JP2003228277A - Device and method for calculating behavior of riding simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and a method for calculating the behavior of a riding simulator which enables, when designing a riding simulator in which a pair of linear actuators generate pitching and rolling, discrimination of propriety of the parameters of a link mechanism and the specifications of the linear actuators. <P>SOLUTION: The device for calculating behavior is provided with a link parameter input section 140 for inputting data from a parameter file 134 recorded with parameters of the link mechanism, a command input section 142 for inputting rolling data indicating the angle of a rolling shaft and pitching data indicating the angle of a pitching shaft, and a displacement calculating section 144 for obtaining the displacement of the actuators based on the parameters of the link mechanism, the rolling data and pitching data. The displacement of the actuators obtained by the displacement calculating section 144 and the motion speed and motion acceleration obtained by 1st-order and 2nd-order differentiation of the displacement are displayed on a link motion confirmation screen 300 and on a motion analysis screen 350. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a behavior calculating apparatus and method for a riding simulator, and more particularly, to a linear motion type actuator and a pair of actuators connected by a link mechanism. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a behavior calculation device and method for calculating the behavior of a riding simulator including a pseudo vehicle body that can swing around.

[0002]

2. Description of the Related Art Recently, riding simulators have been developed for driving education. As a riding simulator, there has been proposed a parallel link type riding simulator in which a simulated vehicle body can be rotated around a roll axis and a pitch axis by a pair of linear motion actuators (Japanese Patent Laid-Open No. 2001-92344). ).

This riding simulator has a device configuration as compared with a conventional device in which a simulated vehicle body is swung by rotating each shaft by a drive source such as a motor directly connected to each of a roll shaft and a pitch shaft. It is possible to greatly simplify the vehicle, which makes it possible to install it at any place and to provide an inexpensive riding simulator.

[0004]

The main purpose of the riding simulator is to allow a passenger to experience the pitch inclination and the roll inclination, and it is required to accurately control the inclination angles of the pitch axis and the roll axis.

By the way, in the above riding simulator, since the linear actuator is connected to the pitch axis and the roll axis through the link structure, the operation of the actuator and the inclination angle of the pitch axis and the roll axis are different from each other. The relationship is calculated in consideration of the link structure, and a relatively complicated calculation using a trigonometric function is required.

Further, in the above riding simulator, the displacement of each actuator corresponding to the rotation angle of the roll axis and the pitch axis may change depending on the shape of the simulated vehicle body, the actuator arrangement, the actuator characteristics and the like. For example, if the positional relationship among the swing axis of the simulated vehicle body, the seat arrangement, and the actuator arrangement changes, the displacement of each actuator with respect to the roll angle and the pitch angle of the simulated vehicle body also changes.

For these reasons, when designing the above-mentioned riding simulator, the work of structural verification and component selection is complicated and requires a long time. Further, when a riding simulator is manufactured, the prototype riding simulator may not satisfy the required specifications, and thus the prototype may be repeated a plurality of times.

The present invention has been made in consideration of the above problems, and when designing a riding simulator in which pitch swing and roll swing are generated by a pair of linear motion type actuators, a pitch angle and a roll angle are set. And the displacement, operating speed, and operating acceleration of the direct-acting actuator can be easily calculated based on the parameters of the link mechanism,
It is an object of the present invention to provide a behavior calculation device and method for a riding simulator, which makes it possible to judge the adequacy of the parameters of a link mechanism and the specifications of a direct-acting actuator.

[0009]

A behavior calculation device for a riding simulator according to the present invention has a direct-acting type pair of actuators, is connected to the pair of actuators by a link mechanism, and is used for displacement of the pair of actuators. Accordingly, in a behavior calculation device that calculates the behavior of a riding simulator including a pseudo vehicle body that can swing about a roll axis and a pitch axis, a link parameter input unit for inputting parameters of the link mechanism, and a roll axis A roll data indicating an angle, a command input unit for inputting pitch data indicating the angle of the pitch axis, a displacement calculating unit for determining the displacement of the actuator based on the parameter, the roll data and the pitch data. It is characterized by having.

By doing so, the displacement, operation speed, and operation acceleration of the linear actuator can be easily calculated based on the pitch axis angle, the roll axis angle, and the link mechanism parameters, and the link mechanism parameters and It is possible to judge the suitability of the direct-acting actuator specification.

In this case, the roll data and the pitch data may be constant values or time series data.

At least one of the roll data and the pitch data may be time-series data, and the displacement calculator may obtain the velocity and acceleration from the displacement of the actuator.

