JP2016130707A - Vehicle behavior reproduction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle behavior reproduction system capable of preventing the occurrence of a limitation error.SOLUTION: A data-for-reproduction verification unit 42 verifies whether the data-for-reproduction of a vehicle behavior in a data-for-reproduction storage unit 45 causes a limitation error, on the basis of the data-for-reproduction of the vehicle behavior. When it is verified that the data causes the limitation error, the data-for-reproduction verification unit 42 makes a display unit 52 display that using the data-for-reproduction of the vehicle behavior in the data-for-reproduction storage unit 45 can cause the limitation error.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). .

JP 2014-215226 A JP 2014-215240 A

  In the above-described vehicle behavior reproduction device developed by the present applicant, each motion base is connected between a fixed base, a movable base disposed above the fixed base, and the fixed base and the movable base. , An actuator for causing the movable base to move with 6 degrees of freedom, and a motion controller for controlling the actuator. The actuator includes, for example, six electric cylinders and a servo amplifier for driving it. The servo amplifier of each electric cylinder is provided with a rod expansion / contraction button for extending / contracting the cylinder rod of the electric cylinder by manual operation. That is, the operator can expand and contract the cylinder rod of the electric cylinder by operating the rod expansion / contraction button.

  When the vehicle behavior reproduction operation is performed by the vehicle behavior reproduction device, any motion with six degrees of freedom of any motion base may reach the limit of the movable range. That is, any electric cylinder may reach the limit of its movable range. In this case, if the vehicle behavior reproduction operation is continued, the electric cylinder that has reached the limit of the movable range cannot move beyond that limit, while the electric cylinder that has not reached the limit of the movable range can still move. The vehicle body of the vehicle behavior device may be in an unexpected posture.

In view of this, the present applicant has proposed a vehicle behavior reproduction system capable of emergency stopping the vehicle behavior reproduction device when any of the electric cylinders reaches the limit of the movable range.
That is, a limit switch for detecting that the electric cylinder has reached the limit of the movable range as a limit error is attached to each electric cylinder. When a limit error is detected by any of the limit switches during the vehicle behavior reproduction operation, power supply to all the motion bases is cut off. The interruption of power supply to each motion base during vehicle behavior reproduction is called an emergency stop, and the emergency stop state has been canceled when the power supply to all motion bases has been restored after an emergency stop. To. When all the motion bases are in the emergency stop state, the vehicle behavior reproduction operation by the vehicle behavior reproduction device is prohibited.

  When all the motion bases are in an emergency stop state, in order for the vehicle behavior reproduction device to perform the vehicle behavior reproduction operation, after canceling the emergency stop state, the position / posture 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.

  However, it is not preferable to perform the initialization process in a state where a limit error is detected. Therefore, when the vehicle behavior reproduction device is emergency stopped by detecting a limit error, the limit error is not detected until the limit error is canceled by the operator after the emergency stop state is canceled. Until the initialization process is prohibited. The limit error is released by the operator identifying the electric cylinder in which the limit error has been detected by visual observation and operating a rod expansion / contraction button provided in the servo amplifier of the identified electric cylinder.

  In other words, when a limit error is detected and an emergency stop state is detected, the operator can cancel the emergency stop state, cancel the limit error, and return all motion It is necessary to perform a work such as returning to the initial position. For this reason, when a limit error occurs, there is a problem that it takes time to return to a state in which the vehicle behavior reproduction operation can be performed, and the burden on the operator increases.

  An object of the present invention is to provide a vehicle behavior reproduction system that can avoid the occurrence of a limit error.

