JP2016125873A - Vehicle behavior reproduction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle behavior reproduction system with which it is possible to prevent an expected large load from being imposed on a vehicle body or a motion base when each motion base is returned to an initial position.SOLUTION: When an initialization start command is given, an initialization control unit 42 generates a posture-position command value for returning each of second motion bases 4-7 those height positions are higher than an initial position stepwise to the initial position. Next, the initialization control unit 42 generates a posture-position command value for returning a first motion base 3 stepwise to an initial position. Finally, the initialization control unit 42 generates a posture-position command value for returning second motion bases 4-7 located at other than an initial position stepwise to the initial position.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicle behavior reproduction system for reproducing vehicle behavior.

  In order to support the vehicle body and cause the vehicle body to move with 6 degrees of freedom, the applicant of the present invention has four axles corresponding to the four wheels of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. Has developed a vehicle behavior reproduction device including a first motion base and four second motion bases for supporting each axle and causing each axle to move with six degrees of freedom (see Patent Document 1 below). . The first motion base is fixed to the vehicle body directly or via a spacer.

JP 2014-215226 A

  In the vehicle behavior reproduction system already developed by the present applicant described above, when an emergency stop button is operated during the vehicle behavior reproduction operation or when an abnormality in each motion base is detected, all motion bases are applied. Is interrupted. The interruption of power supply to all motion bases during vehicle behavior reproduction is called an emergency stop, and the emergency stop state has been canceled after the power supply to all motion bases has been restored after an emergency stop. I will decide. In order for the vehicle behavior reproduction device to perform the vehicle behavior reproduction operation when all the motion bases are in the emergency stop state, after canceling the emergency stop state, the position and orientation of each motion base is determined by initialization processing. It is necessary to return to the initial position (neutral position). This is because the position / posture of each motion base cannot be accurately specified unless the position / posture of each motion base is returned to the initial position in an emergency stop state.

  In the initialization process, for example, every time the operator designates a motion base to be initialized, the designated motion base position / posture is automatically returned to the initial position. That is, the order of the motion base to be initialized is determined by the operator. At this time, depending on the order of the motion base to be initialized, an unexpectedly large load (load) may be applied to the vehicle body or the motion base, and the vehicle body or the motion base may be damaged.

  An object of the present invention is to provide a vehicle behavior reproduction system that can prevent an unexpectedly large load from being applied to a vehicle body and a motion base when returning each motion base to an initial position.

  In order to achieve the above object, the invention according to claim 1 is a vehicle body (2) to which a plurality of axles (21S, 22S, 23S, 24S) are attached, and is fixed to the vehicle body so as to support the vehicle body. And a first motion base (3) for causing the vehicle body to move with 6 degrees of freedom and a plurality of second motion bases (4) for supporting the axles and causing the axles to move with 6 degrees of freedom. , 5, 6, 7) and a control device (40) for controlling each motion base, wherein the control device determines the position and orientation of each motion base. Initialization control means (42) for returning to an initial position is included, and when the initialization control instruction is given, the initialization control means has a height position within the plurality of second motion bases as an initial position. Than When there is a high second motion base, first means for generating a command for returning each second motion base whose height position is higher than the initial position to the initial position; The second means for generating a command value for returning the first motion base to the initial position after each second motion base is returned to the initial position after the second motion base is returned to the initial position. After the first motion base is returned to the initial position, if there is a second motion base at a position different from the initial position, each second motion base at a position different from the initial position is returned to the initial position. A vehicle behavior reproduction system (100) including a third means for generating a command value for In addition, although the alphanumeric character in parentheses represents a corresponding component in an embodiment described later, of course, the scope of the present invention is not limited to the embodiment. The same applies hereinafter.

  Each second motion base is not fixed to the axle, whereas the first motion base is fixed to the vehicle body. For this reason, if the position / posture of the first motion base and each second motion base is such that the force that pushes the axle upward with respect to the vehicle body is large, the vehicle body and the motion base are unexpected. A large load (load) may be applied.

