KR100434816B1 - Two axis motion base for dynamic simulation - Google Patents

Abstract

The present invention relates to a two-axis motion base for dynamic simulation, in the simulator that is being researched and developed for various training and arcade entertainment, the arbitrary slope by the parallel movement of the X, Y axis and the existing medium-large expensive driving system at right angles to each other X-axis (20) which is horizontally supported on the base plate (10) to enable a dynamic simulation movement even at low cost by replacing with a small two-axis motion base drive system that enables a 360 ° rotational motion with And the driving means 30 installed on the base plate 10 for forward and reverse rotation of the X axis 20, and the X axis 20 fixed by the X axis 20 to drive the driving means 30. X axis horizontal plate 40 inclined left and right according to the rotation of the X axis, Y axis 50 horizontally supported so as to be orthogonal to the X axis 20 on the X axis horizontal plate 40, X axis horizontal plate ( 40) is installed on the Y-axis 50 for reverse rotation Y-axis horizontal plate 70, which is fixed to the drive means 60, Y-axis 50 and inclined back and forth in accordance with the rotation of the Y-axis 50 by the drive of the drive means 60, and Y-axis horizontal plate ( It consists of a motion table including a seat 80 fixed on the 70 and a motion controller for controlling it.

Description

2-axis motion base for dynamic simulation {TWO AXIS MOTION BASE FOR DYNAMIC SIMULATION}

The present invention relates to a two-axis motion base for dynamic simulation, in particular to the parallel movement of the X- and Y-axis intersected at right angles to the existing medium and large expensive driving method in the simulator that is being researched and developed for various training and arcade entertainment By substituting a small two-axis motion base drive system for enabling 360 ° rotational motion with arbitrary inclination, dynamic simulation motion is possible even at low cost.

The recent rapid development of computers has affected the entire industry as well as the development of various software and hardware using computers. With the development of various industrial devices, training using advanced equipment and expensive real equipment can cause human loss due to high costs and risks, and it is being developed in various fields using simulation training using simulators.

This simulator was developed by Edwin Link of the United States for flight control training in the 1920s, but was used as a pilot training and advanced passenger flight simulator for military aircraft since the 1980s at an extremely expensive price. The military simulator technology of defense companies is applied to the civilian, and various products are being tried.

Developing a simulator requires a lot of time and effort and costs twice as much as actual equipment, but it can reduce risks and human physical loss, so it is mainly caused by basic training such as flight training and driving practice. Increasingly, the scope of application is expanding in various fields such as situational response training.

Recently, such simulators are being researched and developed for arcade entertainment using virtual reality, and the development of various simulators is predicted. However, domestic technology of the simulator is now in the R & D stage, and the development of the core technology for the most important motion base is required. It is becoming.

On the other hand, the simulator is composed of an image device, a control device, a motion device (motion table) and a control device (motion controller: motion controller), and a motion base by integrating a motion device or a motion device and a control device. Is called. Most of the motion devices are hydraulic, pneumatic, and electric using the axis up / down motion method through the festival. The existing simulation motion method is composed of three-axis degrees of freedom and six-axis degrees of freedom.

Some simulators do not have a motion base, but the biggest reason for their lack of exercise equipment is the higher environmental costs of expensive motion bases and various functional controls.

The function of the simulator can be operated independently or as an integrated management system for each device. There are various ways to represent the image, but depending on the method, it expresses the calculated position of the motion table and the view outside the window from the azimuth angle. The motion base provides an exercise environment that makes the operator feel the calculated position, velocity and acceleration algorithm. In addition, the most important control device in motion base is real-time calculation of sensor operation input control, operation status inspection, algorithm implementation, position control (hydraulic, pneumatic, electricity) in conjunction with video and motion devices.

As mentioned above, the motion base to date has been large and expensive because of the equipment required for the simulation motion by the axis cylinder control method, and the gradient expression vector control algorithm for the three-axis and six-axis-freedom motions was complicated. In the case of pneumatic type, the noise is high, and there is a problem that many motion theories by multi-axis control are required.

The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to provide a low-cost dynamic simulation motion base made of a simple structure that can be used for educational training or arcade entertainment.

