JPH04310993A - Simulation device for motion body - Google Patents

Abstract

PURPOSE:To realize high-speed and high-accuracy real-time simulation based upon real data on the state of motion body with highly versatile constitution. CONSTITUTION:The simulation device is structured by using a host processor 17 of general computer constitution which performs a preprocess before the simulation and a postprocess after the simulation and an arithmetic processor 18 which simulates the motion of a model body 1 and the host processor 17 generates the arithmetic program for the motion equation for simulation execution in the preprocess and processes data on a simulation result transferred and inputted from the arithmetic processor 18 to generate display data on the simulation result. Then the arithmetic processor 17 inputs various real data on the model body 1 to a DSP 32 in real time to execute an arithmetic program, calculates the state of the motion body at a high speed, and gathers data on the arithmetic result of the DSP 32 as data on the simulation result.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body simulation device used for real-time simulation of the state of a moving body.

0002

[Background Art] Conventionally, when designing a car, which is an example of this type of moving body, it is necessary to use simulations to see in real time what state the car will be in when it is actually operating, such as acceleration or deceleration. It is desirable to measure it. and,
Conventionally, a simulation device having an analog computer configuration is used for this real-time simulation. This conventional simulation device actually connects various arithmetic unit modules with analog circuit configurations such as adders and multipliers to match the equation of the state of motion (hereinafter referred to as the equation of motion) for the moving object to be measured. A simulation arithmetic processing unit is formed.

[0003] During execution of the simulation, various actual data (actual signal data) such as electrical signals and hydraulic signals based on actual accelerator operation, brake operation, etc., are constantly being input into the arithmetic processing unit. Based on the data,
An arithmetic processing unit performs analog calculations on the equation of motion to form calculation data for the state at each point in time. Furthermore, the calculation data at each point in time is collected as simulation result data, and after the simulation is executed, the collected data is transferred to a workstation device with a general-purpose computer configuration and a large processing capacity as a host processing device, and displayed. The data is processed, and the simulation results are displayed on the screen based on this data. In addition, this type of simulation device replaces the arithmetic processing unit with the analog circuit configuration with software processing, and simulates a moving body using only one general-purpose computer device such as a workstation device in the same way as a circuit simulator. Some do this. In this case, the computer device is equipped with an interface board that takes in real data, and performs all processing such as arithmetic processing during simulation execution and screen display processing of the execution results based on the real data.

0004

[Problems to be Solved by the Invention] In the case of the conventional simulation device having an analog computer configuration, the speed and accuracy of analog calculations of the arithmetic processing unit are lower than the speed and accuracy of digital calculations such as computer processing. There is a problem that high precision cannot be achieved and high-speed, high-precision real-time simulation cannot be achieved. Moreover, since the equation of motion is different for each moving body, the circuit configuration of the arithmetic processing unit must be changed each time, which poses the problem of low versatility.

[0005] In addition, in the case of a conventional software simulation type simulation device, the load on the computer becomes extremely large when executing the simulation, and the processing speed tends to drop significantly.In this case, too, there is a problem in that it is not possible to speed up the calculations. There is. SUMMARY OF THE INVENTION An object of the present invention is to provide a highly versatile moving object simulation device that can perform calculations during simulation at high speed and with high accuracy, and does not require circuit changes for each moving object.

[0006]

[Means for Solving the Problems] In order to achieve the above object, the moving body simulation device of the present invention performs preparatory processing such as initial settings before simulation execution, and data analysis and display after simulation execution. It is constructed from a high-level processing device configured as a general-purpose computer that performs post-processing, and a calculation processing device that executes a motion simulation of a moving object, and the high-level processing device calculates an equation of motion for simulation execution according to an operation input during preparation processing. means for creating a program; and means for processing simulation result data transferred and input from the arithmetic processing device during post-processing to form display data of the simulation result; A digital signal processing processor that captures various actual data of applied force and control in real time, executes the calculation program, and calculates the state of the moving body at high speed; and a means for collecting the data.