  In this configuration, if there is a second motion base whose height position is higher than the initial position, each second motion base whose height position is higher than the initial position is returned to the initial position. That is, only each second motion base whose height position is higher than the initial position is lowered to the initial position. Hereinafter, this operation is referred to as a first operation. At this time, each second motion base whose height position is higher than the initial position moves in a direction to reduce the force pushing the axle upward with respect to the vehicle body. Therefore, the first operation does not apply an unexpectedly large load to the vehicle body or the motion base.

  Thereafter, the first motion base is returned to the initial position. Hereinafter, this operation is referred to as a second operation. When the first motion base is located at a position lower than the initial position, the first motion base moves in a direction that reduces the force that pushes the axle upward with respect to the vehicle body. On the other hand, when the first motion base is at a position higher than the initial position, the first motion base moves in a direction to increase the force that pushes the axle upward with respect to the vehicle body. However, since the first motion base is lowered only to the initial position and each second motion base is at a position below the initial position, the force for pushing up the axle with respect to the vehicle body is at the initial position. No bigger than the case. Therefore, an unexpectedly large load is not applied to the vehicle body or the motion base by the second operation.

  Finally, if there is a second motion base at a position different from the initial position, each second motion base at a position different from the initial position is returned to the initial position. Hereinafter, this operation is referred to as a third operation. At this time, the second motion base at a position lower than the initial position moves in a direction to increase the force for pushing the axle upward with respect to the vehicle body. However, in this case, since the first motion base is at the initial position and the second motion base is raised only to the initial position, the force for pushing the axle upward with respect to the vehicle body is at the initial position. No bigger than the case. Therefore, an unexpectedly large load is not applied to the vehicle body or the motion base by the third operation.

That is, according to this configuration, it is possible to prevent an unexpectedly large load from being applied to the vehicle body and the motion base when returning each motion base to the initial position.
According to a second aspect of the present invention, the initialization control means determines the left and right positions and the front and rear positions of each motion base while maintaining the height position of each motion base before performing the processing by the first means. The vehicle behavior reproduction system according to claim 1, further comprising means for generating a command value for returning to the initial position.

FIG. 1 is a schematic perspective view schematically showing the appearance of a vehicle behavior reproduction device used in a vehicle behavior reproduction system according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the vehicle behavior reproduction device of FIG. FIG. 3 is a side view schematically showing the vehicle behavior reproduction device of FIG. FIG. 4 is a plan view schematically showing the vehicle behavior reproduction device of FIG. FIG. 5 is a block diagram showing the overall electrical configuration of the vehicle behavior reproduction system. FIG. 6 is a block diagram showing a motion-based electrical configuration. FIG. 7A is a flowchart showing a part of the procedure of the initialization process executed by the initialization control unit. FIG. 7B is a flowchart illustrating a part of the procedure of the initialization process executed by the initialization control unit. 8A to 8D are explanatory diagrams for explaining the operation of the initialization control unit.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view schematically showing the appearance of a vehicle behavior reproduction device used in a vehicle behavior reproduction system according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the vehicle behavior reproduction device of FIG. FIG. 3 is a side view schematically showing the vehicle behavior reproduction device of FIG. FIG. 4 is a plan view schematically showing the vehicle behavior reproduction device of FIG. In FIG. 4, the vehicle body is omitted.

  The vehicle behavior reproduction device 1 includes a vehicle body 2 to which four axles 21S, 22S, 23S, and 24S corresponding to four wheels of a left front wheel 21, a right front wheel 22, a left rear wheel 23, and a right rear wheel 24 are attached. The vehicle behavior reproduction device 1 supports the vehicle body 2 and supports the first motion base 3 for causing the vehicle body 2 to move with six degrees of freedom, the axles 21S, 22S, 23S, and 24S, and the axles 21S. , 22S, 23S, and 24S, and four second motion bases 4, 5, 6, and 7 for causing the movement of 6 degrees of freedom.