  In order to achieve the above object, the invention according to claim 1 includes a vehicle body (2) to which a plurality of axles (21S, 22S, 23S, 24S) are attached, and supports the vehicle body and has 6 degrees of freedom in the vehicle body. A plurality of second motion bases (4-7) for supporting the respective axles and causing the respective axles to move with six degrees of freedom; A storage device (45) for storing vehicle behavior reproduction data composed of time-series data of command values for each motion base, and the plurality of motions using the vehicle behavior reproduction data stored in the storage means When the vehicle behavior reproduction control means (41) for driving and controlling the base and the plurality of motion bases are driven and controlled, any of the six-degree-of-freedom motions of the plurality of motion bases is movable. An emergency stop means (44) for emergency stop of all motion bases when a limit error occurs when it is detected that the limit of the vehicle has been reached is stored in the storage means. Whether or not one of the motion bases of the plurality of motion bases reaches the limit of the movable range when it is assumed that the plurality of motion bases are driven and controlled using the vehicle behavior reproduction data. When the predetermining means (42) for predetermining based on the vehicle behavior reproduction data and any of the plurality of motion-based six-degree-of-freedom motions reaches the limit of the movable range by the predetermining means And a notifying means (42, 52) for notifying that a limit error may occur when the vehicle behavior reproduction data is used in advance. , It is a vehicle behavior reproduction system. 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.

  According to this configuration, the operator uses the vehicle behavior reproduction data before causing the vehicle behavior reproduction control means to perform a plurality of motion-based drive controls based on the vehicle behavior reproduction data in the storage means. It is possible to verify whether or not there is a possibility that a marginal error will occur. When it is verified that a marginal error may occur, the operator stops using the vehicle behavior reproduction data, or performs a verification again after changing a part of the vehicle behavior reproduction data. be able to. As a result, the occurrence of a limit error can be avoided in advance. This can reduce waste of time and labor when a limit error occurs.

  According to a second aspect of the present invention, each of the motion bases includes a plurality of cylinders (CY1 to CY6), and the prior determination unit is a time series of command values for each of the motion bases stored in the storage unit. Conversion means for converting the data into the amount of expansion / contraction of each of the plurality of cylinders in each motion base, and the amount of expansion / contraction of each of the plurality of cylinders in each of the motion bases obtained by the conversion means. Determining means for determining whether any one of the cylinder rods of the plurality of cylinders included in the motion base reaches a limit of its movable range, and the notification means includes the plurality of motion bases by the determining means. When it is determined that any cylinder rod of the plurality of cylinders included in is reached the limit of its movable range, Serial vehicle behavior reproducibility for the use of data limit errors is configured to notify the subject that may occur, a vehicle behavior reproducing system according to claim 1.

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. 7 is a schematic diagram showing vehicle behavior reproduction data stored in the reproduction data storage unit. FIG. 8 is a schematic diagram illustrating an example of an operation screen displayed on the display unit. FIG. 9 is a flowchart illustrating an example of a procedure of initialization processing executed by the initialization control unit. FIG. 10 is a flowchart for explaining the operation of the reproduction data verification 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.

In FIG. 1 or FIG. 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, and 7 (returning to the initial position) means moving the movable base 12 (returning to the initial position).

  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.

  On the movable bases 12 of the second motion bases 4, 5, 6 and 7, the left front wheel 2, the right front wheel 22, the left rear wheel 23 and the right rear wheel 24 are mounted, 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 vehicle behavior reproduction device 1 and a motion base control device 40 (hereinafter simply referred to as “control device 40”). 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, and 7, the control device 40 is connected to an operation unit 51, a display unit 52, an emergency stop / release button 53, an operation preparation button 54, a switchboard 55, and the like. 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 driving preparation button 54 is a button that is operated to cancel the emergency stop state when the vehicle behavior reproduction device 1 enters an emergency stop state due to a limit error described later. The switchboard 55 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. The servo amplifiers SA1 to SA6 of the electric cylinders CY1 to CY6 are provided with rod expansion / contraction buttons (not shown) for expanding and contracting the cylinder rods of the electric cylinders CY1 to CY6 by manual operation. That is, the operator can expand and contract the cylinder rods of the electric cylinders CY1 to CY6 by operating the rod expansion and contraction buttons of the servo amplifiers SA1 to SA6.

