branched chain assembly 52 are parallel to the ground, and the first module connection plate 54 and the second module connection plate 55 are arranged in parallel; the secondary first driving branched chain assembly 51 contacts the ground, the first moving slide block 512 in the secondary first driving branched chain assembly 51 is connected with the first mounting end of the first module connecting plate 54, the second mounting end of the first module connecting plate 54 is connected with the fixed block 524 in the secondary second driving branched chain assembly 52, the second moving slide block 522 in the secondary second driving branched chain assembly 52 is connected with the first mounting end of the second module connecting plate 55, and the second mounting end of the second module connecting plate 55 is connected with the lower end of the rotating base 532 in the secondary driving turntable assembly 53.
The secondary first driving branched chain assembly 51, as shown in fig. 8, includes a first moving slide rail 511, a first moving slide block 512 and a first driving motor 513, wherein an output end of the first driving motor 513 is connected with an input end of the first moving slide rail 511, the first moving slide rail 511 is connected with the first moving slide block 512, and the first moving slide rail 511 and the first moving slide block 512 form a sliding pair.
The secondary second driving branched chain assembly 52, as shown in fig. 9, includes a second moving slide rail 521, a second moving slide block 522, a second driving motor 523 and a fixed block 524, wherein an output end of the second driving motor 523 is connected with an input end of the second moving slide rail 521, the second moving slide block 522 and the fixed block 524 are respectively located at an upper end and a lower end of the second moving slide rail 521, and the second moving slide rail 521 and the second moving slide block 522 form a sliding pair.
The secondary driving turntable assembly 53, as shown in fig. 10, includes a rotating platform 531, a rotating base 532, and a rotating motor 533, the fixed end of the rotating motor 533 is connected to the rotating base 532, the output end of the rotating motor 533 is connected to the rotating platform 531, and the rotating platform 531 and the rotating base 532 form a rotating pair.
The following describes a primary and secondary motion control method of a modular six-degree-of-freedom driving simulator according to the present invention with reference to the embodiments:
as shown in fig. 14, 15 and 2, when the modularized six-degree-of-freedom driving simulator performs driving simulation, equipment is checked and debugged first, after the checking is completed and the debugging is correct, a driver enters the simulator, positions of the driver are adjusted to be fixed, then an operation view system performs scene selection according to the driver, basic operation prompt is performed on the driver, the equipment is safely closed after the operation is confirmed, and the driver leaves the simulator.
In the specific embodiment of the invention, a modularized six-degree-of-freedom driving simulator and a primary and secondary motion control method thereof are disclosed in fig. 13 and 2, wherein motion parameters of real vehicle linear acceleration and angular velocity are taken as input; the motion parameters are converted into pose signals of the modularized six-degree-of-freedom driving simulator by utilizing coordinate transformation, the force feedback accuracy is improved by combining a somatosensory simulation algorithm, and the motion quantity of each driving mechanism of the control motion system is obtained by the signals through a motion position inverse solution algorithm; the motion quantity of each driving mechanism is used as the input of a platform control algorithm, and the real control quantity of the servo motor is obtained; and finally, inputting the real control quantity into a motor servo controller to drive a motor, so as to drive a modularized six-degree-of-freedom driving simulator to realize the motion of the simulator, and feeding back servo motor control equipment by the modularized six-degree-of-freedom driving simulator according to the real motion effect, thereby improving the simulation precision, and simultaneously, continuously transmitting parameters of the servo motor control equipment into a vision system and displaying a retrograde interface, wherein the vision system updates the motion parameters of the vehicle, thereby providing the driver with the feeling of real motion.
The specific implementation steps are as follows:
s1, a fixed coordinate system, a primary dynamic coordinate system and a secondary dynamic coordinate system are respectively established for the base 4, the primary motion driving module 3 and the secondary motion driving module 5.
S2, respectively setting a coordinate system O on the platform support frame 12 1 -X 1 Y 1 Z 1 And a coordinate system O-XYZ is set at the center point of the base plate 41, the installation positions of the first main driving branched chain 31, the second main driving branched chain 32 and the third main driving branched chain 33 in the main motion driving module 3 on the platform supporting frame 12 and the base plate 41 are respectively determined, and the inverse kinematics solution of the main motion driving module 3 is solved.
