JP2016130708A - Vehicle behavior reproduction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle behavior reproduction system capable of avoiding an occurrence of a limit error.SOLUTION: A limit error avoidance control section 42 determines whether or not a cylinder rod of any electrically-driven cylinder reaches a limit of an error-avoiding cylinder movable range, both ends of which are set inside both ends of the cylinder movable range, on the basis of a rotation angle detected by rotation angle sensors provided at respective electrically-driven cylinders. When it is determined that the cylinder rod of any electrically-driven cylinder reaches the limit of the error-avoiding cylinder movable range, the limit error avoidance control section 42 temporarily stops all motion bases 3-7. The limit error avoidance control section 42 returns all the motion bases 3-7 to states before M control cycle on the basis of a storage history of a history memory 25.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 due to detection of a limit error, the limit error is canceled by the operator's operation after the emergency stop state is canceled (the limit error is not detected). Until it is done, 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; When it is detected that the vehicle behavior reproduction control means (41) for giving a command value for reproducing the vehicle behavior to the motion base and any one of the motion base six-degree-of-freedom motions has reached the limit of the movable range A vehicle behavior reproduction system (100) including emergency stop means (44) for emergency stop of all motion bases when a limit error has occurred, wherein the plurality of motion bases have six degrees of freedom. Pause to pause the plurality of motion bases when it is detected that any of the movements has reached the limit of the error avoidance movable range in which both ends are set inward from both ends of the movable range A vehicle behavior reproduction system including means (42). 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.

  In this configuration, when it is detected that one of a plurality of motion-based six-degree-of-freedom motions has reached the limit of the error avoiding movable range in which both ends are set inward from both ends of the movable range, The motion base of is paused. 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, the plurality of motion bases are temporarily stopped by the storage means (45) for storing a history of command values given to the respective motion bases by the vehicle behavior reproduction control means, and the temporary stop means. After that, based on past command values stored in the storage means, the plurality of motion bases are driven, and the position / posture of each motion base has reached the limit of the movable range for error avoidance. The vehicle behavior reproduction system according to claim 1, further comprising return control means (42) for returning to a position / posture before the time when the event is detected.

  According to a third aspect of the present invention, each of the motion bases includes a plurality of cylinders (CY1 to CY6), and the emergency stop means is configured such that any one of the plurality of cylinders of the plurality of motion bases has a cylinder movable range. When it is detected that a limit has been reached, the plurality of motion bases are configured to be emergency stopped if a limit error has occurred, and the pause means is configured to stop the plurality of motion bases. When it is detected that one of the cylinders has reached the limit of the cylinder range for error avoidance in which both ends are set inside the both ends of the cylinder movable range, the plurality of motion bases are temporarily stopped. The return control means is configured to change the position / orientation of each motion base to the error avoidance series. That reaches the limit of the dust movable range is configured to return to the position and posture of the prior When detected, a vehicle behavior reproducing system according to claim 2.

  According to a fourth aspect of the present invention, each of the cylinders is provided with a limit switch (71a to 76a, 71b to 76b) for detecting that the cylinder has reached the limit of the movable range of the cylinder. When the stop means detects that any of the plurality of motion-based cylinders has reached the limit of the cylinder movable range by any of the plurality of limit sensors, The vehicle behavior reproduction system according to claim 3, wherein the vehicle behavior reproduction system is configured to cause an emergency stop of the motion base.

  According to a fifth aspect of the present invention, each cylinder is provided with an expansion / contraction amount detector (61-66) for detecting a cylinder rod expansion / contraction amount of the cylinder. Discriminating means for discriminating whether any of the plurality of cylinders of the plurality of motion bases has reached the limit of the error avoiding cylinder movable range based on a cylinder rod expansion / contraction amount detected by a detector. And when the determining means determines that any one of the plurality of cylinders of the plurality of motion bases has reached the limit of the cylinder range for error avoidance, the plurality of motion bases are temporarily stopped. The vehicle behavior reproduction system according to claim 3 or 4, further comprising:

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 position / posture command values for each motion base stored in the history memory. 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 illustrating an example of a procedure of limit error avoidance processing executed by the limit error avoidance control unit 42.

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.

  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, 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 (expansion / contraction amount detectors) 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 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, as function processing units, a vehicle behavior reproduction control unit 41, a limit error avoidance control unit (temporary stop unit and return control unit) 42, an initialization control unit 43, and an emergency stop / release control unit (emergency stop unit). Stop means) 44. The control device 40 includes a history memory 45.

  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 for each predetermined control cycle. 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 motion bases 3 to 7 are the x-coordinate values (X), y-coordinate values (Y), and z-coordinates of the xyz coordinate system fixed to the motion bases 3, 4, 5, 6, and 7, respectively. It consists of a value (Z), a rotation angle (Roll) around the x axis, a rotation angle (Pitch) around the y axis, and a rotation angle (Yaw) around the z axis.

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 stored in the history memory 45 and the corresponding motion bases 3, 4, 5, and 7 are stored. 6 and 7 to the motion controller 14. As shown in FIG. 7, the history / memory 45 stores position / posture command values in time order.
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 / 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 a display (limit error display) indicating that a limit error has occurred on the display unit 52. Do.

