JP2620898B2 - Riding simulator control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a riding simulator which reproduces an actual running state using a model motorcycle on which a person can ride.

[0002]

2. Description of the Related Art Conventionally, a model motorcycle and a CRT display for displaying computer graphics are combined to change the display screen in accordance with the operation of a steering wheel or an accelerator, and the model motorcycle can be tilted laterally to enjoy a game as if riding. Such a game simulation device is known from Japanese Patent Application Laid-Open No. 61-154689 and Japanese Utility Model Application Laid-Open No. 62-1688. In such a game simulation device, the model motorcycle can only roll, and the roll is performed by shifting the weight of the occupant against the spring supporting the model motorcycle, so that the behavior of the actual motorcycle is reproduced. I can't do it, and I'm not out of play.

[0003] Therefore, the model motorcycle is supported by a drive device so as to be able to reproduce movements such as roll, yaw, pitch, up and down movement, etc., and the model motorcycle is operated in accordance with an operation performed by an occupant of the model motorcycle. Japanese Patent Application No. 1-166931 describes a simulation device that controls the attitude and reproduces the behavior of a real vehicle so that it can be used for driving education of a motorcycle.

[0004]

By the way, in the case of controlling the attitude of the model motorcycle described above and using it for driving education of the motorcycle, it is necessary to bring the attitude of the model motorcycle responding to the operation by the occupant closer to the actual vehicle. . By the way, the relationship between the amount of operation by the occupant and the behavior of the motorcycle when the vehicle is running is greatly affected by the traveling speed.However, the degree of this effect is not linear with respect to the traveling speed, and therefore, a sensor from the sensor that detects the amount of operation. Unless a non-linear correction according to the change in the traveling speed is performed for each of the detection signals, the occupant will feel uncomfortable.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a riding simulator control device that brings the attitude of a model motorcycle closer to the behavior when the vehicle is running and does not give an occupant an uncomfortable feeling.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a riding simulator for controlling a posture of a model motorcycle movably held by a drive device in accordance with an operation by an occupant of the model motorcycle. In the control device,
Operation amount detection means for detecting an operation amount performed by the occupant;
A storage unit that stores a correction value that changes in accordance with the traveling speed determined by the operation of the occupant; a search unit that searches the storage unit for a correction value corresponding to the current traveling speed;
And a posture control unit for operating the driving device according to the operation amount corrected by the searched correction value.

[0007]

For each detection signal from the manipulated variable detection means, a non-linear correction value set in advance according to the traveling speed is stored, and a correction value corresponding to the current traveling speed is retrieved. The above detection signal is corrected by the correction value
The driving device is operated using the corrected detection signal to control the attitude of the model motorcycle.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of a driving device for movably supporting a model motorcycle will be described with reference to FIGS.

Reference numeral 1 denotes a base, on which a pair of mutually independent movable devices 6.6 having a function of moving in two orthogonal directions, that is, a horizontal direction and a vertical direction, is mounted. More specifically, each of the movable devices 6 includes a slide table 7 slidably supported by guide rails 7a, 7a provided laterally on the base 1, and a vertical direction fixed to the slide table 7. And a lifting frame 8 slidably supported on the longitudinal guide rails 8a. The ball screw is connected to a motor 9 having the slide base 7 mounted on the base 1 via a gear box 9a. 9b, the lifting frame 8 is moved up and down by forward and reverse rotation of a ball screw 10b connected to a motor 10 mounted on a slide base 7 via a gear box 10a. The vertical movement of the lifting frame 8, which is the operating end of It was to be given and lateral movement due to the motion of the id table 7.

A support frame 11 is provided between the lifting frames 8 and 8 of the two movable devices 6, 6 and a model motorcycle 13 is laterally mounted on the support frame 11 via a roll shaft 12 which is long in the front-rear direction. It was tiltably supported. In detail, the support frame 1 is mounted on the upper part of the lifting frame 8 of the rear movable device 6 via the cross joint 14.
1 and a front end of the support frame 11 on a linear guide 16 mounted via a ball joint 15 on an elevating frame 8 of the movable device 6 on the front side. The supporting frame 11 is slidably engaged, and the supporting frame 11 is tilted in the vertical and horizontal directions following the vertical movement and the horizontal movement of the lifting frame 8 of each movable device 6. In addition, the roll shaft 12 is installed vertically at the center of the support frame 11 in the horizontal direction, and a motor 17 is mounted below the roll shaft 12.
, The roll shaft 12 is rotated via a speed reducer 17a and a gear 17b, and a frame 13a of a model motorcycle 13 is mounted on a seat 12a fixedly provided at the center of the roll shaft 12, and the model motorcycle 13 , A roll operation by the rotation of the roll shaft 12 is provided.