  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.

  Each electric cylinder CY1 to CY6 is provided with lower limit sensors 71a to 76a for detecting, as a lower limit error, that the cylinder rod has reached the lower limit of its movable range (cylinder movable range). Each electric cylinder CY1 to CY6 is provided with upper limit sensors 71b to 76b for detecting, as an upper limit error, that the cylinder rod has reached the upper limit of its movable range (cylinder movable range). The output signals a1 to a6 of the lower limit sensors 71a to 76a and the output signals b1 to b6 of the upper limit sensors 71b to 76b are sent to the control device 40 via the motion controller 14. Hereinafter, when the lower limit error and the upper limit error are collectively referred to without being distinguished, they are referred to as “limit error”.

  Returning to FIG. 5, the control device 40 includes a vehicle behavior reproduction control unit 41, a reproduction data verification unit (preliminary determination unit and notification unit) 42, an initialization control unit 43, and an emergency stop / release as function processing units. And a control unit (emergency stop means) 44. In addition, the control device 40 includes a reproduction data storage unit 45 for storing vehicle behavior reproduction data. The reproduction data storage unit 45 is composed of, for example, a rewritable nonvolatile memory.

  FIG. 7 is a schematic diagram showing vehicle behavior reproduction data stored in the reproduction data storage unit 45. The vehicle behavior reproduction data includes time series data of position / posture command values of the motion bases 3 to 7 (MB3 to MB7). The position / posture command values for the motion bases 3 to 7 are the x coordinate value (X), y coordinate value (Y), z coordinate value (Z), x of the xyz coordinate system fixed to each motion base 3 to 7, respectively. The rotation angle around the axis (Roll), the rotation angle around the y-axis (Pitch), and the rotation angle around the z-axis (Yaw). The reproduction data storage unit 45 stores time series data of position / posture command values (X, Y, Z, Roll, Pitch, Yaw) and verification results of the respective position / posture command values for each of the motion bases 3 to 7. Is stored as a verification result flag value F.

  The vehicle behavior reproduction data can be created, for example, from the geometric relationship between the vehicle body and the tire when the actual vehicle (automobile) is actually run. Specifically, the rotational components (Roll angle, Pitch angle, Yaw angle) of the vehicle body while the vehicle is running, the tire turning angle, and the like are measured, and vehicle behavior reproduction data is created based on these measured values. The roll angle can be calculated, for example, by acquiring a roll rate (angular velocity around the x axis) from a gyro sensor provided in an actual vehicle and integrating the acquired roll rate. Two vehicle height sensors are attached to the vehicle body at intervals in the width direction, and the roll angle can be calculated based on the height from the ground to each vehicle height sensor detected by these vehicle height sensors. The pitch angle can be calculated, for example, by acquiring a pitch rate (angular velocity around the y axis) from a gyro sensor provided in an actual vehicle and integrating the acquired pitch rate. The Yaw angle can be calculated, for example, by acquiring a Yaw rate (angular velocity around the z axis) from a gyro sensor provided in an actual vehicle and integrating the acquired Yaw rate. The turning angle of the tire can be calculated based on the steering angle detected by the steering angle sensor provided in the actual vehicle.

  The vehicle behavior reproduction data can also be created by using a driving simulator, for example. That is, the driving simulator is driven by the driver, and information such as steering wheel angle information (steering angle information), accelerator opening information, and brake pedal force information corresponding to the driving operation is acquired from the driving simulator. Using the acquired information and the vehicle model, the position / posture of the vehicle body and the position / posture of each wheel according to the driving situation simulated by the driving simulator are calculated. Based on the calculated position / posture of the vehicle body and the position / posture of each wheel, position / posture command values (position / posture command values) to be taken by the motion bases 3 to 7 are generated.