  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 limit error avoidance control unit 42 is provided in order to avoid occurrence of a limit error and reduce waste of time and labor when the limit error occurs. The limit error avoidance control unit 42 executes limit error avoidance processing when the vehicle behavior reproduction control is performed by the vehicle behavior reproduction control unit 41.
FIG. 10 is a flowchart illustrating an example of a procedure of limit error avoidance processing executed by the limit error avoidance control unit 42.

Since six electric cylinders CY1 to CY6 are provided in each of the motion bases 3 to 7, the vehicle behavior reproduction device 1 is provided with 30 electric cylinders CY1 to CY6. It is assumed that identification numbers 1 to 30 are given to the 30 electric cylinders CY1 to CY6.
Each electric cylinder CY1 to CY6 has an error avoidance cylinder movable range narrower than the cylinder movable range. The lower limit of the error avoidance cylinder movable range is set to the upper limit side than the lower limit of the cylinder movable range. The upper limit of the error avoidance cylinder movable range is set to the lower limit side than the upper limit of the cylinder movable range. In other words, both ends of the error avoidance cylinder movable range are set inside the both ends of the cylinder movable range.

  The limit error avoidance control unit 42 sets 1 to the variable n representing the identification number (step S11). Hereinafter, the rotation angle sensors 61 to 66 provided in the electric cylinders CY1 to CY6 having the identification number n are referred to as “rotation angle sensors 61 to 66 corresponding to the identification number n”. The limit error avoidance control unit 42 detects that the cylinder rods of the electric cylinders CY1 to CY6 with the identification number n are in error based on the rotation angles (cylinder rod expansion / contraction amount) detected by the rotation angle sensors 61 to 66 corresponding to the identification number n. It is determined whether or not the limit of the avoidance cylinder movable range has been reached (step S12).

  The process of step S12 will be specifically described. It is assumed that the rotation angle (cylinder rod expansion / contraction amount) detected by the rotation angle sensors 61 to 66 increases as the extension amount of the cylinder rod with respect to the cylinder body increases. A value corresponding to the lower limit of the error avoidance cylinder movable range of the rotation angle detected by the rotation angle sensors 61 to 66 is set as a lower limit threshold, and a value corresponding to the upper limit of the error avoidance cylinder movable range is set as an upper limit threshold. In step S12, the limit error avoidance control unit 42 determines whether or not the rotation angle detected by the rotation angle sensors 61 to 66 corresponding to the identification number n is equal to or smaller than the lower limit threshold and equal to or greater than the upper limit threshold. To do. When it is determined that the rotation angle detected by the rotation angle sensors 61 to 66 corresponding to the identification number n is equal to or less than the lower limit threshold value or equal to or greater than the upper limit threshold value, the limit error avoidance control unit 42 identifies the identification number n. It is determined that the cylinder rods of the electric cylinders CY1 to CY6 have reached the limit of the cylinder range for error avoidance. On the other hand, when it is determined that the rotation angle detected by the rotation angle sensors 61 to 66 corresponding to the identification number n is larger than the lower limit threshold and smaller than the upper limit threshold, the limit error avoidance control unit 42 identifies the identification number n. It is determined that the cylinder rods of the electric cylinders CY1 to CY6 have not reached the limit of the error avoiding cylinder movable range.

  If it is determined in step S12 that the cylinder rods of the electric cylinders CY1 to CY6 with the identification number n have not reached the limit of the error avoidance cylinder movable range (step S12: NO), the limit error avoidance control unit 42 Determines whether the variable n is less than 30 (step S13). If the variable n is less than 30 (step S13: YES), the limit error avoidance control unit 42 increments the variable n by 1 (step S14), and then returns to step S12. If it is determined in step S13 that the variable n is 30 or more (step S13: NO), the limit error avoidance control unit 42 returns to step S11. In this way, for each of the 30 electric cylinders CY1 to CY6, it is determined whether or not the cylinder rod of the electric cylinder has reached the limit of the error avoiding cylinder movable range in a predetermined order and circulation. .

  If it is determined in step S12 that the cylinder rods of the electric cylinders CY1 to CY6 with the identification number n have reached the limit of the cylinder range for error avoidance (step S12: YES), the limit error avoidance control unit 42 All the motion bases 3 to 7 are temporarily stopped and the operation of the stopped vehicle behavior reproduction control unit 41 is stopped (step S15). Stopping all the motion bases 3 to 7 means stopping all the motion bases 3 to 7 without shutting off the power supply to all the motion bases 3 to 7. For example, the limit error avoidance control unit 42 may output a command to stop all the motion bases 3 to 7 to the corresponding motion controller 14, or a position / posture command from the vehicle behavior reproduction control unit 41 to the motion controller 14. A value may not be given.