First, the center point O of the platform support frame 12 is set 1 As a motion reference point, a motion reference point O 1 The coordinate value in the coordinate system of the substrate 41 is set to p= (X) P ，Y P ，Z P ) Each mounting location a on the platform support 12 i Coordinate point B in the coordinate system of the substrate 41 i The method comprises the following steps:
B i ＝T·a i +P
knowing the coordinate point B of the moving platform at the fixed platform i Coordinate point A of sum-fixed platform i Thus, the stem length d of each branch i The calculation formula of (2) is as follows:
wherein T is a rotation transformation matrix when ZYX Euler angle description is adopted, and the rotation transformation matrix represents the posture transformation relation of a movable platform relative to a fixed platform
Wherein c and s are shorthand for cosine function cos and sine function sin respectively, and alpha, beta and gamma respectively represent angles of rotation of the movable platform around X axis, Y axis and Z axis.
S3, secondly, as the installation positions on the platform support frame 12 are distributed on the circle with the radius r, and the angle between the installation positions and the connecting line of the circle center is 120 degrees, the expression of the coordinate matrix of each installation position on the platform support frame 12 is obtained as follows:
since the mounting positions on the substrate 41 are distributed on the circle of radius R, and the angle between the mounting positions and the line connecting the circle center is 120 °, the expression of the coordinate matrix of each mounting position on the substrate 41 is:
s4, according to the movement form of the main movement driving module, the joint of the base plate 41 and the driving branched chain is a revolute pair, and only one degree of freedom of rotation can be performed, so that the driving branched chain can only move in three planes perpendicular to the base plate 41 and passing through the movement axis of the sliding pair formed by the electric pole and the electric cylinder, and the aggregate constraint condition of the main movement driving module is obtained, wherein the constraint condition is as follows:
and combining the step S2 and the step S3 to obtain an expression of a parameter decoupling equation of the main motion driving module, wherein the expression is as follows:
y 0 ＝-rsinγcosβ。
s5, substituting the parameter decoupling equation in the step S4 into the formula in the step S2 to obtain the unique motion inverse solution of the main motion driving module 3.
S6, solving a kinematic inverse solution of the secondary motion driving module 5, wherein the kinematic inverse solution expression of the secondary motion driving module 5 is obtained due to mutual decoupling property among all kinematic pairs of the kinematic inverse solution:
wherein L is x 、L y And R is z Respectively, the movement output in the X direction and the Y direction and the rotation output in the Z direction, d 4 、d 5 And d 6 The input is the movement input in the X direction and the Y direction and the rotation input in the Z direction respectively.
And S7, multiplying the inverse kinematics solution of the main motion driving module 3 and the inverse kinematics solution of the secondary motion driving module 5 to obtain the inverse kinematics solution of the driving simulator.
S8, defining motor acceleration and deceleration track planning curves in the main motion driving module 3 and the secondary motion driving module 5 according to a sine and cosine type S curve acceleration and deceleration method, wherein the specific expression is as follows:
wherein v represents the acceleration and deceleration speed of the driving motor, v m Represents the acceleration and deceleration amplitude of the driving motor, t 1 、t 2 Respectively representing planned time points, t representing the time of the system, and q representing sine and cosine track frequency.
S9, substituting the actual target state parameters into the kinematic inverse solution of the driving simulator obtained in the step S7 to obtain the driving quantity in the main motion driving module 3 and the secondary motion driving module 5, and realizing pose control by combining the motor acceleration and deceleration track planning curve defined in the step S8.
