JP2003288001A - Method for controlling oscillating device for bodily sensation acceleration simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve bodily sensation acceleration simulating performance of a bodily sensation acceleration simulator and to accurately simulate the bodily sensation acceleration in accordance with the operation of an operator. <P>SOLUTION: The bodily sensation acceleration simulator is equipped with an oscillating device imparting translation motion and revolving motion to a platform and simulates aimed bodily sensation acceleration in accordance with the operation of the operator by the translation motion and the revolving motion of the platform. The angle θ of the revolving motion imparted to the platform by the oscillating device is determined using the acceleration x" generated on the platform by the translation motion imparted to the platform by the oscillating device and the aimed bodily sensation acceleration α. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an acceleration simulating device for simulating a desired perceived acceleration according to an operation of an operator by imparting a translational motion and a rotational motion to a platform such as a driver's seat by a rocking device. The present invention relates to a method for controlling a shaking device.

[0002]

2. Description of the Related Art Acceleration simulators represented by flight simulators and driving simulators are equipped with a rocking device that rocks a rocking section (hereinafter referred to as a platform) such as a driver's seat or a driver's seat. By imparting sway such as translational motion or rotational motion to the platform using this swaying device, the acceleration of the motion of the airframe or vehicle caused by the maneuvering operation or the driving operation (hereinafter abbreviated as operation) of the operator is given to the operator. It is designed to give you a simulated experience. Here, the translational movement means a relative linear movement performed between the platform and the installation surface, which is generally performed parallel to the installation surface, but may be performed at an angle with respect to the installation surface. It is possible. Further, the rotational movement means a movement of rotating the platform and inclining it with respect to the installation surface.

In such a sensory acceleration simulating device,
For example, as a method of simulating the sensory acceleration in the front-rear direction or the lateral direction, it is conceivable that the platform is translated in the front-rear direction or the lateral direction to generate acceleration, and the acceleration is sensed. Due to the limitation of the installation space, there is a limitation on the movable range of the platform and the rocking device, and it is impossible to simulate a steady sensation of acceleration by only translational motion. Therefore, in such a sensation-based acceleration simulation device, basically, in addition to the sensation-based acceleration generated by the translational motion, the operator senses the gravitational acceleration component by rotating and tilting the platform, and the gravitational acceleration component is detected. Utilizing this, the sensory acceleration in the front-rear direction or the lateral direction is generated.

Specifically, as shown in FIG.
First, after obtaining the target sensible acceleration α to be experienced by the operator according to the operation of the operator, the target sensible acceleration α is passed through a high-pass filter and a low-pass filter to obtain a high frequency acceleration component α _H and a low-frequency acceleration component α _H. Frequency acceleration component α
_{Find L} and. Then, the translational movement of the translational displacement x _H obtained by integrating the high-frequency acceleration component α _H twice and the rotational movement of the angle θ that allows the operator on the platform to experience the gravitational acceleration component corresponding to the low-frequency acceleration component α _L. By causing the platform to perform and a high-frequency acceleration component α _H and a low-frequency acceleration component α _L ,
The principle is to simulate the target sensible acceleration α by them (see FIG. 6).

That is, the inertial force I generated by the translational movement of the translational displacement x _H determined from the high frequency acceleration component α _{H is applied} to the operator by the sensible inertial force f in the direction opposite to the simulated vehicle acceleration direction.
_A , the rotational motion of the angle θ determined from the low-frequency acceleration component α _L causes the operator to generate the sensation inertia force f _B in the direction opposite to the simulated vehicle acceleration direction from the gravity G, and the sensation inertia force f _A and the sensation force. Combined inertial force f _C that is a combination with inertial force f _B
By (= f _A + f _B ), the target sensible acceleration α that the operator experiences in the simulated vehicle acceleration direction is simulated.