A behavior calculation method of a riding simulator according to the present invention has a pair of direct-acting actuators, is connected to the pair of actuators by a link mechanism, and a roll shaft and a pair of actuators are connected with displacement of the pair of actuators. In a behavior calculation method for calculating the behavior of a riding simulator including a pseudo vehicle body that can swing about a pitch axis, a step of inputting parameters of the link mechanism, roll data indicating an angle of the roll axis, and the pitch. It is characterized by including a step of inputting pitch data indicating an axis angle and a step of obtaining a displacement of the actuator based on the parameter, the roll data and the pitch data.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a behavior calculating apparatus for a riding simulator and a method for calculating the behavior of a riding simulator using the behavior calculating apparatus according to the present invention will be described below with reference to FIGS. While explaining.

First, FIG. 1 to FIG. 3 show a riding simulator 10 for calculating behavior in the present embodiment.
Will be described with reference to.

1 to 3 show a riding simulator 1
Indicates 0. The riding simulator 10 includes a leg 1
1, a base 12 supported by 1 and a simulated vehicle body 14 supported on the base 12 with biaxial rotation degrees to be described later.

Hereinafter, for convenience of description, three-dimensional coordinates for specifying a direction are set, and directions indicated by arrows X and Z in FIG. 1 are defined as an X axis and a Z axis, respectively. That is, the vehicle length direction of the riding simulator 10 is the X axis and the height direction is the Z axis. Further, as indicated by an arrow Y in FIG. 2, the lateral width direction of the riding simulator 10 is the Y axis.

A support 16 is fixed to the center of the base 12, and a roll shaft 18 extending in the X-axis direction of the simulated vehicle body 14 is supported on the support 16 by a pair of bearings 20. There is. Further, as shown in FIG. 3, a pitch shaft 22 extending in the Y-axis direction orthogonal to the roll shaft 18 is supported above the roll shaft 18 by a pair of bearings 24.
The bearing 24 is fixed to the back surface of a support plate 26, and a main frame 28 is fixed to the front surface of the support plate 26.

A rear frame 30 extending obliquely upward is provided behind the main frame 28, and a seat 31 for seating a passenger is provided on the rear frame 30. The seat 31 is provided with a weight movement sensor 99 for detecting the direction and the amount of movement of the occupant's weight.

A front column 32 extending upward is disposed in front of the main frame 28, and a steering shaft 36 extends substantially parallel to the front column 32. A handle 34 is attached to the upper end of the steering shaft 36. The steering shaft 36 is rotatably supported by a bearing 32a fixed to the front column 32 at a position slightly below the upper end thereof. The lower end of the steering shaft 36 is connected to the steering control unit 40. The steering control unit 40 is a motor 42.
The rotation drive shaft of the motor 42 is connected to the steering shaft 36 via a speed reduction mechanism 44. The steering control section 40 is fixed to a support frame 38 projecting forward at the lower end of the front column 32.

In the above structure, the simulated vehicle body 14 has
Two degrees of freedom of rotation about the roll axis 18 and the pitch axis 22 are provided. Further, the steering control unit 40 applies a steering load to the steering wheel 34 according to a driving state.

Further, the riding simulator 10 has an axial direction (front in this embodiment) of the roll shaft 18.
A pair of left and right actuators 50a and 50b are arranged symmetrically with respect to a plane that includes the axis of the roll shaft 18 and is orthogonal to the pitch axis 22 at a position offset to.

The pair of actuators 50a and 50b are
The movable portion 60 includes a movable portion 60 and a screw portion 70. The movable portion 60 includes a motor 62 including a rotor and a stator, and the screw portion 70 is screwed into the rotation center of the rotor. In addition, the motor 6
An encoder 64 is connected to the second rotor.

In the above structure, each movable portion 60 is displaced along each screw portion 70 under the rotating action of the motor 62.

The lower end of each screw portion 70 is connected to the base 12 via the first universal joint 80, and the movable portion 60 is connected to the second universal joint 9.
It is connected to the simulated vehicle body 14 via 0. First universal joint 80
Is a lower yoke 82 fixed to the base 12 and a screw portion 70.
It is composed of a hook-shaped universal shaft joint which is connected to the upper yoke 84 fixed to the center of the upper yoke 84 via a cross-shaped metal fitting 86. The second universal joint 90 includes fork-shaped metal fittings 92 supported by bearings 32c on brackets 32b projecting from both sides of the lower portion of the front column 32 via a shaft 94 in the front-rear direction. The movable part 60 is provided between the two forks of the fork-shaped metal fitting 92.
Is inserted, the fork-shaped metal fitting 92 is pivotally attached to the movable portion 60 via a shaft 96 orthogonal to the shaft 94.

Therefore, two degrees of freedom of rotation are given to the connecting portion between the screw portion 70 and the base 12 and the connecting portion between the movable portion 60 and the simulated vehicle body 14, respectively, and the screw portion 70 and the movable portion 60 are attached to the base portion. 12 and the simulated vehicle body 14 can be tilted in any direction.