The speed change of the motion curve of the driving motor is stable and continuous, the speed is continuous, the speed and the acceleration are required to meet the boundary condition in the initial stage of speed change, the acceleration curve is shown in figure 13, and the acceleration curve is shown in figure 13 and the formula, and the acceleration, the jerk and the displacement curve can be represented by sine and cosine functions as the sine and cosine speed curve is continuously conductive, so the novel S-curve acceleration and deceleration method has the advantages of stable speed change, no abrupt change, inflection point, high motion precision and the like, has a relatively simple structure, is convenient to understand and calculate, overcomes the defect of excessive and unsmooth speed of a trapezoid acceleration and deceleration mode, solves the defect of abrupt acceleration change of the starting point of acceleration and deceleration of an exponential acceleration and deceleration method, simplifies the problem of excessive parameters and complex solution in five-segment or seven-segment curves in the S-curve acceleration and deceleration method, and has good practical significance in motion control.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. The modularized six-degree-of-freedom driving simulator comprises a simulation platform, a damping device, a main motion driving module, a base and a secondary motion driving module which are sequentially arranged, and is characterized in that,
the damping device comprises an outer spring damping component, a middle spring damping rod component, a damping group upper connecting plate and a damping group lower connecting plate, wherein the outer spring damping component is distributed between the damping group upper connecting plate and the damping group lower connecting plate, two ends of the outer spring damping component are respectively connected with outer ring connecting ends of the damping group upper connecting plate and the damping group lower connecting plate, two ends of the middle spring damping rod component are respectively connected with middle connecting ends of the damping group upper connecting plate and the damping group lower connecting plate, the lower connecting end of the damping group lower connecting plate is connected with a first mounting end of a platform support frame in the simulation platform, and U pairs are formed at connecting positions of the outer spring damping component and the middle spring damping rod component with the damping group upper connecting plate and the damping group lower connecting plate; the outer spring damping component comprises a spring sleeve, a spring sleeve cover, a spring pressing rod and a spring, wherein the spring is positioned in the spring sleeve, the spring is connected with a first end of the spring pressing rod, a second end of the spring pressing rod extends out of the middle of the spring sleeve cover, and a mounting end of the spring sleeve is connected with a mounting end of the spring sleeve cover;
the main motion driving module comprises a first main driving branched chain, a second main driving branched chain and a third main driving branched chain, and the first main driving branched chain, the second main driving branched chain and the third main driving branched chain are distributed between the lower end of the upper connecting plate of the damping group and the upper end of the base plate in the base in equal angles;
the mounting end of the base plate of the base is connected with the upper end of the rotating base in the secondary driving turntable assembly; the secondary motion driving module comprises a secondary first driving branched chain component, a secondary second driving branched chain component, a secondary driving rotary table component, a first module connecting plate and a second module connecting plate, wherein a first movable sliding block in the secondary first driving branched chain component is connected with a first mounting end of the first module connecting plate, a second mounting end of the first module connecting plate is connected with a fixed block in the secondary second driving branched chain component, a second movable sliding block in the secondary second driving branched chain component is connected with a first mounting end of the second module connecting plate, and a second mounting end of the second module connecting plate is connected with the lower end of a rotating base in the secondary driving rotary table component;
the main motion driving module realizes main motions of rotation of the driving simulator around an X axis, rotation of the driving simulator around a Y axis and Z-direction movement; the secondary motion driving module realizes secondary motions of X-direction movement, Y-direction movement and rotation around a Z axis of the driving simulator; the motion spirals between the secondary motions are mutually independent and form a mutually decoupled arrangement relationship; at the moment, the primary motion and the secondary motion of the six-degree-of-freedom driving simulator are decoupled from each other, and independent control is realized through the primary motion driving module and the secondary motion driving module respectively.
2. The modular six degree of freedom ride on simulator of claim 1, wherein the first main drive branch, the second main drive branch, and the third main drive branch are identical in structure, the first main drive branch including an electric cylinder, an electric pole, a ball head rod, a ball head seat, and a pin shaft seat, the first end of the electric cylinder being connected to the first end of the electric pole, the second end of the electric pole being connected to the first end of the ball head rod, the ball head rod being connected to the lower end of the shock absorber upper connection plate to form a ball pair, the second end of the ball head rod being connected to the ball head seat, the second end of the electric cylinder being connected to the pin shaft seat, and the pin shaft seat being connected to the upper end of the base plate in the base to form a revolute pair.
3. The modular six degree of freedom driving simulator of claim 1 wherein the secondary first drive branch assembly includes a first moving slide, a first moving slide and a first drive motor, an output of the first drive motor being coupled to an input of the first moving slide, the first moving slide being coupled to the first moving slide.
4. A modular six degree of freedom driving simulator according to claim 1 or 3 wherein the secondary second drive branch assembly comprises a second moving slide rail, a second moving slide block, a second drive motor and a fixed block, the output end of the second drive motor is connected with the input end of the second moving slide rail, the second moving slide block and the upper end face of the second moving slide rail form a sliding pair, and the fixed block is fixedly connected with the second moving slide rail.