Furthermore, in order to facilitate the creation of an arithmetic program, the upper processing unit includes means for displaying symbol marks of various arithmetic units on a screen when creating an arithmetic program, and a means for selecting each of the symbol marks based on a mouse operation. It is preferable to include means for displaying the equation of motion as a graphic model by connecting lines to create the calculation program. Furthermore, in order to execute the calculation program on the digital signal processing processor, the calculation program of the equation of motion was converted into an assembly language for programming the digital signal processing processor by double compiling the equation of motion displayed in the graphic model in the upper processing unit. It is desirable to have means for converting the code into machine language for post-execution and transferring it to the arithmetic processing unit.

[0008]

[Operation] In the case of the simulation apparatus of the present invention configured as described above, the host processing unit performs preparatory processing such as creating an arithmetic program for simulation execution, which requires large processing capacity, and post-processing such as processing data of simulation results. The simulation, which requires high-speed processing, is executed at high speed and with high precision by the digital signal processing processor of the arithmetic processing unit, based on the arithmetic program transferred and input from the host processing unit.

[0009] Therefore, the speed and accuracy of calculations during simulation execution are significantly faster and more accurate than in conventional devices. Moreover, it can be applied to simulations of various moving bodies by simply changing the calculation program, improving versatility. When creating an arithmetic program for the host processing unit, use the mouse to select the symbol marks of the various arithmetic units displayed on the screen, display the equation of motion as a graphic model by connecting lines, and create the arithmetic program. can be performed extremely easily, improving operability. In addition, by automatically double-compiling the equation of motion displayed in the graphic model and converting the calculation program into assembly language and then machine language, programming the equation of motion necessary to execute the simulation becomes extremely easy, and operability is improved. Improve further.

0010

Embodiment One embodiment will be described with reference to FIGS. 1 to 6. FIG. 1 shows the configuration when applied to a car deceleration simulation. And the car model body 1
is equipped with the deceleration and acceleration control mechanism of the actual machine, and when the accelerator pedal 2 is operated, the disc brakes 9, 10, 11 of the four wheels 4, 5, 6, 7 are activated via the brake actuator 3 and hydraulic piping 4, just like in the actual machine. , 12 are given hydraulic pressure for braking force according to the operation. Further, when the accelerator pedal 13 is operated, a hydraulic pressure with an accelerating force corresponding to the operation is applied to the throttle 15 via the accelerator actuator 14. In addition,
Reference numeral 16 indicates a control unit that supplies electrical signals for control to the actuators 3 and 14, and 17 indicates an automobile frame.

On the other hand, the simulation apparatus is constructed of a workstation-configured host processing unit 17 with a large processing capacity and an arithmetic processing unit 18, and the host processing unit 17 includes a CPU 19, a large-capacity storage unit 20 such as a hard disk,
Keyboard 21, mouse 22, printer 23 and CRT
It has 24. Note that 25 is an interface circuit for coupling to a CRT, and 26 is an interface circuit for coupling to the arithmetic processing unit 18. Further, the arithmetic processing unit 18 has a CPU 27 as a sub-microcomputer, a storage unit 28 such as a RAM, interface circuits 29, 30, 31 for coupling, and a digital signal processing processor (hereinafter referred to as DSP) 32, and an interface circuit for coupling. 29 is connected to an interface circuit 26 , an input interface circuit 30 is connected to a pressure/voltage converter 33 , and an output interface circuit 31 is connected to the control unit 16 .

The host processing unit 17 executes the control program for the entire simulation apparatus in the storage unit 20 by the CPU 19 and operates as shown in FIG.
A menu screen for mode selection is displayed on the CRT 24 during standby. This menu screen has menu names of editing, operation, and analysis processing modes that are selectively selected by clicking the mouse 22. Initially, the editing mode is selected and the preparatory processing program before simulation execution is executed. Ru. When this program is executed, the upper processing unit 17
Shifts to the editing mode and displays the initial setting screen on the CRT 24, and displays the conditions and calculations of the model body 1 such as the specifications of the car, driving conditions, input/output processing speed (response speed), sampling period of input/output data, etc. prompts you to initialize the conditions of the simulation device.