According to the above structure, when the movable portions 60 of the pair of actuators 50a and 50b are both moved up or down, the simulated vehicle body 14 is rotated forward or downward with the pitch axis 22 as a fulcrum. That is, a pitch operation is given, and the movable parts 60 of the actuators 50a and 50b are
Are moved in the directions opposite to each other, the lateral rotation of the simulated vehicle body 14 about the roll shaft 18 as a fulcrum, that is, the roll operation is given. Therefore, by giving a pitch motion according to an accelerator operation or a brake operation by a passenger, and by giving a roll motion according to the weight movement of the passenger, the passenger can experience the same vehicle body behavior as when traveling in an actual vehicle. it can.

The basic structure of the riding simulator 10 can be represented by a link as shown in FIG. That is, the riding simulator 10 performs roll motion and pitch motion around the rotation center point T of the roll shaft 18 and the rotation center point S of the pitch shaft 22 with the origin O as a reference.

The upper fulcrum of the first actuator 50a is A and the lower fulcrum is C, and the second actuator 50b is
Where B is the upper fulcrum and D is the lower fulcrum, the length between the upper fulcrum A and the lower fulcrum C of the actuator 50a is L, and the length between the upper fulcrum B and the lower fulcrum D of the actuator 50b is R. . In the following description, the length L is the displacement L,
The length R is described as the displacement R. Let E be the midpoint of the upper fulcrums A and B.

The link of the riding simulator 10 can be more analytically expressed as a 6-axis link model (link mechanism) 10a shown in FIG.

In FIG. 5, the rotation center point S in the reference state (state where both the pitch angle and the roll angle are 0).
A point having the same height as the middle point E above is defined as Q. Let U be a fixed point that is a distance d ₁ above the origin O, and V be a fixed point that is moved a distance d ₂ from the fixed point U in the X-axis direction.

Θ ₂ represents the angle of the roll shaft 18, and θ ₄ represents the angle of the pitch shaft 22. Further, d ₂ is the distance from the origin O to the rotation center point T in the X-axis direction. d ₃ is the distance from the fixed point V to the rotation center point S, and d ₅ is the distance from the rotation center point S to the point Q.

D ₆ is the distance from the point Q to the midpoint E. a6R and a6L are the distances from the midpoint E to the upper fulcrums A and B. xC and xD are distances from the origin O to the lower fulcrums C and D in the X-axis direction. yC
And yD are Y from the origin O to the lower fulcrums C and D.
It is the axial distance.

The above riding simulator 1
At 0, the distance d ₂ is represented as 0.

Next, a computer 100 for calculating the behavior of the riding simulator 10 (a behavior calculator for the riding simulator) and a computer program 132 (FIG. 7).
Reference), the calculation device 100, and the calculation program 132.
A method of calculating the behavior of the riding simulator 10 using and will be described with reference to FIGS. 6 to 15.

As shown in FIG. 6, the computing device 100 is realized by a personal computer, and the main body 1
01, a monitor 108, a keyboard 110, and a mouse 112.

The computing device 100 is a CP as a control means for controlling the entire computing device 100 via the bus 102.
U 104, a monitor 108 that is a display device and has a monitor screen 106 (also simply referred to as a screen), a keyboard 110 and a mouse 112 that are input devices, and the monitor 10.
8 and an input control unit 1 that controls input to the keyboard 110 and the mouse 112.
16, a ROM 119 as a storage unit, a memory (RA
M) 120, a hard disk 122 for storing programs and the like, and a hard disk drive (HDD) 124 for accessing data to the hard disk 122.
And a recording medium drive 128 for controlling the recording medium 126 (for example, an optical disk or a magnetic disk).

The computer 100 is used when designing the riding simulator 10, and does not need to be connected to the riding simulator 10.

The RAM 120 has a data area 120a for storing data and a program area 120b for loading an application program etc. stored in the hard disk 122.

The hard disk 122 has an OS 130,
A calculation program 132, a parameter file 134 that records the parameters of the 6-axis link model 10a, a waveform file (time series data) 136 that records the input angle of the roll axis 18 or the pitch axis 22 and the like are recorded.

As shown in FIG. 7, the calculation program 132
Is a link parameter input section 140 for inputting the parameters of the 6-axis link model 10a, and a command input section 142 for inputting a constant value, a set value of a pseudo sine waveform or a waveform file 136 as roll data and pitch data.
And a displacement calculation unit 144 for obtaining the displacement L and the displacement R.

The calculation program 132 is recorded in one or a plurality of recording media 126, and is installed in the hard disk 122 via the recording medium drive 128. The calculation program 132 may have a format in which the calculation program 132 is divided into a plurality of parts and recorded on the hard disk 122, and only a part necessary for execution is loaded into the program area 120b.

The calculation program 132 may be distributed via a communication system such as the Internet.

Next, the operation screen displayed on the screen 106 by the calculation program 132 will be described with reference to FIGS.
This will be described with reference to 1.

Link parameter confirmation screen 20 shown in FIG.
0 is a screen for displaying the values of the parameter file 134 recorded in advance on the hard disk 122 in a list format, and includes an error display area 202 and a parameter confirmation area 204.
Have.