When the platform makes a rotational movement, the acceleration experienced by the operator on the platform due to the translational movement of the platform is reduced. Therefore, when the translational movement is performed in parallel with the installation surface, the acceleration from the target sensible acceleration α is high. The target sensible acceleration cannot be accurately simulated by simply separating the frequency acceleration component and the low frequency acceleration component. Therefore, it is necessary to perform a process for compensating for the reduction of the sensory acceleration caused by the translational motion due to the rotational motion of the platform at an appropriate stage. For example, the high frequency acceleration component and the low frequency acceleration component may be separated in consideration of the above compensation. Of course, in order to accurately simulate the target sensible acceleration without affecting the acceleration felt by the operator by the translational motion of the platform, the translational motion of the platform should be set to the inclination angle of the platform tilted by the rotational motion. You may go along.

[0007]

By the way, in the simulated sensation acceleration apparatus adopting the above-described method, particularly when trying to simulate a steady acceleration, it is required to perform a translational motion of a huge displacement. The displacement exceeds the range of motion of the platform or rocker.

In order to avoid this problem, in the sensory acceleration simulating device, the platform or the swaying device adjusts the command value of the displacement of the translational motion so as to slowly return to the neutral position without exceeding the movable range thereof. Return processing is performed on the displacement command value of translational motion. As a result, the platform will attempt to return to the neutral position after performing a translational motion in the direction that produces the desired tactile acceleration. Specifically, as shown in FIG. 5, a high-pass filter called a washout filter is applied to perform a neutral position returning process on the displacement x _H to obtain a correction displacement x, and this correction displacement x is calculated. It is used as a command value for the shaking device.

[0009] However, since the retouching displacement x obtained by applying a washout filter to the displacement x _H translational motion is significantly different from the displacement x _H translational motion, sensory acceleration caused by the translational motion of the adjustment displacement x is the displacement x Perceived acceleration caused by the translational motion of _H (that is, high frequency acceleration component α
_H )). Therefore, the sensible acceleration caused by superimposing the translational movement of the modified displacement x by the displacement command value of the translational movement after performing the neutral position return processing on the rotational movement of the angle θ obtained by the low-pass filter is the target sensible acceleration α Will be very different from. As described above, the neutral position returning process causes a problem of deteriorating the perceived acceleration simulation performance of the perceived acceleration simulation device.

Therefore, an object of the present invention is to solve the above-mentioned problems existing in the prior art, improve the sensation-acceleration simulation performance of the sensation-acceleration simulating device, and accurately simulate the sensation-acceleration according to the operation of the operator. It is in.

[0011]

In view of the above object, the present invention is provided with a swaying device for imparting a translational motion and a rotational motion to a platform, and provides a desired sensational acceleration corresponding to an operation of an operator with the translational motion of the platform. In a sensation-based acceleration simulating device that simulates the rotational motion of a platform, the swaying device applies the sensation to the platform using the acceleration and the target sensible acceleration that are generated in the platform by the translational motion applied to the platform by the swaying device. Provided is a method for controlling a swaying device for a sensible acceleration simulating device which determines an angle of a rotational movement.

In the above control method, the angle of the rotational motion imparted to the platform by the rocking device is the acceleration between the platform caused by the translational motion imparted to the platform by the rocking device and the desired sensible acceleration. It is preferable to be determined based on the difference. Similarly, the difference between the sensible acceleration caused by the translational movement and the target sensible acceleration is equal to the sensational acceleration caused by the rotational movement,
Preferably, the swaying device defines an angle of rotational movement imparted to the platform.

Further, in the above control method, when simulating the desired sensible acceleration by the translational movement and the rotational movement of the platform, the platform is translated from the neutral position in the direction in which the desired sensible acceleration is generated, and then the neutralization is performed again. More preferably, it is adapted to be returned to the position.

In the method for controlling the swaying device for the sensible acceleration simulating device of the present invention, the rotational motion imparted to the platform is determined by using the target acceleration and the acceleration actually generated in the platform by the translational motion. Since it is determined, the displacement command value of the translational motion can reflect the change in the displacement of the translational motion due to the processing such as the neutral position return process in the determination of the rotary motion, and the performance of sensational acceleration simulation of the sensational acceleration simulator can be improved. It becomes possible to exert an effect.

For example, the angle of the rotational movement is determined based on the difference between the acceleration generated on the platform by the translational movement and the desired sensible acceleration, so that the displacement command value of the translational movement is converted into the neutral movement by the processing such as the neutral position return processing. Changes in displacement are reflected in the determination of rotational movement,
The above effect is exhibited.