  Next, the limit error avoidance control unit 42 returns the positions and postures of all the motion bases 3 to 7 to the state before one control cycle based on the storage history of the history memory 25 (step S16). By repeating this, the positions and postures of all the motion bases 3 to 7 are returned to the state before the M control cycle (step S17). M is a preset constant and is an integer of 1 or more. As a result, the position / posture of each of the motion bases 3 to 7 is the position before the time when it is detected that the cylinder rod of any of the electric cylinders CY1 to CY6 has reached the limit of the cylinder range for error avoidance.・ Return to posture. And this process is complete | finished.

If the vehicle behavior reproduction operation is performed again without changing the driving conditions in the state where the M control period has returned, the cylinder rod of one of the cylinders is expected to reach the limit of the error avoiding cylinder movable range again. When performing the behavior reproduction operation again, it is preferable to partially change the operating conditions.
In the above-described embodiment, the cylinder rod of any of the plurality of electric cylinders CY1 to CY6 of the plurality of motion bases 3 to 7 has the cylinder moving range for error avoidance in which both ends are set to the inner side than both ends of the cylinder moving range. When it is detected that the limit has been reached, the plurality of motion bases 3 to 7 are suspended. 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 addition, after the temporary stop, the position / posture of each of the motion bases 3 to 7 is a position before it is detected that the cylinder rod of any of the electric cylinders CY1 to CY6 has reached the limit of the movable range for avoiding errors.・ Return to posture. As a result, the position / posture of each of the motion bases 3 to 7 can be returned to a position where there is no risk of a 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 limit error avoidance control unit 42 determines that the cylinder rods of the electric cylinders CY1 to CY6 are in error based on the output signals of the rotation angle sensors 61 to 66 provided in the electric cylinders CY1 to CY6. It is determined whether or not the limit of the avoidable movable range has been reached. However, the limit error avoidance control unit 42 may determine whether or not the cylinder rod of the electric cylinder has reached the limit of the error avoidance movable range using a sensor other than the rotation angle sensors 61 to 66. As a sensor other than the rotation angle sensors 61 to 66, for example, a limit switch for detecting that the cylinder rod of the electric cylinder has reached the limit of the error avoidance movable range may be used.

  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 ... Wheels, 21S to 24S ... axes, 30 ... driving simulator, 40 ... motion-based control device, 41 ... vehicle behavior reproduction control unit, 42 ... limit error avoidance control unit, 43 ... initialization control unit, 44 ... emergency stop / release control 45 ... History memory 53 ... Emergency stop / release button 54 ... Operation preparation button 55 ... Distribution panel 83-87 ... Initialization button 100 ... Vehicle behavior reproduction system 101 ... Spacer

Claims (5)

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, vehicle behavior reproduction control means for giving a command value for vehicle behavior reproduction to each of the motion bases, and any one of the six-degree-of-freedom motions of the plurality of motion bases within a movable range. A vehicle behavior reproduction system including emergency stop means for emergency stopping all motion bases when a limit error occurs when it is detected that a limit has been reached,
When it is detected that one of the motion-free six-degree-of-freedom motions of the plurality of motion bases has reached the limit of the error avoiding movable range in which both ends are set to the inner side than both ends of the movable range, A vehicle behavior reproduction system including a pause means for temporarily stopping the motion base of the vehicle. Storage means for storing a history of command values given to each motion base by the vehicle behavior reproduction control means;
After the plurality of motion bases are temporarily stopped by the pause means, the plurality of motion bases are driven based on past command values stored in the storage means, and the position of each motion base is The vehicle behavior reproduction system according to claim 1, further comprising return control means for returning the posture to a position / posture before the time when it is detected that the limit of the movable range for error avoidance is reached. Each motion base includes a plurality of cylinders;
The emergency stop means determines that a limit error has occurred when any of the plurality of cylinders of the plurality of motion bases has reached a limit of a cylinder movable range, and Is configured to make an emergency stop,
The temporary stop means that any one of the plurality of motion-based cylinders has reached the limit of the error avoiding cylinder movable range in which both ends are set inward from both ends of the cylinder movable range. Is configured to pause the plurality of motion bases when detected.
The return control means is configured to return the position / posture of each motion base to the previous position / posture when it is detected that the limit of the error avoidance cylinder movable range has been reached. The vehicle behavior reproduction system according to claim 2. Each cylinder is provided with a limit switch for detecting that the cylinder has reached the limit of the cylinder movable range,
When the emergency stop means detects that any of the plurality of motion-based cylinders has reached the limit of the cylinder movable range by any of the plurality of limit sensors, The vehicle behavior reproduction system according to claim 3, wherein the plurality of motion bases are configured to make an emergency stop. Each cylinder is provided with an expansion / contraction amount detector for detecting the cylinder rod expansion / contraction amount of the cylinder,
The pause means is
Based on the cylinder rod expansion / contraction amount detected by each expansion / contraction amount detector, it is determined whether any of the plurality of cylinders of the plurality of motion bases has reached the limit of the cylinder range for error avoidance. Discriminating means for discriminating;
Means for temporarily stopping the plurality of motion bases when it is determined by the determination means that any of the plurality of cylinders of the plurality of motion bases has reached the limit of the error avoiding cylinder movable range; The vehicle behavior reproduction system according to claim 3 or 4, comprising:

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