The error display area 202 is an area for displaying, as comments, various errors that are obstacles in executing the calculation program 132.

The parameter confirmation area 204 is an area in which the parameters recorded in the parameter file 134 are displayed, and the distances d ₁ , d ₂ , d ₃ , d ₅ , d ₆ , a 6 are displayed.
L, a6R, xC, xD, yC and yD, and the maximum value L _MAX , the minimum value L _{MIN for which the} displacement L is allowed and the maximum value R _MAX , the minimum value R _{MIN for} which the displacement R is allowed are displayed.

In the parameter confirmation area 204, on the right side of each parameter, "initial value" is displayed when the parameter has a predetermined initial value, and when the initial value is a corrected value. Is displayed as "setting value".

In the link parameter confirmation screen 200, the keyboard 110 is used as a means for shifting to another operation screen.
Input of the “Y” key, “M” key, or “N” key is accepted. When the “N” key is pressed, the link parameter setting screen 250 (see FIG. 9) is displayed,
If the "Y" key is pressed, the link operation confirmation screen 3
00 (see FIG. 10) is displayed. When the "M" key is pressed, the motion analysis screen 350 (see FIG. 11)
Is displayed.

Link parameter setting screen 25 shown in FIG.
0 is a screen for modifying the parameters read from the parameter file 134. On the parameter value setting screen 250, parameters relating to the 6-axis link model 10a (see FIG. 5) and respective numerical values of maximum value L _MAX , minimum value L _MIN , maximum value R _MAX and minimum value R _MIN are displayed.
The cursor is moved to the position where the numerical value of the parameter to be corrected is displayed, and the numerical value is corrected using the keys of "0" to "9", so-called ten keys.

After the correction is completed, the "parameter" file 252 is clicked and the "overwrite save" 254 of the menu bar that is displayed is further clicked to overwrite and save the modified parameter in the parameter file 134.

[File] 252 on the menu bar
Click "Exit" in the menu bar that is displayed by clicking
By further clicking 6, link parameter setting screen 250 ends, and link parameter confirmation screen 2
Return to 00.

Link operation confirmation screen 300 shown in FIG.
Is a screen capable of displaying a state in which the 6-axis link model 10a is simulated by a ten-key operation, and includes a link diagram area 302, a step size input area 304,
It has a data display area 306 and an error display area 308.

In the link diagram area 302, a rear view 310 and a side view 312 of the 6-axis link model 10a are displayed, and an animation is displayed based on the ten-key operation.

That is, when the "2" key and the "8" key of the ten keys are pressed, the pitch moves in the plus and minus directions. When the "4" and "6" keys are pressed, the roll moves in the plus and minus directions. When the "1" key is pressed, the state is the same as when the "2" key and the "4" key are pressed simultaneously, and when the "3" key is pressed, the "2" key and the "6" key are pressed simultaneously. It will be in the same state as.
When the "7" key is pressed, it becomes the same state as when the "4" key and the "8" key are simultaneously pressed, and when the "9" key is pressed, the "8" key and the "6" key are simultaneously pressed. It will be in the same state as.

In response to these ten-key operations, the rear view 310 and the side view 312 of the link diagram area 302 change, and the static operation can be confirmed.

A method of calculating the attitude of the 6-axis link model 10a based on the roll data and the pitch data will be described later.

Further, the respective points (for example, the upper fulcrums A and B) in the rear view 310 and the side view 312 are displayed in different colors so that they can be identified.

The step size input area 304 is provided with setting sections 304a and 304b for setting the amounts of change of the roll angle and the pitch angle for each predetermined time when the 6-axis link model 10a is operated according to the ten-key pad. .

Numerical values relating to the 6-axis link model 10a at that time are displayed in the data display area 306 in real time. That is, the roll angle display section 306a and the pitch angle display section 306b indicating the angles of the roll axis 18 and the pitch axis 22, the left link value display section 306c indicating the displacement L and the displacement R, the right link value display section 306d, and the upper fulcrum. A point coordinate display section 306e showing the coordinate values of A and B,
It has a point B coordinate display section 306f.

The roll angle display section 306a and the pitch angle display section 306b display the angles of the roll axis 18 and the pitch axis 22 in units of [deg]. Further, the roll angle display portion 306a and the pitch angle display portion 306b can be key-inputted by a predetermined operation. That is, it is possible to directly input the roll angle and the pitch angle instead of the above-mentioned ten-key operation.

The left link value display portion 306c and the right link value display portion 306d display the displacement L and the displacement R in [mm] units.

In the A point coordinate display section 306e and the B point coordinate display section 306f, the coordinates of the upper fulcrums A and B are X, Y, Z.
It is displayed with each component value in the axial direction.

The error display area 308 displays various error messages for input operations and calculation results.