When various initial setting values are specified and selected by operating the keyboard 21 and mouse 22, the contents are stored in the storage section 20. Furthermore, when creation of a simulation model is selected on the initial setting screen, the model creation program shown in FIG. 3 is executed. At this time, the CRT 24 is divided into two, for example, a creation area 34 and a selection area 35, as shown in FIG. A column of symbol marks 36 of computing units indicating various basic computing modules such as comparison, D/A output, etc. is displayed.

Then, based on the predicted equation of motion during deceleration of the automobile, the symbol mark 36 of each necessary processing module is selected by operating the mouse 22, and the creation area 34 is
When it is transferred to a desired position and connected, a graphic model display 37 of the equation of motion is displayed in the creation area 34, and at the same time, a source language of an arithmetic program corresponding to the graphic model display 37 is created by the CPU 19. This arithmetic program is formed, for example, by combining high-level language expressions of each processing module, and when the formation is completed, the storage unit 20
After being temporarily saved to the
The program is sequentially converted into an assembly language for programming and a machine language as an execution language, and then automatically translated into an execution program for the DSP 32 and stored in the storage unit 20.

[0015] Next, when an operation mode is selected on the menu screen in order to execute a simulation, the upper processing unit 17 shifts to the operation mode, and both processing units 17 and 18
operates as shown in FIG. In FIG. 5, the portion surrounded by broken lines indicates the processing of the arithmetic processing unit 18. Then, the host processing device 17 that has shifted to the operation mode notifies the CPU 27 of the arithmetic processing device 18 to execute the simulation, and causes the storage portion 28 of the processing device 18 to download the execution program for the equation of motion in the storage portion 20 .

[0016] When this download is completed, CPU2
7, the execution program is loaded into the DSP 32 and executed. The DSP 32 is formed of, for example, a 32-bit floating point DSP chip, and has a response speed based on initial setting conditions and a sampling period that allows for high-speed acquisition of actual data from the input interface circuit 30, calculation, data output to the output interface circuit 31, etc. Repeat. At this time, in the model body 1, the actuators 3 and 14 are initialized via the control unit 16 using speed data from the arithmetic processing unit 18 based on the initialization conditions.

Furthermore, the oil pressure applied to each of the brakes 9 to 12 and the throttle 15 changes according to the operation of the pedals 2 and 13.
According to these changes, the detected oil pressure data supplied from the converter 33 to the input interface circuit 30 changes.

Then, the vehicle speed etc. of the vehicle at each point in time are determined in real time by the high speed calculation of the DSP 32 based on the detection data of each oil pressure and the data of electrical control of the actuators 3, 14 etc. from the control unit 16. The data of the calculation results are collected and stored in the storage unit 28. At the same time, the speed data etc. of the calculation results are supplied to the control unit 16 via the output interface circuit 31, the actuators 3 and 14 are adjusted, and the model body 1 is moved to the pedal 2.
, 13 will be in a running state according to the operation.

When the brake pedal 2 is operated to bring the vehicle to a halt, the DSP 32 calculates in real time the vehicle speed and other information indicating the state during that time, and this data is collected and stored in the storage unit 28. . moreover,
When the simulation run ends due to stopping the vehicle,
The CPU 27 notifies the higher-level processing device 17 of the completion of execution, and transfers (uploads) the collected data stored in the storage unit 28 to the higher-level processing device 17 . At this time, the upper processing device 1
7 stores the collected data of the simulation results transferred and input in the storage unit 20 and ends the operation mode.

Next, in order to process the simulation results and display them on the screen, when the analysis mode is selected on the menu screen, the host processing unit 17 shifts to the analysis mode.
The CPU 19 executes a post-processing program after the simulation is executed. Then, as shown in FIG. 6, the collected data stored in the storage unit 20 is analyzed and processed according to display conditions such as required items and display formats, and display data matching the conditions is formed. CP based on this display data
The simulation results are displayed on the screen on the CRT 24 under the display control of U19. Additionally, when printout is selected, the display data is supplied to the printer 23 to form a hard copy of the simulation results.