  The vehicle behavior reproduction control unit 41 executes vehicle behavior reproduction processing based on the operation of the operator. Specifically, when a reproduction process start command is input by an operator's operation, the vehicle behavior reproduction control unit 41 receives position / posture commands for the motion bases 3 to 7 stored in the reproduction data storage unit 45. The time-series data of values is read out in order of time-series for every predetermined control period, and 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 according to the vehicle behavior reproduction data is reproduced by the vehicle behavior reproduction device 1. Therefore, when the vehicle behavior reproduction data is created by actually running the actual vehicle, the vehicle behavior according to the driving operation of the actual vehicle is reproduced by the vehicle behavior reproduction device 1. When the vehicle behavior reproduction data is created using a driving simulator, the vehicle behavior according to the driving operation of the driving simulator is reproduced by the vehicle behavior reproduction device 1.

  The emergency stop / cancel control unit 44, when a vehicle behavior is reproduced by the vehicle behavior reproduction device 1, when a limit error is detected by any of the limit sensors 71a to 76a, 71b to 76b, or an emergency stop / release When the button 53 is turned on, the switchboard 55 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 44 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 a limit error is detected by any of the limit sensors 71a to 76a and 71b to 76b, the emergency stop / release control unit 44 displays on the display unit 52 that a limit error has occurred (limit error display).

  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 prohibition state by the vehicle behavior reproduction control unit 41, after canceling the emergency stop state, a process (initialization process) for returning the position / posture of each motion base 3 to 7 to the initial position is performed. There is a need. 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.

  However, when the vehicle behavior reproduction device 1 is emergency stopped due to the detection of the limit error, it is not preferable to perform the initialization process in a state where the limit error is detected. Therefore, when the vehicle behavior reproduction device 1 is emergency-stopped by detecting a limit error, after the emergency stop state is released, until the limit error is released by the operator's operation (limit error is detected). (Unless it is in a state that is not performed), the execution of the initialization process is prohibited. To release the limit error, the operator specifies the electric cylinders CY1 to CY6 in which the limit error is visually detected, and operates the rod extension / contraction buttons provided in the servo amplifiers SA1 to SA6 of the specified electric cylinders CY1 to CY6. Is done by doing. As will be described later, when the limit error is canceled, initialization processing by the initialization control unit 43 is started.

  When the vehicle behavior reproduction device 1 enters an emergency stop state by turning on the emergency stop / release button 53, the emergency stop / release control unit is turned on when the emergency stop / release button 53 is turned off by the operator. 44 controls the switchboard 55 to release the emergency stop state. When the emergency stop state is canceled by the operation of the emergency stop / release button 53, the emergency stop / release control unit 44 displays initialization buttons corresponding to the motion bases 3 to 7 on the display unit 52 as shown in FIG. An operation screen including 83 to 87 is displayed, and an initialization start command is given to the initialization control unit 43.

  On the other hand, when the vehicle behavior reproduction device 1 is in an emergency stop state due to the detection of the limit error, the emergency stop / release control unit 44 operates the switchboard when the operation preparation button 54 is operated by the operator. 55 is controlled to cancel the emergency stop state. When the emergency stop state is released by operating the operation preparation button 54, the emergency stop / release control unit 44 maintains the limit error display on the display unit 52. In this case, the operation screen including the initialization buttons 83 to 87 is not displayed on the display unit 52. In this case, the operator specifies the electric cylinders CY1 to CY6 in which the limit error has been detected visually, and operates the rod expansion / contraction buttons provided in the servo amplifiers SA1 to SA6 of the specified electric cylinders CY1 to CY6. To release the limit error. When the limit error is released, the emergency stop / release control unit 44 deletes the limit error display. Then, the emergency stop / release control unit 44 displays an operation screen including initialization buttons 83 to 87 corresponding to the motion bases 3 to 7 on the display unit 52 as shown in FIG. Is supplied to the initialization control unit 43.