As described above, in the link operation confirmation screen 300 shown in FIG. 10, the roll angle and the pitch angle can be set to arbitrary values, and the operator of the computing device 100 can set the roll angle and the pitch angle. The static posture of the 6-axis link model 10a corresponding to can be intuitively grasped in the link diagram area 302 and can be numerically confirmed in the data display area 306.

The motion analysis screen 350 shown in FIG. 11 is a screen for displaying the dynamic behavior of the 6-axis link model 10a when the roll angle or the pitch angle changes with time.

The operation analysis screen 350 includes a waveform setting area 352 for setting a pseudo sine waveform as an input value and a message display area 35 for displaying various messages and errors.
4 and.

Further, the motion analysis screen 350 has an input value display area 356 showing the changes over time of the roll angle and the pitch angle, which are input values, a link length display area 358 showing the changes over time of the displacement L and displacement R, and an actuator. 50a, 50b
Link speed display area 360 showing changes in the operating speed of
And a link acceleration display area 362 showing changes over time in the operating accelerations of the actuators 50a and 50b.

The input value display area 356, the link length display area 358, the link speed display area 360, and the link acceleration display area 362 are display areas in the form of graphs, and the horizontal axis is the time axis.

Operation target axis selecting section 3 of waveform setting area 352
Reference numeral 52d is an area for setting an operation angle as a pseudo sine waveform with respect to either the roll axis 18 or the pitch axis 22, and the "roll" or "pitch" is selected by the "↓" cursor key or the "↑" cursor key. Select one. One of the “roll” and the “pitch” selected is displayed with a “⊚” mark. When the “roll” is selected, the roll axis 18 is selected, and when the “pitch” is selected, the pitch axis 22 is selected. A pseudo sine waveform is applied. A constant value angle can be input to the other not selected by a predetermined operation.

In the example of FIG. 11, the angle of the roll shaft 18 is a constant value of 10.000 [deg], and a pseudo sine waveform is set with respect to the pitch shaft 22.

The maximum angle of the pseudo sine waveform is input to the maximum angle input section 352a. For example, the maximum angle input unit 3
If 5.000 [deg] is input to 52a, the pseudo sine waveform is ± 5.000 [d] centered on 0 [deg].
eg] is set as an amplitude waveform.

The period of the pseudo sine waveform is input to the required time input unit 352b in units of [sec].

The calculation step width for the pseudo sine waveform is input to the update cycle input section 352c in units of [msec]. For example, the required time input unit 352b has 20.000.
[Sec], and the update cycle input unit 352c displays 10.0.
If 00 [msec] (0.01 [sec]), the number of calculations is 20 / 0.01 = 2000 [times].

After setting the respective values of the maximum angle input section 352a, the required time input section 352b and the update cycle input section 352c, the displacement calculation section 144 is pressed by pressing the "S" key.
The calculation process is started and the pseudo sine waveform is displayed in the input value display area 356. In addition, the change over time of the displacement L and the displacement R corresponding to the pseudo sine waveform is the link length display area 35.
8 is displayed.

In the link speed area 360, the operating speeds of the actuators 50a and 50b are obtained and displayed by differentiating the displacement L and the displacement R, respectively. In the link acceleration area 362, the actuators 50a and 50b are provided.
The motion acceleration of is calculated by differentiating the motion speed and displayed.

In the link length display area 358, the link speed display area 360, and the link acceleration display area 362, the operating speeds and accelerations of the actuator 50a and the actuator 50b are displayed in different colors, and one of the overlapping portions has priority. Is displayed.

The graphs displayed in the input value display area 356, the link length display area 358, the link speed display area 360, and the link acceleration display area 362 can be stored in the hard disk 122 as a batch of data.
Specifically, when the "F5" function key on the keyboard 110 is pressed, a message "Please specify the file name to output." Is displayed in the message display area 354. Enter an arbitrary file name. save. The file output at this time is saved in CSV format (file format in which data is separated by commas and arranged) or normal text format, and thus can be used with general spreadsheet software or text editor.

On the operation analysis screen 350, an arbitrary waveform can be used as an input waveform instead of the above pseudo sine waveform. That is, the keyboard 11
By pressing the 0 "F4" function key, a message "Please specify the file name to be input." Is displayed in the message display area 354, and the name of the waveform file 136 to be used is input.

As shown in FIG. 12, the waveform file 136 specifies a file recorded in CSV format or text format.

After that, the calculation is started by pressing the "S" key, the arbitrary waveform recorded in the waveform file 136 is displayed in the input value display area 356, and the actuator 50a corresponding to this arbitrary waveform is displayed. The displacement, motion speed, and motion acceleration of 50b are displayed in the link length display area 358, the link speed display area 360, and the link acceleration display area 362, respectively.

At this time, the value set in the update cycle input section 352c is used as the calculation step size. Further, the set values of the maximum angle input unit 352a and the required time input unit 352b are ignored.