[0021]The host processing unit 17, which has a large processing capacity, takes charge of the preparatory processing before the simulation execution and the post-processing after the simulation execution, and the arithmetic processing unit 18, which has a DSP configuration, takes charge of the processing during the simulation execution. Since the DSP 32 of the device 18 repeatedly performs high-speed digital calculations to determine the state of the model body 1 in real time, the calculation speed is significantly increased, the number of effective digits of the data is large, and the simulation accuracy is also significantly increased.

Furthermore, the calculation program for the equation of motion necessary for the simulation is created by forming the graphic model display 28 based on mouse operations, and furthermore, the calculation program is automatically translated into an execution program for the DSP 32 by double compiling after the formation. Therefore, it is much easier to create a simulation calculation program than when creating it in assembly language, for example. and,
By changing the calculation program, it can be applied to simulations of various moving bodies, and has extremely high versatility. In the above embodiment, the model body 1 was used as the measurement target instead of the actual machine, but it goes without saying that the actual machine itself can be the measurement target.

[0023]

[Effects of the Invention] Since the present invention is configured as described above, it produces the effects described below. The higher-level processing unit 17, which is a general-purpose computer, handles preparatory processing such as creating an arithmetic program before simulation execution, which requires large processing power, and post-processing after simulation execution.The DSP 32 handles the arithmetic processing for simulation execution, which requires high-speed processing. The arithmetic processing unit 18 of the controller takes over the task, and when the simulation is executed, the DSP 32 captures various actual data of the moving object in real time and calculates the state of the moving object using high-speed digital calculations, so calculations are much faster than conventional devices. It is possible to perform high-speed, high-precision real-time simulation of the state of a moving body based on real data. Furthermore, by changing the calculation program, it can be applied to simulations of various moving bodies, making it extremely versatile. Then, when creating a calculation program,
Symbol marks 27 of various computing units based on mouse operations
By selecting and connecting the equations of motion as a graphic model and forming an arithmetic program, programming the equations of motion necessary to execute the simulation can be extremely easily performed by operating the mouse on the display screen, improving operability. Furthermore, when the calculation program is sequentially converted into assembly language and machine language by double compilation of the equation of motion and transferred to the calculation processing unit 18, the calculation program created by mouse operation is automatically translated into an execution program for the DSP 32. This further improves operability.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of a moving body simulation device of the present invention.

FIG. 2 is a flowchart for explaining the operation of the higher-level processing device in FIG. 1;

FIG. 3 is a flowchart for explaining creation of a simulation model in edit mode.

FIG. 4 is an explanatory diagram of a graphic model display.

FIG. 5 is a flowchart for explaining the operation in the operation mode.

FIG. 6 is a flowchart for explaining operations in analysis mode.

[Explanation of symbols]

1 Model body 17 Upper processing unit 18 Arithmetic processing unit 19,27 CPU 20, 28 Storage section 24 CRT 32 DSP

Claims (3)

[Claims] [Claim 1] Preparatory processing such as initial settings before simulation execution and data analysis after simulation execution;
It is constructed from a host processing device configured as a general-purpose computer that performs post-processing such as display, and an arithmetic processing device that executes a motion simulation of a moving body, and the host processing device is configured to perform motion for simulation execution according to operation input during preparation processing. means for creating an equation calculation program; and means for processing simulation result data transferred and input from the arithmetic processing device during post-processing to form simulation result display data; a digital signal processing processor that captures various actual data of forces and controls applied to a moving body in real time and executes the calculation program to calculate the state of the moving body at high speed; A simulation device for a moving body, comprising: means for collecting the simulation results as data. 2. The upper processing unit includes means for displaying symbol marks of various computing units on a screen when creating an arithmetic program, and displaying a graphic model of the equation of motion by selecting and connecting each of the symbol marks based on mouse operation. The moving object simulation apparatus according to claim 1, further comprising means for creating the calculation program. 3. A host processing unit converts the calculation program of the equation of motion into an assembly language for programming a digital signal processor by double compiling the equation of motion displayed as a graphic model, and then converts it into machine language for execution. 3. The moving body simulation apparatus according to claim 2, further comprising means for transmitting the data to an arithmetic processing unit.