1 and 3, the front end of the vehicle body 2 is indicated by reference numeral 2f, and the rear end of the vehicle body 2 is indicated by reference numeral 2r. A left front wheel 21, a right front wheel 22, a left rear wheel 23, and a right rear wheel 24 are coupled to the four axles 21S, 22S, 23S, 24S of the vehicle body 2 so as to be integrally rotatable.
The vehicle body 2 may be mounted with test products of various automobile parts. In the example of FIGS. 1 to 4, the vehicle body 2 includes an electric power steering (EPS) 8 and a rear wheel drive module 9 for driving the left rear wheel 23 and the right rear wheel 24 by an electric motor. Are mounted as test products.

  Each motion base 3, 4, 5, 6, 7 is fixed on a surface plate 10 placed on the floor. Each motion base 3, 4, 5, 6, 7 includes a fixed base 11 fixed to the surface plate 10, a movable base 12 disposed above the fixed base 11, and between the fixed base 11 and the movable base 12. And an actuator 13 for causing the movable base 12 to move in six degrees of freedom (back and forth, left and right, up and down, roll, pitch and yaw movement), and a motion controller 14 for controlling the actuator 13 (see FIG. 6). ). The actuator 13 includes six electric cylinders CY1 to CY6 (see FIG. 6) and servo amplifiers SA1 to SA6 (see FIG. 6) for driving them. In this specification, the position / posture of the motion bases 3, 4, 5, 6, 7 means the position / posture of the movable base 12. In this specification, moving the motion bases 3, 4, 5, 6, 7 (returning to the initial position, lowering, raising) moves the movable base 12 (returning to the initial position, lowering). , Raise).

  1 to 4 show a state in which the first motion base 3 and the second motion bases 4, 5, 6, and 7 are in an initial position (neutral position). In this embodiment, the state in which the motion base is in the initial position refers to a state in which the movable base of the motion base is located at the center of the movable range for all the six degrees of freedom motion. In this embodiment, the height position at the initial position of the first motion base 3 is equal to the height position at the initial position of each of the second motion bases 4 to 7. Therefore, when all the motion bases 3 to 7 are in the initial positions, the height position of the movable base 12 of the first motion base 3 is equal to the height position of the movable base 12 of each of the second motion bases 4 to 7. .

  In this embodiment, when all the motion bases 3 to 7 are in the initial positions, the first motion base 3 and the vehicle body are arranged so that the vehicle body 2 is in a substantially horizontal posture (a posture substantially parallel to the surface of the surface plate 10). The spacer 101 is provided between the two. Specifically, the spacer 101 is fixed on the upper surface of the movable base 12 of the first motion base 3. On the upper surface of the spacer 101, the vehicle body 2 is fixed in a state where the central portion of the vehicle body 2 is placed. That is, the vehicle body 2 is fixed to the first motion base 3 via the spacer 101.

  A left front wheel 21, a right front wheel 22, a left rear wheel 23 and a right rear wheel 24 are mounted on the movable bases 12 of the second motion bases 4, 5, 6 and 7, respectively. That is, the wheels 21, 22, 23, and 24 are supported by the second motion bases 4, 5, 6, and 7, respectively. In other words, the outer ends of the axles 21S, 22S, 23S, and 24S are supported by the second motion bases 4, 5, 6, and 7 via the wheels 21, 22, 23, and 24, respectively.

  In the vehicle behavior reproduction device 1, various vehicle body postures can be created by driving and controlling the actuator 13 of the first motion base 3. Various road surface conditions can be created by individually controlling the actuators 13 of the second motion bases 4, 5, 6, and 7. Therefore, it is possible to simulate (reproduce) various vehicle running states (vehicle behaviors) by individually controlling the actuators 13 of the motion bases 3, 4, 5, 6, and 7.

  In the vehicle behavior reproduction device 1, a force is directly applied to the vehicle body 2 by the first motion base 3 in a state where the wheels 21 to 24 are supported by the second motion bases 4, 5, 6, and 7. Can do. Accordingly, the vehicle body 2 is applied to the member supporting the wheels 21 to 24 (axles 21S to 24S) with the same force as the inertial force acting on the vehicle body during acceleration, deceleration and turning of the actual vehicle. It can be given to the vehicle body 2 without running relatively. In the vehicle behavior reproduction apparatus 1, the vehicle body 2 can be yawed by the first motion base 3. Thereby, yawing exercise | movement can be simulated.