As described above, in the motion analysis screen 350, the behavior of the actuators 50a and 50b when the roll angle and the pitch angle change with time, that is, the displacement, the motion speed, and the motion acceleration can be displayed in a graph format. , And can be used to study the specifications of the actuators 50a and 50b. Further, a simulated sine waveform can be set and used as an input value by a simple procedure, and an arbitrary waveform can be used by designating the waveform file 136. Since the waveform file 136 is a CSV format or text format file, it can be generated using general spreadsheet software or a text editor. In addition, the waveform file 136 may include two inclinometers whose measurement directions are orthogonal to each other when the actual vehicle is traveling, and use data obtained by recording the inclination angle during traveling by these inclinometers. Good.

Next, a method of calculating the coordinate values (X _A , Y _A , Z _A ) of the upper fulcrum A from the angles designated as the roll data and the pitch data by the function of the displacement calculating section 144 will be described.

The transformation matrix A _i (i = 1 to 6) at each of the origin O, the fixed point U, the fixed point V, the point Q, the middle point E, and the upper fulcrum A (see FIG. 5) is given by the equation (1) ) -Formula (6).

[0086]

[Equation 1]

[0087]

[Equation 2]

[0088]

[Equation 3]

[0089]

[Equation 4]

[0090]

[Equation 5]

[0091]

[Equation 6]

Here, θ ₂ in the equation (2) is the angle of the roll shaft 18, and θ ₄ in the equation (4) is the pitch axis 2.
It is an angle of 2. These angles θ ₂ and θ ₄ are, in actual calculation, as roll data and pitch data, respectively, a constant value set in the waveform setting area 352, a pseudo sine waveform, or a time series set in the waveform file 136. Data is substituted and calculated.

Therefore, the transformation matrix T ₆ indicating the position and orientation of the upper fulcrum A is given by the following equation (7).

[0094]

[Equation 7]

Since the 4th column, 1st row to 3rd row of the equation (7) show the coordinate values (X _A , Y _A , Z _A ) of the upper fulcrum A, the coordinate values (X _A , Y _A and Z _A ) are represented by the following formula (8).

[0096]

[Equation 8]

Regarding the upper fulcrum B, the distance a6L in the equation (8) may be replaced with the distance a6R and the sign may be inverted, so that the coordinate value (X _B , X _B ,
Y _B and Z _B ) are represented by the following formula (9).

[0098]

[Equation 9]

Further, each coordinate value of the fixed point U, the fixed point V, the point Q, and the middle point E can be obtained by the same method.

For example, for the coordinate value of the midpoint E, a transformation matrix T ₅ = A ₁ A ₂ A ₃ A ₄ A ₅ is obtained, and the fourth column, 1st row to 3rd row of this transformation matrix T ₅ is extracted. do it.

After calculating the coordinate values (X _A , Y _A , Z _A ) of the upper fulcrum A by the equation (8), the displacement L and the displacement R are calculated. That is, the distance between the upper fulcrum A and the lower fulcrum C is the displacement L. The displacement R can also be calculated as the distance between the upper fulcrum B and the lower fulcrum D.

The upper fulcrum A, the upper fulcrum B, the fixed point U, the fixed point V, the point Q, the middle point E, and the displacement L thus calculated.
And the displacement R are used or displayed on the link operation confirmation screen 300 and the operation analysis screen 350.

Next, the computing device 10 configured as described above.
0 and the calculation program 132, a method of calculating the behavior of the riding simulator 10 will be described with reference to FIGS.
This will be described with reference to FIG.

First, in step S1 of FIG. 13, the operator of the computing apparatus 100 activates the computing program 132. Specifically, the start instruction is given to the calculation program 132 according to the operation procedure of the OS 130. OS
Under the control of the CPU 104, the CPU 130 loads the calculation program 132 into the program area 120b and executes it. By this procedure, the link parameter confirmation screen 200 (see FIG. 8) is displayed on the display screen.

On the link parameter confirmation screen 200, the parameter file 134 is read and displayed in the parameter confirmation area 204 as described above.

Next, in step S2, the parameter confirmation area 2 is displayed on the link parameter confirmation screen 200.
If the data in the parameter file 134 indicated by 04 is confirmed and the data is to be corrected, the "N" key is pressed to move to the next step S3. If it is not necessary to make a correction and the static operation of the riding simulator 10 is to be confirmed, the "Y" key is pressed and the process proceeds to step S4. To confirm the dynamic operation of the riding simulator 10, press the "M" key and move to step S5.

In step S3, since the link parameter setting screen 250 (see FIG. 9) is displayed, the data of the parameter file 134 is set.

After the setting is completed, the parameter that has been modified by clicking "Save" 254 in the menu bar is overwritten and saved in the parameter file 134, and the link is made by clicking "End" 256 in the menu bar. Exit the parameter setting screen 250,
Return to the link parameter confirmation screen 200. That is, it returns to step S2.

In step S4, static operation confirmation of the riding simulator 10 is performed on the link operation confirmation screen 300 (see FIG. 10).