If the angle of the rotational movement is determined so that the difference between the sensible acceleration caused by the translational movement and the target sensible acceleration is equal to the sensational acceleration caused by the rotational movement, the sensational acceleration and the rotational movement caused by the translational movement cause the difference. The sum of the generated sensory acceleration is always equal to the target sensory acceleration, and it is possible to accurately simulate the target sensory acceleration regardless of whether the displacement command value of translational motion is subjected to processing such as neutral position return processing. become able to.

The effect of the control method of the shaking device for the sensation-acceleration simulating device of the present invention is that when the target sensation-acceleration is simulated by the translational motion and the rotational motion of the platform, the platform is targeted from the neutral position. This becomes particularly noticeable when the robot moves back in the neutral position after translational movement in the direction in which the sensory acceleration is generated, that is, when the neutral position returning process is performed.

Incidentally, in the present application, the "practical acceleration" means
The acceleration sensed by the operator as a motion in a specific direction such as the X axis, the Y axis, and the Z axis is meant. In addition, the mere “acceleration” means the acceleration generated by the actual physical movement.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a sensible acceleration simulating device using a method for controlling a shaking device according to the present invention will be described below with reference to the drawings. It should be noted that in the following embodiments, the sensation acceleration simulation device simulating the sensation acceleration caused by the motion of a vehicle such as an automobile is described as an example, but the present invention is not limited to this, and an aircraft body such as an airplane. It can also be applied to a sensory acceleration simulating device for simulating sensory acceleration due to the motion of.

Referring to FIG. 1, a sensible acceleration simulating device 1
Reference numeral 0 denotes a platform 12 including a cockpit or a driver's seat on which an operator boards and performs various operations, a display device 14 for providing the operator of the platform 12 with visual information such as surrounding scenery, and a platform 12 for supporting the platform 12. A shaking device 16 for giving a shake to 12 and a shaking device 16
A control device 18 for controlling the operation of the above and a storage device 20 for storing and storing various data. The storage device 20 stores in advance setting parameters related to various vehicle models, functions required for various calculations, filters (matrix) such as a high-pass filter and a washout filter, and the like. The setting parameters include parameters necessary for deriving the acceleration of the platform 12 from the operation by the operator.

The controller 18 includes a vehicle model calculator 22.
And a motion calculator 24 and a motion commander 26.

The vehicle model calculation unit 22 calculates the acceleration in the X-axis, Y-axis, and Z-axis directions of the motion theoretically generated in the vehicle according to the operation of the operator based on the reproduction target vehicle model selected by the operator. Calculate and decide. Then, based on the acceleration of the motion generated in the vehicle, the target sensible acceleration in the corresponding direction to be sensed by the operator on the platform 12 is calculated and determined. Here, when using the body-perceived acceleration in the simulated space, the X-axis direction refers to the direction in which the operator feels that the vehicle is moving forward and backward, and the Z-axis direction refers to the vehicle moving up and down by the operator. The Y-axis direction means a direction perpendicular to the X-axis and the Z-axis. Further, when used for a motion in the physical space such as the platform 12 and the shaking device 16, the X-axis and Y-axis directions are directions parallel to and perpendicular to the installation surface of the device, and the Z-axis direction is perpendicular to the installation surface. Point in the right direction.

The sway calculation unit 24 actually calculates the platform 12 from the target sensible acceleration in the X-axis, Y-axis and Z-axis directions.
The sway to be imparted to, that is, the displacement or velocity of translational motion and rotational motion is calculated. In the embodiment shown in FIG. 2, the sway calculation unit 24 is adapted to determine the displacement of the translational motion and the rotational motion to be applied to the platform 12, but of course to determine the speed of the translational motion and the rotational motion. It may be. The operation command unit 26 is
Platform 1 determined by the motion calculator 24
In order to realize the agitation to be given to 2, the agitation device 1
6. Specifically, the operation to be performed by each actuator 28 is determined and the operation command is created.