Hereinafter, a vehicle behavior reproduction system using the vehicle behavior reproduction device 1 will be described.
FIG. 5 is a block diagram showing the overall electrical configuration of the vehicle behavior reproduction system.
The vehicle behavior reproduction system 100 includes a driving simulator 30, a vehicle behavior reproduction device 1, and a motion base control device 40 (hereinafter simply referred to as “control device 40”). The driving simulator 30 virtually simulates driving of the vehicle and is operated by the driver.

  The control device 40 controls the motion bases 3, 4, 5, 6, and 7 of the vehicle behavior reproduction device 1. The control device 40 is constituted by a computer, for example. The control device 40 may be configured by one or more computers and one or more programmable controllers. In addition to the motion bases 3, 4, 5, 6, 7, an operation unit 51, a display unit 52, an emergency stop / release button 53, a switchboard 54, and the like are connected to the control device 40. The emergency stop / release button 53 is a button that is operated to cause the vehicle behavior reproduction device 1 (each motion base 3, 4, 5, 6, 7) to make an emergency stop or to release an emergency stop state. The switchboard 54 is a device for controlling power supply to the motion bases 3 to 7.

FIG. 6 shows the electrical configuration of each of the motion bases 3, 4, 5, 6, and 7.
Each motion base 3, 4, 5, 6, 7 includes an actuator 13 and a motion controller 14 for controlling the actuator 13. The actuator 13 includes six electric cylinders CY1 to CY6 and six servo amplifiers SA1 to SA6 for driving the six electric cylinders CY1 to CY6, respectively. Each servo amplifier SA1 to SA6 is controlled by the motion controller 14.

  Each electric cylinder CY1 to CY6 includes a servo motor. The electric cylinders CY1 to CY6 are provided with rotation angle sensors 61 to 66 for detecting the rotation angle (cylinder rod expansion / contraction amount) of the servo motor. Output signals c1 to c6 of the respective rotation angle sensors 61 to 66 are sent to the servo amplifiers SA1 to SA6. Output signals c1 to c6 of the respective rotation angle sensors 61 to 66 are also sent to the control device 40 via the servo amplifiers SA1 to SA6 and the motion controller 14.

In each of the servo amplifiers SA1 to SA6, a current sensor (not shown) for detecting a motor current flowing through the servomotors of the electric cylinders CY1 to CY6 is provided. The output signal of the current sensor is sent to the control device 40 via the motion controller 14.
Returning to FIG. 5, the steering simulator 30 outputs steering wheel angle information (steering angle information), accelerator opening information, brake pedal force information, and the like according to the driving operation of the driving simulator 30.

  The control device 40 includes a vehicle behavior reproduction control unit 41, an initialization control unit 42, and an emergency stop / release control unit 43 as function processing units. The vehicle behavior reproduction control unit 41 includes a vehicle model 41A and a command value generation unit 41B. The vehicle model 41A receives the steering wheel angle information, the accelerator opening information, and the brake pedal effort information output from the driving simulator 30. Based on the input information, the vehicle model 41A calculates the position / posture of the vehicle body and the position / posture of each wheel according to the driving situation simulated by the driving simulator 30.

The command value generation unit 41B instructs the position / posture to be taken by each motion base 3, 4, 5, 6, 7 based on the position / posture of the vehicle body and the position / posture of each wheel calculated by the vehicle model 41A. A value (position / posture command value) is generated. That is, the command value generation unit 41 </ b> B generates a position / posture command value for reproducing the vehicle behavior for each of the motion bases 3 to 7.
The position / posture command values for the respective motion bases 3, 4, 5, 6 and 7 generated by the command value generation unit 41B are given to the motion controllers 14 of the corresponding motion bases 3, 4, 5, 6 and 7. . Each motion controller 14 controls the corresponding actuator 13 based on the position / posture command value given from the command value generation unit 41B. As a result, the position / posture of the movable base 12 of each of the motion bases 3, 4, 5, 6 and 7 is controlled to be a position / posture corresponding to the position / posture command value. Thereby, the vehicle behavior corresponding to the driving operation of the driving simulator 30 is reproduced by the vehicle behavior reproduction device 1.