The initialization control unit 43 executes an initialization process when an initialization start command is given.
FIG. 9 is a flowchart illustrating an example of the procedure of the initialization process executed by the initialization control unit 43.
When the initialization start command is given (step S1: YES), the initialization control unit 43 determines whether or not all the motion bases 3 to 7 are initialized (step S2). That is, the initialization control unit 43 determines whether or not initialization processing (processing in step S4 described later) for returning the motion bases 3 to 7 to their initial positions has been executed. If any of the motion bases 3 to 7 has not been initialized (step S2: NO), the initialization control unit 43 determines whether or not any of the initialization buttons 83 to 87 has been operated ( Step S3).

  If none of the initialization buttons 83 to 87 has been operated (step S3: NO), the process returns to step S2. If it is determined in step S3 that any one of the initialization buttons 83 to 87 has been operated (step S3: YES), the initialization control unit 43 proceeds to step S4. In step S4, the initialization control unit 43 generates a position / posture command value for stepwise returning the motion bases 3 to 7 corresponding to the operated initialization buttons 83 to 87 to the initial positions. The position / posture command value generated by the initialization control unit 43 is given to the motion controllers 14 of the corresponding motion bases 3 to 7. Thereby, the corresponding motion bases 4 to 7 are returned to the initial positions. Thereafter, the initialization control unit 43 returns to Step S2.

  Thus, when all the motion bases 3 to 7 are returned to the initial positions (initialized), an affirmative determination is made in step S2 (step S2: YES). The operation prohibition state of the behavior reproduction control unit 41 is canceled (step S5). Thereby, vehicle behavior reproduction control by the vehicle behavior reproduction control part 41 is attained. Then, the initialization control unit 43 ends the current process.

  In this embodiment, in order to return to the state where the vehicle behavior reproduction operation can be performed when the limit error is detected and the emergency stop state is set, the operator cancels the emergency stop state, cancels the limit error, It is necessary to perform an operation of returning the motion bases 3 to 7 to their initial positions. For this reason, when a limit error occurs, it takes time to return to a state in which the vehicle behavior reproduction operation can be performed, and the burden on the operator increases.

  Therefore, in this embodiment, the reproduction data verification unit 42 is provided in order to avoid the occurrence of the limit error and reduce the waste of time and labor when the limit error occurs. When the data verification start command is input by the operation of the operation unit 51 by the operator or the operation of the operation screen displayed on the display unit 52 by the operator, the reproduction data verification unit 42 performs the following operation. That is, the reproduction data verification unit 42 verifies whether or not the vehicle behavior reproduction data in the reproduction data storage unit 45 causes a limit error based on the vehicle behavior reproduction data. If it is verified that a limit error is generated, the reproduction data verification unit 42 may generate a limit error if the vehicle behavior reproduction data in the reproduction data storage unit 45 is used. A message to that effect is displayed on the display unit 52.

FIG. 10 is a flowchart showing the operation of the reproduction data verification unit 42.
It is assumed that identification numbers 1 to 5 are assigned to the motion bases 3 to 7. When a data verification start command is input by the operator's operation (step S11: YES), the reproduction data verification unit 42 sets all verification result flag values F in the reproduction data storage unit 45 to 0 (step S11). S12). Next, the reproduction data verification unit 42 sets 1 to the variable n representing the identification number (step S13). Next, the reproduction data verification unit 42, for one control cycle, out of the time series data of the position / orientation command values for the motion bases (MB) 3 to 7 of the identification number n from the reproduction data storage unit 45. The position / orientation command value is read in the order of time series (step S14). Hereinafter, the position / posture command value for one control cycle with respect to the motion base with the identification number n read in step S13 is referred to as “verification target position / posture command value”.

  Next, the reproduction data verification unit 42 performs processing for verifying whether or not the position / posture command value to be verified causes a limit error (steps S15 and S16). Specifically, the reproduction data verification unit 42 converts the position / posture command value to be verified into cylinder rod expansion / contraction amounts of the six electric cylinders CY1 to CY6 included in the motion base with the identification number n. (Step S15). Next, the reproduction data verification unit 42 determines whether any of the obtained cylinder rod expansion / contraction amounts of the six electric cylinders CY1 to CY6 is outside the cylinder movable range (step S16).