In order to realize the movement of the platform 12, the swaying device 16 performs translational movements in the X-axis, Y-axis and Z-axis in the real space and rotational movements about the X-axis, the Y-axis and the Z-axis. Is provided, and each actuator 28 operates based on the operation command of the operation command unit 26. The swaying device 16 is not limited to the above-mentioned configuration, and the X-axis and the Y-axis in the real space with respect to the platform 12 can be used.
Translation along 3 axes orthogonal to the Z axis and Z axis, around the X axis, Y
It can be any drive device that can provide rotational motion about the axis and about three axes around the Z axis. Further, the swaying device 16 does not need to include a plurality of actuators 28 that independently handle translational movements of three orthogonal axes and rotational movements around the three axes.
It suffices that the operation of 8 can realize the translational movement of the three orthogonal axes and the rotational movement around the three axes as a result. For example, as the rocking | fluctuation apparatus 16, the 6 degree-of-freedom parallel link mechanism etc. which support the platform 12 by the actuator 28 of several (in this case, six are preferable) etc. can be used. The 6-degree-of-freedom parallel link mechanism is well known and will not be described here.

Next, with reference to FIGS. 1 and 2, the processing performed in the controller 18 will be described. Hereinafter, for simplification, only the target sensible acceleration α in the X-axis direction will be described, but it goes without saying that similar processing can be performed for the acceleration in the Y-axis direction. In addition, the rocking device 16 includes the platform 1 that is tilted by the rotary motion.
It is assumed that the translational movement is performed in the direction parallel to the plane 2 but, of course, the translational movement can always be performed in the direction parallel to the installation surface regardless of the rotational movement of the platform 12.

First, the control device 18 stores, from the storage device 20, parameters necessary for deriving the acceleration to be generated in the vehicle from the operation amount by the operator based on the vehicle model to be reproduced selected by the operator. Vehicle model calculation unit 2
Read in 2. At the same time, the functions and filters (matrix) required for various calculations are read from the storage device 20 into the motion calculator 24 and the motion commander 26.

Next, the vehicle model calculation unit 22 calculates the acceleration in the X-axis, Y-axis and Z-axis directions of the motion theoretically generated in the vehicle according to the driving motion of the operator based on the selected vehicle model. Calculate and decide. Then, based on the acceleration of the motion generated in this vehicle, the target sensible acceleration α in the X-axis, Y-axis, and Z-axis directions in the simulated space that the operator on the platform 12 should experience is calculated and determined.

Although not shown in the figure, the displacement amount and posture of the vehicle are obtained by calculation such as integration from the acceleration of the motion of the vehicle obtained above, and the displacement amount and posture of the vehicle are obtained. According to the above, the control device 18 sequentially provides the operator with visual information through the display device 14.

Next, the desired sensible acceleration α determined by the vehicle model calculation unit 22 is read into the motion calculation unit 24. In the motion calculation unit 24, first, in a block 30, the target sensation acceleration α is processed by a high-pass filter to extract a high-frequency acceleration component α _H from the target sensation acceleration α, and the translation motion of the swaying device 16 or the platform 12 is calculated. In order to bring the high-frequency acceleration component α _H into the movable range, the high-frequency acceleration component α _H is subjected to neutral position return processing by the washout filter to obtain the translational acceleration component x ″ of the translational motion that is actually given to the platform 12.

The translational acceleration component x ″ thus obtained is subjected to integration processing twice in a block 34 to obtain a translational displacement x to be imparted to the platform 12 by the swaying device 16, which is an operation command section 26. Sent to.

By the way, since the translational acceleration component x ″ is subjected to the neutral position returning processing in the block 32, the translational acceleration component x ″ is determined by the platform 12 or the rocking device 1.
6 is a motion in consideration of the motion for returning to the neutral position, and generally has a value different from the high frequency acceleration component α _H. Therefore, as in the conventional sensation-based acceleration simulating device, the target sensation-based acceleration α is processed by a low-pass filter,
The target sensory acceleration alpha extracts a low-frequency acceleration component alpha _L, the angle θ to experience the gravitational acceleration component corresponding to the low frequency acceleration component alpha _L operator platform 12
Is calculated, the acceleration felt by the operator is greatly different from the desired sensory acceleration α, and the simulation performance of the sensory acceleration simulator is deteriorated. (The sum of the high-frequency acceleration component α _H and the low-frequency acceleration component α _L should be essentially equal to the target sensible acceleration.) Therefore, in the present invention, in the block 36, the platform provided by the shaking device 16 is used. The sensible acceleration caused by the rotational movement of 12 is not obtained by the processing by the low-pass filter, but the shaking device 16
The rotational motion given to the platform 12 by the swaying device 16 is determined by using the acceleration generated by the translational motion given to the platform 12 by the target and the desired body sensation acceleration α. For example, the angle θ of the rotational movement of the platform 12 is determined so that the difference between the acceleration generated in the platform 12 by the translational movement and the target sensible acceleration becomes large and becomes large.