The model motorcycle 13 includes, as sensors for detecting various operation amounts performed by an occupant, an accelerator sensor 21 for detecting an accelerator opening degree, a clutch sensor 22 for detecting a clutch lever angle, and a rotation by a steering 13b. Steering sensor 2 for detecting operating torque
3. Lean torque sensor 24 for detecting the amount of weight shift of the occupant in the left-right direction, and other front brake pressure sensors 2.
5. A rear brake pressure sensor 26 is provided at a predetermined position, and further includes sensors for detecting operating states of various handle switches 27, gear position switches 28, and the like. In the figure, reference numeral 19 denotes a shock absorber type stopper for restricting the moving range of the slide table 7 of each movable device 6.

A control device for controlling the operation of the driving device is as shown in FIG. 5. Among the above-mentioned sensors, the sensor for detecting the operation amount of the accelerator sensor 21 or the like outputs the operation amount as a voltage change. In order to improve noise resistance, the output signal is once converted into a current change by the signal converter 41, and immediately before input to the controller 40 comprising a computer, the signal is returned to the original voltage change by the signal converter 42. A root conversion is performed to convert the changed output signal to its square root, thereby expanding the dynamic range of each sensor without deteriorating the sensitivity of the small output portion. Then, the route-converted output signal is input to the controller 40, and after a calculation process described later, a computer graphic image of a CRT display (not shown) arranged in front of the model motorcycle 13 and the motors 9, 10,. 1
By controlling the attitude of the model motorcycle 13 by the operation of step 7, the behavior similar to that of the actual vehicle is reproduced, so that the occupant can experience the actual traveling of the actual vehicle. The steering wheel 13b has a motor 1 for rotating the steering wheel 13b.
3c is provided so that the reaction force of the turning operation on the steering wheel 13b can be increased or decreased.

Next, the calculation in the controller 40 will be described. The output signal input to the controller 40 is first subjected to a smoothing process by the following equation (1).

[0014]

(Equation 1)

Here, x indicates a signal from each sensor,
X indicates the signal after the smoothing process. Also,
X0 indicates X obtained by the previous smoothing process, and n indicates a smoothing coefficient. The smoothing coefficient n is set according to the type of signal to be substituted for x. For example, if the steering torque τs detected by the steering sensor 23 is subjected to smooth zinc processing, n = 30 and the steering torque Ts is obtained. Similarly, the lean torque τL detected by the lean torque sensor 24 is set to n = 50, and the lean torque TL is obtained.
If the acceleration α is obtained from a signal from the accelerator sensor 21 or the like, n = 80 and the acceleration A is obtained.

Next, rotation control of the roll shaft 12 by the motor 10, that is, roll control will be described. When a roll is generated, the roll component φ, which is the angular velocity of the roll shaft 12, is composed of a roll component φs due to steering operation and a roll component φL due to weight shift, and the roll component φs, the roll component φL, and the roll component φ are as follows. Number 2 of
Is expressed as a function of the steering torque τs and the lean torque τL.

[0017]

(Equation 2)

Note that the influence of the steering torque τs and the lean torque τL on the roll component φ greatly changes depending on the traveling speed V. Therefore, as shown in the above equation 2, the steering torque τs and the lean torque τL are multiplied by the gains Ks · KL to correct them. A minus term is provided in which the roll angle Φ is corrected by the gain h to reduce the roll component φ. Then, a new roll angle Φ is obtained by integrating the roll component 求 め thus obtained. By the way, each of the above-mentioned gains changes depending on the traveling speed V, but the changes are non-linear, and if they are obtained by calculation each time, the processing time becomes longer, and the responsiveness of the attitude control of the model motorcycle 13 to the operation of the occupant decreases. Therefore, the traveling speed V and each gain Ks
The controller 40 is used as a map in relation to KL · h.
The processing time is shortened by storing the data in a table and searching the table as necessary. The above maps are shown in FIGS. 6 (a), 6 (b) and 6 (C), and are prepared in advance by calculation using an external computer, but may be prepared manually or in combination. You may. Although the roll angle Φ obtained by the above calculation corresponds to the roll angle of the actual vehicle, it is not always appropriate to faithfully reproduce the behavior of the actual vehicle on the model motorcycle 13 due to the relationship of the movable range of the drive device, etc. In order to actually control 10, it is necessary to perform further arithmetic processing. Therefore, the rotation angle Rm of the roll shaft 12 is defined as a function of Φm1 obtained by correcting the roll angle Φ obtained by the above calculation and Φm2 which is a term for correcting by the occupant operation, as shown in the following Expression 3. .