  The emergency stop / release control unit 43 monitors whether or not each of the electric cylinders CY1 to CY6 is overloaded based on the motor current detected by the current sensor. The emergency stop / release control unit 43 determines that any of the electric cylinders CY1 to CY6 is overloaded when the vehicle behavior is reproduced by the vehicle behavior reproduction device 1, or the emergency stop / release button 53. When is turned on, the switchboard 54 is controlled to cut off the power supply to all the motion bases 3-7. The state where the power supply to all the motion bases 3 to 7 is cut off by the emergency stop / release control unit 43 is called an emergency stop state, and the power supply to all the motion bases 3 to 7 is restored after the emergency stop. Let's say that the emergency stop state has been cancelled.

  When the vehicle behavior reproduction device 1 enters an emergency stop state, the vehicle behavior reproduction control unit 41 is set in an operation prohibited state. In order to cancel the operation prohibited state by the vehicle behavior reproduction control unit 41, it is necessary to return the position / posture of each of the motion bases 3 to 7 to the initial position after canceling the emergency stop state. This is because in the case of an emergency stop, the position / posture of each motion base 3-7 cannot be accurately specified unless the position / posture of each motion base 3-7 is returned to the initial position. It is.

  The emergency stop / release control unit 43 releases the emergency stop state when the emergency stop / release button 53 is turned off when the emergency stop / release button 53 is turned on in the emergency stop state. On the other hand, when the emergency stop / release button 53 is turned off in the emergency stop state, the emergency stop / release control unit 43 turns the emergency stop state when the emergency stop / release button 53 is turned off after being turned on once. Is released. In this embodiment, when the emergency stop state is released, an initialization button 81 (see FIG. 5) is displayed on the display unit 52. When the initialization button 81 is operated, an initialization start command is given to the initialization control unit 42.

When an initialization start command is given, the initialization control unit 42 performs an initialization process for returning the motion bases 3 to 7 to their initial positions.
FIGS. 7A and 7B are flowcharts showing an example of the procedure of the initialization process executed by the initialization control unit 42.
When an initialization start command is input (step S1: YES), the initialization control unit 42 determines whether or not the front / rear and left / right positions of at least one motion base 3 to 7 are different from the initial position ( Step S2). The positions (front and rear, left and right, and height positions) of the motion bases 3 to 7 can be detected based on output signals of the rotation angle sensors 61 to 66 provided on the motion bases 3 to 7.

  If it is determined in step S2 that the front / rear / right / left positions of at least one of the motion bases 3 to 7 are different from the initial position (step S2: YES), the initialization control unit 42 proceeds to step S3. Transition. In step S <b> 3, the initialization control unit 42 retains the height positions of the motion bases 3 to 7 while maintaining the height positions of the motion bases 3 to 7 in order to return the front / rear / left / right positions of the motion bases 3 to 7 to the initial positions in stages. Generate a value. Specifically, the initialization control unit 42 sets, for each of the motion bases 3 to 7, a position / posture where the front / rear / left / right positions coincide with the initial position and the height position is the current position as the target position. And the initialization control part 42 produces | generates the position and attitude | position command value for moving each motion base 3-7 to the said target position in steps. The position / posture command value generated by the initialization control unit 42 is given to the motion controllers 14 of the corresponding motion bases 3 to 7. Thereby, each motion base 3-7 moves to the target position. Thereafter, the initialization control unit 42 proceeds to step S4.

When it is determined in step S2 that the front and rear positions and the left and right positions of all the motion bases 3 to 7 are the initial positions (step S2: NO), the initialization control unit 42 proceeds to step S4.
In step S4, the initialization control unit 42 determines whether or not the second motion bases 4 to 7 whose height position is higher than the initial position exist. When the second motion bases 4 to 7 whose height position is higher than the initial position exist (step S4: YES), the initialization control unit 42 determines each second motion base whose height position is higher than the initial position. Posture / position command values for stepwise returning 4 to 7 to the initial position are generated (step S5). The position / posture command value generated by the initialization control unit 42 is given to the corresponding motion controller 14 of the second motion base 4-7. Thereby, each 2nd motion base 4-7 whose height position is higher than an initial position is returned to an initial position. Thereafter, the initialization control unit 42 proceeds to step S6.