  The process of step S16 will be specifically described. The cylinder rod expansion / contraction amount is assumed to increase as the extension amount of the cylinder rod with respect to the cylinder body increases. A value corresponding to the lower limit of the cylinder movable range of the cylinder rod expansion / contraction amount is set as a lower limit threshold, and a value corresponding to the upper limit of the cylinder movable range is set as an upper limit threshold. In step S16, the reproduction data verification unit 42 determines whether or not the cylinder rod expansion / contraction amount for each of the six electric cylinders CY1 to CY6 is equal to or less than the lower limit threshold and whether or not the cylinder rod expansion / contraction amount is equal to or greater than the upper limit threshold. Is determined. When any of the cylinder rod expansion / contraction amounts of the six electric cylinders CY1 to CY6 is equal to or smaller than the lower limit threshold or equal to or larger than the upper limit threshold, the reproduction data verification unit 42 selects the cylinder rods of the six electric cylinders CY1 to CY6. It is determined that one of the expansion / contraction amounts is outside the cylinder movable range. When any of the cylinder rod expansion / contraction amounts of the six electric cylinders CY1 to CY6 is larger than the lower limit threshold and smaller than the upper limit threshold, the reproduction data verification unit 42 determines the cylinder rod expansion / contraction amounts of the six electric cylinders CY1 to CY6. Are determined to be within the cylinder movable range.

  When it is determined in step S16 that any of the cylinder rod expansion / contraction amounts of the six electric cylinders CY1 to CY6 is outside the cylinder movable range (step S16: YES), the reproduction data verification unit 42 performs verification. A verification result flag value F corresponding to the target position / posture command value is set to 1 (step S17). In this case, if the motion bases 3 to 7 are driven and controlled using the vehicle behavior reproduction data in the reproduction data storage unit 45, a limit error occurs. Therefore, the reproduction data verification unit 42 displays on the display unit 52 that a limit error may occur if the vehicle behavior reproduction data in the reproduction data storage unit 45 is used (step S18). Then, the reproduction data verification unit 42 proceeds to step S19. When it is determined in step S16 that all the cylinder rod expansion / contraction amounts of the six electric cylinders CY1 to CY6 are within the cylinder movable range (step S16: NO), the reproduction data verification unit 42 performs step The process proceeds to S19.

  In step S <b> 19, the reproduction data verification unit 42 determines whether verification for all position / posture command values for the motion bases 3 to 7 with the identification number n has been completed. If the verification for all the position / posture command values for the motion bases 3 to 7 with the identification number n has not been completed (step S19: NO), the reproduction data verification unit 42 proceeds to step S14. In this case, in step S14, the position / posture command value for one control cycle next to the previously read position / posture command value for one control cycle is read.

  If it is determined in step S19 that the verification for all the position / posture command values for the motion bases 3 to 7 with the identification number n has been completed (step S19: YES), the reproduction data verification unit 42 sets n = Whether it is 5 or not is discriminated (step S20). If n = 5, the reproduction data verification unit 42 increments n by 1 (+1) (step S21), and then proceeds to step S14. In this case, in step S14, the position / posture command values for one control cycle are read out in time-series order from the time-series data of the position / posture command values for the motion bases 3-7 having the identification number n after the update. .

In this way, when the verification for all the position / posture command values for all the motion bases 3 to 7 is completed, an affirmative determination is made in step S20 (step S20: YES), so that the reproduction data verification unit 42 The process ends.
According to the embodiment, the operator reproduces the vehicle behavior before causing the vehicle behavior reproduction control unit 41 to perform the drive control of the motion bases 3 to 7 based on the vehicle behavior reproduction data in the reproduction data storage unit 45. It is possible to verify whether or not there is a possibility of a limit error when using the business data. When it is verified that a marginal error may occur, the operator stops using the vehicle behavior reproduction data, or performs a verification again after changing a part of the vehicle behavior reproduction data. be able to. As a result, the occurrence of a limit error can be avoided in advance. This can reduce waste of time and labor when a limit error occurs.