Further, in step S5, dynamic operation confirmation of the riding simulator 10 is performed on the operation analysis screen 350 (see FIG. 11).

Next, a procedure for confirming static operation of the riding simulator 10 on the link operation confirmation screen 300 in step S4 will be described with reference to FIG.

In step S101 of FIG. 14, the change amount of the roll angle and the pitch angle for each predetermined time is set by the setting unit 3
04a and 304b.

Next, in step S102, "0"
To change the roll angle and pitch angle, press the numeric keypad "9". At this time, the roll angle and the pitch angle are
It changes every predetermined time based on the values set by the setting units 304a and 304b, and the changed value is the roll angle display unit 3
06a and the pitch angle display portion 306b.

The displacement calculator 144 (see FIG. 7) calculates the posture of the 6-axis link model 10a based on the values displayed on the roll angle display 306a and the pitch angle display 306b. The respective values calculated by the displacement calculating section 144 are displayed on the left link value display section 306c and the right link value display section 30.
6d, A point coordinate display section 306e, B point coordinate display section 306
The rear view of the link diagram area 302 displayed in f
10 and side view 312.

The input operation in step S102 is performed by the roll angle display section 306a and the pitch angle display section 306b.
Alternatively, the roll angle and pitch angle values may be directly input.

Next, the operation analysis screen 350 of step S5.
A procedure for dynamically checking the operation of the riding simulator 10 will be described with reference to FIG.

In step S201 of FIG.
The "↓" cursor key or the "↑" cursor key is used to select the axis to which the pseudo sine waveform or the waveform file 136 is applied from either "roll" or "pitch". The “⊚” mark is displayed on the selected one.

The other not selected is 0.00
When confirming the operation at an angle other than [deg], a fixed angle value is input by a predetermined operation.

Next, in step S202, whether to use the pseudo sine waveform or the waveform file 136 is selected as means for confirming the operation. When using the pseudo sine waveform, the process proceeds to step S203, and when using the waveform file 136, the process proceeds to step S205.

In step S203, the respective values of the maximum angle input section 352a, the required time input section 352b, and the update cycle input section 352c are input.

Next, in step S204, "S"
When the key is pressed, the calculation process of the displacement calculator 144 is performed.

The displacement calculator 144 determines that the waveform setting area 352
The posture of the 6-axis link model 10a is calculated based on the pseudo sine waveform set in. The change over time of the displacement L and the displacement R calculated by the displacement calculator 144 is displayed in the link length display area 358. Further, the values obtained by performing the first differential and the second differential of the displacement L and the displacement R are displayed in the link speed display area 360 and the link acceleration display area 362. The pseudo sine waveform set in the waveform setting area 352 is displayed in the input value display area 356.

Calculation in the displacement calculator 144, and
Input value display area 356, link length display area 358, link speed display area 360, and link acceleration display area 36
After the display of 2 is completed, the process moves to the final step S207.

In step S205 (when performing an operation analysis using the waveform file 136), the message display area 3 is displayed by pressing the "F4" function key.
A message "Please specify the file name to be input." Is displayed in 54, and the name of the waveform file 136 to be used is input.

It is assumed that the waveform file 136 has been created in advance before executing step S205.

Next, in step S206, "S"
When the key is pressed, the calculation process of the displacement calculator 144 is performed. This step S206 is the same as step S204.
The displacement calculation unit 144 performs a calculation based on the data recorded in the waveform file 136 as an alternative to the pseudo sine waveform.

In the input value display area 356, the waveform represented by the waveform file 136 is displayed.

Finally, in step S207, "F
5) By pressing the function key, a message "Please specify the file name to be output." Is displayed in the message display area 354, and an arbitrary file name is set.

Input value display area 3 with the set file name
56, link length display area 358, link speed display area 3
The data displayed in 60 and the link acceleration display area 362 are recorded in the hard disk 122 in a text format or a CSV format.

As described above, according to the present embodiment, the static and dynamic behaviors of the riding simulator 10 in which the simulated vehicle body is operated by the pair of linear motion type actuators 50a and 50b are confirmed in the personal computer, that is, the computing device 100. can do. In particular,
It is possible to confirm the displacement L, the displacement R, the operation speed, and the operation acceleration with respect to the operation of the pitch axis 22 and the roll axis 18. Numerical display, graph display, and animation display can be used as confirmation means, so that confirmation can be performed numerically and sensuously.

Since the maximum value and the minimum value that the displacement L and the displacement R can take are known, the parameter file 13
Maximum values L _MAX , R _MAX , minimum values L _MIN , R recorded in 4
Actuators 50a, 5 by comparing with _MIN
It is possible to verify the stroke specification of 0b. Displacement L
And when the displacement R exceeds these maximum values L _MAX , R _MAX and minimum values L _MIN , R _MIN , it is _advisable to display an error.