[0019]

(Equation 3)

Here, ΦA is an amount obtained from the map shown in FIG. 7A in accordance with the roll angle Φ. As the roll angle Φ obtained by the calculation increases, the amount of rotation of the roll shaft 12 increases. It is for restricting. Also, Cv
Is obtained from the map shown in FIG. 3B, and is for reproducing characteristics that make it difficult to roll during high-speed running. Incidentally, in the case of an actual vehicle, it becomes unstable in the roll direction at low speed, but in the case of this embodiment, the roll is suppressed until the traveling speed increases to some extent, and the gain is adjusted by the gain Cv. Further, in order to add a buffering element to the change in the operation force of the occupant, and to smoothly stop the model motorcycle 13 at a desired roll angle position, Φm2 is a function of the smoothed Ts and TL. The gains Kbs and KbL are determined from the maps shown in FIGS. 7C and 7D in order to increase the influence of Φm2 on the turning motion of the roll shaft 12 during high-speed running.

Next, yaw control will be described. In the case of yaw control, even if the yaw is constant and does not change, the above CRT
Since the image on the display must keep changing, it is necessary to separately perform an operation for controlling the image on the CRT display and an operation for controlling the motor 9 for controlling the attitude of the model motorcycle 13. is there. Therefore,
First, an operation for controlling an image on a CRT display will be described below.

In the calculation for image control, the position and the traveling direction of the actual vehicle when the vehicle actually travels with respect to the coordinate system fixed to the ground are obtained. It is assumed that the vehicle travels at the traveling speed V above. At this time, the angular velocity with respect to the turning center is
Then, the yaw rate ψ is represented by the sum of the yaw rate y11 defined by the roll angle Φ and the yaw rate y12 defined by the steering torque τs, and the following equation (4) holds.

[0023]

(Equation 4)

Where g is the gravitational acceleration and Cry and C
ty is a gain, which is obtained from the maps (a) and (b) shown in FIG. 8.
In order to eliminate the effect of
It is provided to eliminate the influence of. Then, from the yaw rate に よ り, the coordinates X0 and Y0 of the position of the actual vehicle with respect to the fixed coordinate system and the traveling angle 同 じ く in the same fixed coordinate system are obtained from the following equation 5 based on the calculation result. The above image control is performed.

[0025]

(Equation 5)

Next, an operation for controlling the motor 9 will be described below. At low speed, the actual vehicle rolls around the ground contact point of the tire with the turning center, but as the traveling speed increases, the occupant moves the tire in the opposite direction to the roll direction and the roll center rises as if Feel as though. Therefore, in order for the occupant of the model motorcycle 13 to reproduce the sensation, when the roll shaft 12 rotates, the front and rear slide tables 7 are moved by the same distance B0 in the direction opposite to the roll, and the model motorcycle 13 passing through the roll shaft 12 The vertical axis passes through a point having a predetermined height hrc on a vertical coordinate axis having the origin at the position of the roll shaft 12 during straight running, and the predetermined height hrc is changed according to the traveling speed. In addition, since the front and rear slide tables 7 need to be moved by B1 and B2 in the opposite directions to each other in order to cause the yaw movement, the distances Bm1 and Bm2 for actually moving the front and rear slide tables 7 are given by the following Equation 6. It is represented by the formula shown below.

[0027]

(Equation 6)

Here, CΨv is a gain, which increases the influence of the above ΦA on the yaw angle Ψm in the reverse direction during low-speed running, and is obtained from the map shown in FIG. 9 (a). The predetermined height hrc is obtained from the map shown in FIG. 3B, and performs a correction to raise the roll center felt at the time of high-speed running. Incidentally, Y1 and Y2 are distances from the yaw movement center to the front and rear slide tables 7, respectively. In this embodiment, since the yaw movement center is fixed, the Y1 and Y2 are fixed.
2 is a constant.