5. The modular six degree of freedom ride simulator of claim 1, wherein the pin receptacles and the ball receptacles are equal in number; the motion axes of the secondary first driving branched chain component and the secondary second driving branched chain component are perpendicular to each other, and the first module connecting plate and the second module connecting plate are arranged in parallel.
6. The modular six degree of freedom ride simulator of claim 1, wherein the secondary drive turntable assembly comprises a rotating platform, a rotating base, and a rotating motor, a fixed end of the rotating motor being coupled to the rotating base, an output of the rotating motor being coupled to the rotating platform.
7. The modular six degree of freedom driving simulator of claim 1 wherein the simulation platform includes a seat, a platform support, a display screen assembly, a steering wheel assembly and a brake pedal assembly, the display screen assembly, the steering wheel assembly and the brake pedal assembly being connected to the second mounting end, the third mounting end and the fourth mounting end of the platform support, respectively, the mounting end of the seat being connected to the upper end of the upper link plate of the damping group in the damping device.
8. A method of primary and secondary motion control of a modular six degree of freedom driving simulator according to any of claims 1 to 7, comprising the steps of:
s1, respectively establishing a fixed coordinate system, a main dynamic coordinate system and a secondary dynamic coordinate system on the substrate, the main motion driving module and the secondary motion driving module;
s2, solving the inverse kinematics solution of the main motion driving module to obtain a center point O of the platform support frame 1 As a motion reference point, a motion reference point O 1 The coordinate value in the coordinate system of the substrate is set to p= (X) P ，Y P ，Z P ) Each installation position a on the platform support frame i Coordinate point B in the substrate coordinate system i The method comprises the following steps:
B i ＝T·a i +P
wherein T is a rotation transformation matrix;
knowing the coordinate point B of the moving platform at the fixed platform i Coordinate point A of sum-fixed platform i Thus, the stem length d of each branch i The calculation formula of (2) is as follows:
s3, because the installation positions on the platform support frame are distributed on the circle with the radius r, and the angle between the installation positions and the connecting line of the circle center is 120 degrees, each installation position B on the platform support frame is obtained i Since the mounting positions on the substrate are distributed on the circle with radius R and the angle between the mounting positions and the connecting line of the circle center is 120 DEG, each mounting position A on the substrate is obtained i Is a coordinate matrix of (a);
s4, obtaining a set constraint condition of the main motion driving module according to the motion form of the main motion driving module, and combining the step S2 and the step S3 to obtain an expression of a parameter decoupling equation of the main motion driving module, wherein the expression is as follows:
y 0 ＝-rsinγcosβ
s5, substituting the parameter decoupling equation in the step S4 into the formula in the step S2 to obtain the unique motion inverse solution of the main motion driving module;
s6, solving a kinematic inverse solution of the secondary motion driving module, wherein the kinematic inverse solution expression of the secondary motion driving module is obtained due to mutual decoupling property among all motion pairs of the secondary motion driving module:
wherein L is x 、L y And R is z Respectively, the movement output in the X direction and the Y direction and the rotation output in the Z direction, d 4 、d 5 And d 6 The input method comprises the steps of respectively inputting movement in the X direction and the Y direction and inputting rotation in the Z direction;
s7, multiplying the kinematic inverse solution of the main motion driving module and the kinematic inverse solution of the secondary motion driving module to obtain a kinematic inverse solution of the driving simulator;
s8, defining a motor acceleration and deceleration track planning curve in the main motion driving module and the secondary motion driving module according to a sine and cosine type S curve acceleration and deceleration method, wherein the specific expression is as follows:
wherein v represents the acceleration and deceleration speed of the driving motor, v m Represents the acceleration and deceleration amplitude of the driving motor, t 1 、t 2 Respectively representing planned time points, t represents system time, and q represents sine and cosine track frequency;
s9, substituting the actual target state parameters into the kinematic inverse solution of the driving simulator obtained in the step S7 to obtain the driving quantity in the main motion driving module and the secondary motion driving module, and realizing pose control by combining the motor acceleration and deceleration track planning curve defined in the step S8.
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