If it is determined in step S4 that the second motion bases 4 to 7 whose height position is higher than the initial position do not exist (step S4: NO), the initialization control unit 42 proceeds to step S6. .
In step S6, the initialization control unit 42 generates a posture / position command value for returning the first motion base 3 to the initial position stepwise. The position / posture command value generated by the initialization control unit 42 is given to the motion controller 14 of the first motion base 3. Thereby, the first motion base 3 is returned to the initial position.

  Thereafter, the initialization control unit 42 determines whether or not the second motion bases 4 to 7 are located at positions other than the initial position (step S7). When the second motion bases 4 to 7 at positions other than the initial position exist (step S7: YES), the initialization control unit 42 initializes the second motion bases 4 to 7 at positions other than the initial position. A posture / position command value for returning to the position stepwise is generated (step S8). The position / posture command value generated by the initialization control unit 42 is given to the corresponding motion controller 14 of the second motion base 4-7. Thereby, each 2nd motion base 4-7 in positions other than an initial position is returned to an initial position. Thereafter, the initialization control unit 42 releases the operation prohibition state of the vehicle behavior reproduction control unit 41 (step S9). Thereby, vehicle behavior reproduction control by the vehicle behavior reproduction control part 41 is attained. Then, the initialization control unit 42 ends the current initialization process.

  When it is determined in step S7 that all the second motion bases 4 to 7 are in the initial positions (step S7: NO), the initialization control unit 42 is in an operation prohibited state of the vehicle behavior reproduction control unit 41. Is released (step S9). Thereby, vehicle behavior reproduction control by the vehicle behavior reproduction control part 41 is attained. Then, the initialization control unit 42 ends the current initialization process. Note that the processing of steps S2 and S3 in FIG. 7A may be omitted.

The operation of the initialization control unit 42 will be specifically described with reference to FIGS. 8A to 8D. 8A to 8D, Po indicates the height position of the initial position of each motion base 3-7.
The second motion bases 4 to 7 are not fixed to the wheels 21 to 24 (axles 21S to 24S), whereas the first motion base 3 is fixed to the vehicle body 2. Therefore, the position / posture of the first motion base 3 and each of the second motion bases 4 to 7 is such that the force for pushing the wheels 21 to 24 (axles 21S to 24S) upward with respect to the vehicle body 2 is increased. When it becomes a posture, an unexpectedly large load (load) may be applied to the vehicle body 2 and the motion bases 3 to 7.

  For example, it is assumed that the vehicle behavior reproduction device 1 is emergency stopped in the state shown in FIG. 8A. Thereafter, when the emergency stop state is canceled and the initialization button 81 is operated, the processes of Steps S1 to S3 in FIG. 7A are performed. Thereafter, as shown in FIG. 8B, the second motion bases 4 to 7 whose height position is higher than the initial position are returned to the initial position (see steps S4 and S5). That is, each second motion base whose height position is higher than the initial position is lowered to the initial position. Hereinafter, this operation is referred to as a first operation. At this time, each second motion base whose height position is higher than the initial position moves in a direction to reduce the force that pushes the wheels 21 to 24 upward with respect to the vehicle body 2. Therefore, an unexpectedly large load is not applied to the vehicle body 2 or the motion bases 3 to 7 by the first operation.

  Thereafter, as shown in FIG. 8C, the first motion base 3 is returned to the initial position (see step S6). Hereinafter, this operation is referred to as a second operation. As shown in FIG. 8B, when the first motion base 3 is at a position higher than the initial position, the first motion base 3 increases the force for pushing the wheels 21 to 24 upward with respect to the vehicle body 2. Move to. However, since the first motion base 3 is lowered only to the initial position, and each of the second motion bases 4 to 7 is at a position below the initial position, the force for pushing up the wheels 21 to 24 with respect to the vehicle body 2 is all The motion bases 3 to 7 are not larger than those in the initial position. When the first motion base 3 is at a position lower than the initial position, the first motion base 3 moves in a direction that reduces the force that pushes the wheels 21 to 24 upward relative to the vehicle body 2. Therefore, an unexpectedly large load is not applied to the vehicle body 2 or the motion bases 3 to 7 by the second operation.