In the above embodiment, the verification result flag value is stored for each position / posture command value for each motion base (for each position / posture command value to be verified), which causes a limit error. It is easy to specify the position / posture command value. For this reason, it becomes easy to correct, change, etc. the position / posture command value that causes the limit error.
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, the verification result flag value is stored for each position / posture command value for each motion base. However, the positions / postures of the same control cycle of the plurality of motion bases 3 to 7 as a whole are stored. A verification result flag value may be stored for each command value group.

  Further, in the above-described embodiment, even if the motion bases 3 to 7 exist at the initial position when the initialization start command is given in step S1 of FIG. The operation prohibited state of the vehicle behavior reproduction control unit 41 is not released until after the initialization process (the process of step S4) is completed. However, even if the initialization process (the process of step S4) is not performed for the motion base at the initial position when the initialization start command is given in step S1 of FIG. When the activation process is completed, the operation prohibition state of the vehicle behavior reproduction control unit 41 may be canceled. In this case, in step S2, the initialization control unit 43 may determine whether or not all the motion bases 3 to 7 are in the initial positions.

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 ... Wheel, 21S to 24S ... Axle, 30 ... Driving simulator, 40 ... Motion-based control device, 41 ... Vehicle behavior reproduction control unit, 42 ... Reproduction data verification unit, 43 ... Initialization control unit, 44 ... Emergency stop / release control unit 45 ... History memory, 53 ... Emergency stop / release button, 54 ... Operation preparation button, 55 ... Switchboard, 83-87 ... Initialization button, 100 ... Vehicle behavior reproduction system, 101 ... Spacer

Claims (2)

A vehicle body having a plurality of axles attached thereto, a first motion base for supporting the vehicle body and causing the vehicle body to move in six degrees of freedom, and supporting each of the axles and moving in six degrees of freedom on each axle. A plurality of second motion bases, a storage device for storing vehicle behavior reproduction data composed of time series data of command values for each motion base, and the vehicle stored in the storage means Vehicle behavior reproduction control means for driving and controlling the plurality of motion bases using behavior reproduction data, and when the plurality of motion bases are driven and controlled, any of the six degrees of freedom motion of the plurality of motion bases When it is detected that the limit of the movable range has been reached, it is assumed that a limit error has occurred. A vehicle behavior reproduction system including,
Based on the vehicle behavior reproduction data stored in the storage means, it is assumed that the plurality of motion bases are driven and controlled using the vehicle behavior reproduction data. Pre-determining means for pre-determining whether any of the degree movements reaches the limit of the movable range;
There is a risk that a marginal error may occur if the vehicle behavior reproduction data is used when it is preliminarily determined by the prior determination means that any one of the plurality of motion-based six-degree-of-freedom motions reaches the limit of the movable range. A vehicle behavior reproduction system including a notification means for notifying that there is an alarm. Each motion base includes a plurality of cylinders;
The prior determination means includes
Conversion means for converting the time series data of the command value for each motion base stored in the storage means into the amount of expansion / contraction of each of the plurality of cylinders in each motion base,
Based on the amount of expansion / contraction of each of the plurality of cylinders in each motion base obtained by the conversion means, any cylinder rod of the plurality of cylinders included in the plurality of motion bases is at the limit of its movable range. Determining means for determining whether or not to reach,
The notification means determines the vehicle behavior reproduction data when the determination means determines that any one of the cylinder rods of the plurality of cylinders included in the plurality of motion bases has reached the limit of its movable range. The vehicle behavior reproduction system according to claim 1, configured to notify that a limit error may occur when used.

Images