Further, in the preferred embodiment, the difference between the sensational acceleration that the operator feels by the translational motion of the platform 12 and the desired sensational acceleration α is equal to the sensational acceleration caused by the rotational motion of the platform 12.
The angle θ of the rotational movement of the platform 12 is preferably defined.

In this embodiment, since the translational motion is performed in the X-axis direction in the simulated space, that is, along the surface inclined by the rotational motion of the platform 12, the acceleration caused by the translational motion of the platform 12 is a sensory acceleration. Is equal to However, when the translational motion is performed in parallel with the installation surface in the X-axis direction of the physical space regardless of the rotational motion of the platform 12, the acceleration caused by the translational motion of the platform 12 is different from the sensible acceleration. So in this case,
In order to determine the angle θ of the rotational movement as in the preferred embodiment, for example, the angle of the rotational movement that causes a tactile acceleration equal to the difference between the acceleration generated in the platform 12 by the translational movement of the platform 12 and the target tactile acceleration α is set. Find and platform 12 inclined at this angle
, Again, in the simulated space where the operator can experience X
By repeatedly obtaining the angle of the rotational movement that causes the tactile acceleration equal to the difference between the tactile acceleration in the axial direction and the tactile acceleration α, the translational movement of the platform 12 makes the tactile acceleration felt by the operator and the tactile acceleration α. The calculation may be continued until the difference becomes equal to the sensory acceleration caused by the rotational movement of the platform 12.

The shaking device 1 obtained as described above
An example of the translational acceleration x ″ and the rotational movement angle θ that 6 imparts to the platform 12 is shown in FIG. 3. FIG. 3A shows the target sensible acceleration α in the X-axis direction, and FIG. 3B. 2C and 2C respectively show the acceleration x ″ and the rotation angle θ of the translational motion of the platform 12 in the X-axis direction in the simulated space, which are obtained by the control device 18 shown in FIG.

In this way, in the control device 18,
When the shake to be imparted to the platform 12 is obtained by the shake device 16, the translational displacement x in the X-axis direction and the rotation angle θ around the Y-axis in the simulated space representing the shake are transferred from the shake calculator 24 to the operation commander 26. Is transmitted.

Then, the operation command section 26 is used for the storage device 20.
On the basis of the conversion coefficient and the matrix read from the above, in order to realize the sway given to the platform 12 by the sway calculation unit 24, the sway device 16, in particular, the operation to be performed by each actuator 28 (specifically, The amount of displacement) is determined, and an operation command for each actuator 28 is created.

Then, the operation command section 26 gives an operation command to each actuator 28 of the shaking device 16 according to the obtained operation, and each actuator 28 receives the operation command from the control device 18 and responds to the operation command. Perform the actions.

In this way, the platform 12
The shaking device 16 according to the operation performed by the operator.
Is shaken by the operator, the driving operation according to the operation of the operator is simulated, and the display device 14 is provided.
Through it, you can simulate the visual changes.

FIG. 4 shows the acceleration simulation performance of the sensation-based acceleration simulation device 10 using the above-described control method of the shaking device 16 of the present invention and the conventional sensation-based acceleration simulation device. FIG. 4A shows the target sensible acceleration α, and FIGS. 4B and 4C show the conventional sensible acceleration simulating device and the shaking device 1 of the present invention with respect to the input shown in FIG. 4A, respectively.
6 shows the sensible acceleration simulated by the sensible acceleration simulating device 10 using the control method of No. 6. From FIG. 4, the target sensible acceleration α can be obtained by using the control method of the shaking device 16 of the present invention.
It can be seen that the performance of simulating is significantly improved compared to the conventional technology.