Furthermore, since the operating speed and the operating acceleration of the actuators 50a and 50b are calculated, the operating speed specifications, driving force specifications, output specifications and the like of the actuators 50a and 50b can be verified.

Further, the link parameter setting screen 2
At 50, each parameter of the 6-axis link model 10a, which is the basic structure of the riding simulator 10, such as the distances d ₁ and d ₂ can be easily corrected, and then the operation can be confirmed. Therefore, a suitable 6-axis link model 1
It is possible to confirm the compatibility between each parameter 0a and the actuators 50a and 50b.

In the riding simulator 10 to be designed in the above-described embodiment, the actuators 50a and 50b are set near the steering wheel, and the roll shaft 18 and the pitch shaft 22 are set below the seat 31. However, it is not limited to this, for example,
The actuators 50a and 50b may be provided on the rear portion of the seat 31.

The behavior calculating apparatus and method for a riding simulator according to the present invention are not limited to the above-described embodiments, and can of course have various configurations without departing from the gist of the present invention.

[0136]

As described above, according to the behavior calculation device and method for a riding simulator according to the present invention, when designing a riding simulator in which pitch swing and roll swing are generated by a pair of linear motion type actuators. In addition, it is possible to easily calculate the displacement, operating speed, and operating acceleration of the direct acting actuator based on the pitch angle, the roll angle, and the parameter of the link mechanism, and to judge the suitability of the link mechanism parameter and the direct acting actuator specifications. The effect of being able to be obtained is obtained.

[Brief description of drawings]

FIG. 1 is a side view of a riding simulator.

FIG. 2 is a top view of a riding simulator.

FIG. 3 is a riding simulator in FIG.
FIG. 3 is a sectional view taken along the line Ι-ΙΙΙ.

FIG. 4 is a diagram showing a link structure of a simulated vehicle body.

FIG. 5 is a diagram showing a link model of a simulated vehicle body.

FIG. 6 is a schematic block diagram of a behavior calculation device for a riding simulator according to the present embodiment.

FIG. 7 is a schematic block diagram of a behavior calculation program for a riding simulator according to the present embodiment.

FIG. 8 is an explanatory diagram showing a link parameter confirmation screen.

FIG. 9 is an explanatory diagram showing a link parameter setting screen.

FIG. 10 is an explanatory diagram showing a link operation confirmation screen.

FIG. 11 is an explanatory diagram showing a motion analysis screen.

FIG. 12 is an image diagram showing the contents of a waveform file.

FIG. 13 is a flowchart showing a procedure of a behavior calculation method for a riding simulator according to the present embodiment.

FIG. 14 is a flowchart showing a procedure for checking static behavior of a riding simulator.

FIG. 15 is a flowchart showing a procedure for confirming the dynamic behavior of the riding simulator.

[Explanation of symbols]

10 ... Riding simulator 10a ... 6-axis link model 14 ... Simulated vehicle body 16 ... Support stand 18 ... Roll axis 22 ... Pitch axes 50a, 50b ... Actuator 62 ... Motor 100 ... Calculation device 122 ... Hard disk 126 ... Recording medium 132 ... Calculation program 134 Parameter file 136 Waveform file 140 Link parameter input unit 142 Command input unit 144 Displacement calculation unit 200 Link parameter confirmation screen 250 Link parameter setting screen 300 Link operation confirmation screen 350 Motion analysis screen

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Ken Masaki             1-10-1 Shinsayama, Sayama City, Saitama Prefecture             Engineering Co., Ltd.

Claims (4)

[Claims] 1. A pseudo actuator that has a pair of linear actuators, is connected to the pair of actuators by a link mechanism, and is capable of swinging about a roll axis and a pitch axis according to the displacement of the pair of actuators. In a behavior calculation device for calculating the behavior of a riding simulator equipped with a vehicle body, a link parameter input unit for inputting parameters of the link mechanism, roll data indicating an angle of the roll axis, and pitch data indicating an angle of the pitch axis. And a displacement calculation unit that calculates the displacement of the actuator based on the parameter, the roll data, and the pitch data, and a behavior calculation device for a riding simulator. 2. The behavior calculation device for a riding simulator according to claim 1, wherein the roll data and the pitch data are constant values or time series data. 3. The apparatus according to claim 1, wherein at least one of the roll data and the pitch data is time-series data, and the displacement calculation unit obtains velocity and acceleration from displacement of the actuator. Characteristic riding simulator behavior calculation device. 4. A pseudo actuator that has a pair of linear actuators, is connected to the pair of actuators by a link mechanism, and is capable of swinging about a roll axis and a pitch axis with displacement of the pair of actuators. In a behavior calculation method for calculating behavior of a riding simulator including a vehicle body, a step of inputting parameters of the link mechanism, roll data indicating an angle of the roll axis, and pitch data indicating an angle of the pitch axis are input. And a step of obtaining the displacement of the actuator based on the parameter, the roll data, and the pitch data, the behavior calculation method of the riding simulator.