Next, pitch control by the motor 10 will be described. The motor 10 is controlled to generate a pitch angle PIT by differentially moving the front and rear lifting frames 8 up and down, and to cause the model motorcycle 13 to reproduce the vertical movement by operating the front and rear lifting frames 8 in the same direction for the same distance Z. Control is required.

First, the control for generating the pitch angle PIT will be described. The pitch is caused by the acceleration α acting in the front-rear direction, and the acceleration α is controlled by the accelerator sensor 21, the front brake pressure sensor 25, the rear brake The gain Sca is added to the longitudinal acceleration X1 obtained from signals from the pressure sensor 26, the gear position switch 28, and the like.
Is obtained by multiplying And the pitch angle PIT
Is expressed as a function of the acceleration A obtained by smoothing the acceleration α. The rear elevator 8 is made to be different from the front elevator 8 by a distance Hm0 in order to generate the pitch angle PIT.

Further, when performing the above-described image control, the front and rear lifts are moved up and down by the vertical movement amount Z obtained by correcting the vertical movement distance Z1 programmed in advance according to the road surface condition. Therefore, the vertical movement amount Hm1 of the front elevator 8 and the rear elevator 8
Is the function shown in the following equation (7).

[0032]

(Equation 7)

Here, the gain Sca is obtained from a map shown in FIG. 10A, and is used to prevent the acceleration α from affecting the pitch control unless the speed is increased to a predetermined speed. Also, C0pit and C0z are both determined by the characteristics of the vehicle type, and Hw indicates the distance between the front and rear elevators 8 and are both constants.

Next, the steering 1 by the motor 13c
Control of the rotation angle Sm of 3b will be described. The rotation angle S
m is obtained by correcting the steering torque τs by the gain Ss, and is a function represented by the following equation (8).

[0035]

(Equation 8)

The gain Ss is obtained from the map shown in FIG. 10B, and is for increasing the reaction force to the turning operation of the steering wheel 13b during high-speed running.

The embodiments of the present invention have been described above. However, in addition to the various parameters and gains described above, the influence on the occupant can be obtained by taking into account the influence of the steering force due to the rotation of the tire and the slip of the rear wheel at the time of cornering. Thus, it is possible to give a more realistic vehicle feeling, and these are not excluded from the scope of the present invention.

[0038]

As is apparent from the above description, the present invention provides a method for controlling the attitude of a model motorcycle based on a value corrected by a correction value corresponding to a change in traveling speed when controlling the occupant's operation amount. Since the attitude of the model motorcycle is controlled, the behavior of the model motorcycle can be approximated to the movement of the actual vehicle. Further, since the correction value is obtained from a map stored in advance, the response of the control to the operation of the occupant is not impaired, and the behavior of the model motorcycle can be made closer to the movement of the actual vehicle.

[Brief description of the drawings]

FIG. 1 is a side view of an example of the device of the present invention.

FIG. 2 is a right side view of FIG.

FIG. 3 is a plan view showing a state where a model motorcycle is removed.

FIG. 4 is a perspective view of a support frame portion.

FIG. 5 is a diagram showing an example of a map for obtaining a gain.

FIG. 6 is a diagram showing an example of a map for obtaining a gain.

FIG. 7 is a diagram showing an example of a map for obtaining a gain.

FIG. 8 is a diagram showing an example of a map for obtaining a gain.

FIG. 9 is a diagram showing an example of a map for obtaining a gain.

FIG. 10 is a diagram showing an example of a map for obtaining a gain.

[Explanation of symbols]

Reference Signs List 1 base 6 movable device 7 slide base 8 elevating frame (operating end) 11 support frame 12 roll shaft 13 model motorcycle 40 controller

 ──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Katsuhito Aoki 1-4-1 Chuo, Wako-shi, Saitama Pref. Honda Technology Laboratory Co., Ltd. (56) References JP-A-62-287281 (JP, A) 61-154689 (JP, A)

Claims (1)

(57) [Claims] 1. A riding simulator control device for controlling the attitude of a model motorcycle movably held by a driving device in accordance with an operation by an occupant of the model motorcycle. Detecting means, storage means for storing a correction value that changes in accordance with the traveling speed determined by the operation of the occupant, search means for searching the storage means for a correction value corresponding to the current traveling speed, A riding simulator control device comprising: a posture control unit that operates the driving device in accordance with the operation amount corrected by the searched correction value.