In the above embodiment, the case where the present invention is applied to the simulation of the sensory acceleration in the longitudinal direction of the vehicle has been described, but the present invention can also be applied to the sensory acceleration in the lateral direction. Further, the present invention can be applied not only to a driving simulator but also to any sensational acceleration simulating device for simulating a sensational acceleration by giving a translational motion and a rotational motion to a platform by a swaying device such as a flight simulator. Is possible.

[0041]

As described above, according to the present invention, first, a translational motion within the movable range of the rocking device or the platform is determined by using a high-pass filter, a washout filter, etc. Instead of using a low-pass filter like
It is determined by using the difference between the acceleration generated by the translational motion actually applied to the platform at that time and the target translational acceleration. Therefore, it is possible to suppress the influence of the neutral position return processing by the washout filter on the operator's sensation, and to significantly improve the sensation of sensation acceleration simulation performance of the sensation-acceleration simulating device.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of a sensible acceleration simulating device using a method for controlling a shaking device according to the present invention.

FIG. 2 is a block diagram illustrating a process in a control device of the sensible acceleration simulating device shown in FIG.

FIG. 3 is a graph showing an example of a translational motion and a rotational motion that are obtained with respect to a target sensible speed input in a sensible acceleration simulating device that uses the control method for a shaking device of the present invention. The sensory accelerations, (b) and (c), respectively, indicate the translational motion acceleration and the rotational motion angle of the platform, which are obtained with respect to the target sensory acceleration shown in (a).

FIG. 4 is a graph showing acceleration simulation performances of a sensation-based acceleration simulation device using a method for controlling a shaking device according to the present invention and a conventional sensation-based acceleration simulation device, wherein (a) is a target sensation acceleration to be simulated; Each of (b) and (c) shows the actual sensory acceleration actually simulated with respect to the target sensory acceleration shown in (a).

FIG. 5 is a block diagram showing a procedure for obtaining a motion command related to a translational motion and a rotational motion to be given to the rocking device in the conventional sensory acceleration simulating device.

FIG. 6 is a graph showing a principle of acceleration simulation for simulating a target tactile acceleration according to an operation of an operator by superimposing a tactile acceleration generated by a translational motion of the platform and a tactile acceleration generated by a rotational motion of the platform.

[Explanation of symbols]

10 ... Experienced acceleration simulation device 12 ... Platform 16 ... Shaking device 18 ... Control device 22 ... Vehicle model calculation unit 24 ... Shake calculation unit 26 ... Operation command section

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Atsushi Araki             345 Kamimachiya, Kamakura City, Kanagawa Prefecture Mitsubishi Pre             Inside Cigeon Co., Ltd.

Claims (4)

[Claims] 1. A sensory acceleration simulating device comprising a swinging device for imparting a translational motion and a rotational motion to a platform, and simulating a target sensory acceleration according to an operation of an operator by the translational motion of the platform and the rotational motion of the platform. An angle of a rotational motion imparted to the platform by the agitation device is determined by using an acceleration generated in the platform by a translational motion imparted to the platform by the agitation device and the target sensible acceleration. A method for controlling a shaking device for a simulated body acceleration device. 2. The angle of the rotational motion imparted to the platform by the rocking device is based on the difference between the acceleration generated in the platform by the translational motion imparted to the platform by the rocking device and the desired sensible acceleration. The method for controlling a shaking device for a sensible acceleration simulating device according to claim 1, which is defined. 3. The angle of the rotational motion imparted to the platform by the swaying device is determined so that the difference between the sensible acceleration caused by the translational motion and the target sensible acceleration is equal to the sensible acceleration caused by the rotational motion. A method for controlling a shaking device for a sensible acceleration simulating device according to claim 1. 4. When simulating the desired sensory acceleration by translational motion and rotational motion of the platform, the platform is translated from a neutral position in a direction in which the target acceleration is generated, and then returned to the neutral position. A method for controlling a swaying device for the sensible acceleration simulation device according to any one of claims 1 to 3.