  Finally, as shown in FIG. 8D, the second motion bases 4 to 7 located at positions different from the initial position are returned to the initial position (see steps S7 and S8). Hereinafter, this operation is referred to as a third operation. Thereby, the positions and postures of all the motion bases 3 to 7 become the initial positions. At this time, the second motion base at a position lower than the initial position moves in a direction to increase the force for pushing the wheels 21 to 24 upward with respect to the vehicle body 2. However, in this case, since the first motion base 3 is at the initial position and the second motion base is only raised to the initial position, the force that pushes the wheels 21 to 24 upward relative to the vehicle body 2 It does not become larger than the case where 3 to 7 are in the initial position. Therefore, an unexpectedly large load is not applied to the vehicle body 2 or the motion bases 3 to 7 by the third operation.

That is, according to the above-described embodiment, it is possible to prevent an unexpectedly large load from being applied to the vehicle body 2 and the motion bases 3 to 4 when the motion bases 3 to 7 are returned to the initial positions.
As mentioned above, although one Embodiment of this invention was described, this invention can also be implemented with another form. For example, in the above-described embodiment, when the emergency stop state is released, the initialization button 81 is displayed on the display unit 52, and when the initialization button 81 is operated, an initialization start command is sent to the initialization control unit 42. Given. However, an initialization start command may be given to the initialization control unit 42 when the emergency stop state is released. In this case, the initialization button 81 need not be displayed on the display unit 52 when the emergency stop state is canceled.

In the above-described embodiment, the height position at the initial position of the first motion base 3 is equal to the height position at the initial position of each of the second motion bases 4 to 7, but the height position at the initial position of both is the same. May be different.
Further, in the above-described embodiment, the wheels 21 to 24S are mounted on the axles 21S to 24S. However, the wheels 21S to 24S are not mounted on the axles 21S to 24S, and the axles 21S to 24S are respectively mounted. You may make it mount on 2 motion bases 4-7.

  The present invention can be modified in various ways within the scope of the matters described in the claims.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle behavior reproduction apparatus, 2 ... Vehicle body, 3 ... 1st motion base, 4-7 ... 2nd motion base, 11 ... Fixed base, 12 ... Movable base, 13 ... Actuator, 14 ... Motion controller, 21-24 ... Wheels, 21S to 24S ... axes, 30 ... driving simulator, 40 ... motion-based control device, 41 ... vehicle behavior reproduction control unit, 42 ... initialization control unit, 43 ... emergency stop / release control unit, 53 ... emergency stop / release Button, 54 ... distribution board, 81 ... initialization button, 100 ... vehicle behavior reproduction system, 100 ... spacer

Claims (2)

A vehicle body having a plurality of axles attached thereto, a first motion base fixed to the vehicle body to support the vehicle body and causing the vehicle body to move in six degrees of freedom; A vehicle behavior reproduction system including a plurality of second motion bases for causing a six-degree-of-freedom motion on an axle, and a control device for controlling each of the motion bases,
The control device includes an initialization control means for returning the position and orientation of each motion base to their initial positions,
When an initialization start command is given, the initialization control means sets the height position when there is a second motion base whose height position is higher than the initial position in the plurality of second motion bases. First means for generating a command to return each second motion base higher than the initial position to the initial position;
Second means for generating a command value for returning the first motion base to the initial position after each second motion base having a height position higher than the initial position is returned to the initial position by the first means; ,
After the first motion base is returned to the initial position by the second means, if there is a second motion base at a position different from the initial position, each second motion at a position different from the initial position And a vehicle behavior reproduction system including third means for generating a command value for returning the base to the initial position.   The initialization control means is a command value for returning the left and right positions and the front and rear positions of the motion bases to the initial positions while maintaining the height positions of the motion bases before performing the processing by the first means. The vehicle behavior reproduction system according to claim 1, further comprising means for generating.

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