In order to achieve the above object, the present invention provides an X-axis supported horizontally on a base plate, drive means for forward and reverse rotation of the X-axis, and fixed to the X-axis according to the rotation of the X-axis by driving of the drive means. An X-axis horizontal plate inclined forward and backward, a Y-axis horizontally supported on the X-axis horizontal plate so as to be orthogonal to the X-axis, drive means installed on the X-axis horizontal plate for forward and reverse rotation of the Y-axis, and Y-axis horizontal plate fixed to the Y-axis and tilted left and right according to the rotation of the Y-axis by the drive of the driving means, and fixedly mounted on the Y-axis horizontal plate, by the parallel movement of the X-axis horizontal plate and Y-axis horizontal plate in all directions A motion table made of a sheet capable of rotating 360 ° in an inclined state;

It provides a motion base comprising a motion controller for controlling the motion table.

The present invention implements a conventional motion table consisting of three axes or six axes in two axes of the X axis and the Y axis, to realize a 360 degree rotation angle having a predetermined inclination by the parallel movement of the two axes, the tilt of the motion table Position control sensor (potentiometer) can be installed on the axis of each driving means to calculate the angle in real time for each of X and Y axes, and the desired tilt can be implemented based on the maximum tilt of 25 °. Can be adjusted according to the user's requirements.

In addition, the error of the potentiometer during operation can be re-initialized by the signal of the proximity sensor serving as the primary safety sensor, and the potentiometer corrects the slope value by the initialized value.

Two safety switches (limit switches) are attached to the lower part of the X-axis horizontal plate and the Y-axis horizontal plate in case of a dangerous situation due to the continual operation of the potentiometer or the primary safety sensor. To cut off the power applied to the driving means.

In addition, the Motion Controller provides three I / O interface cards to integrate and control all signals in real time using a DSP chip, a high-speed CPU, and to simplify signal processing of the motion table. Motion controller provides interface function for motion simulation in connection with PC, and control device provided in motion controller enables real-time operation and measurement processing.

1a is a front perspective view showing a motion table of a motion base according to the present invention;

1B is a rear perspective view illustrating a motion table of a motion base according to the present invention;

2 is a front view of a motion table according to the present invention;

3 is a side view of a motion table according to the present invention;

4 is a side view showing a driving mechanism of the motion table;

5 is a front view showing a driving mechanism of the motion table;

Figure 6a is a side view showing a state of movement of the X axis,

6B is a front view showing a state of movement of the Y axis,

7A is a front view showing a state of rotation of the table by the parallel movement of the X, Y axis,

Figure 7b is a side view showing the rotational movement state of the table by the parallel movement of the X, Y axis,

8 is a system configuration diagram of a motion base according to the present invention;

9 is a block diagram of a motion controller configuration according to the present invention;

10 is a flowchart of a motion controller according to the present invention.

* Explanation of symbols for main parts of the drawings

1: motion table 2: motion controller

3: electrical panel 4: PC

10: base plate 20: X axis

21,22: vertical bracket 23,24: bearing

26: driven gear 27: reduction gear

28: drive gear 30: drive means

40: X axis horizontal plate 41, 42: fixing bracket

50: Y axis 51,52: Vertical bracket

53,54: Bearing 56: Driven gear

57: reduction gear 58: drive gear

60: drive means 70: Y axis horizontal plate

80: seat S1, S2: position control sensor (potentiometer)

S3 ~ S6: Proximity Sensor S7 ~ S10: Safety Switch

101: CPU board 102: analog board

103: digital input / output board 104: multi-channel switching power supply

105: motherboard 106: LCD

107: LED and reset switch

Hereinafter, a motion table and a motion controller according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1A is a front perspective view showing a motion table of a motion base according to the present invention, FIG. 1B is a rear perspective view showing a motion table of a motion base according to the present invention, and FIG. 2 is a front view of a motion table according to the present invention. 3 is a side view of a motion table according to the present invention, FIG. 4 is a side view showing a driving mechanism of the motion table, and FIG. 5 is a front view showing a driving mechanism of the motion table.

As can be seen in Figures 1 to 5, the motion table of the motion base according to the present invention comprises: an X axis 20 supported horizontally on the base plate 10;

Drive means (30) installed on the base plate (10) for forward and reverse rotation of the X-axis (20);

An X-axis horizontal plate (40) fixed to the X-axis (20) and inclined left and right according to the rotation of the X-axis (20) by the driving means (30);

A Y-axis 50 horizontally supported on the X-axis horizontal plate 40 so as to be orthogonal to the X-axis 20;

Drive means (60) mounted on the X-axis horizontal plate (40) for forward and reverse rotation of the Y-axis (50);

A Y-axis horizontal plate 70 fixed to the Y-axis 50 and inclined back and forth according to the rotation of the Y-axis 50 by the driving means 60;

It comprises a sheet 80 is fixed to the Y-axis horizontal plate (70).

In the present invention, X axis 20 refers to the axis extending in the left and right direction of the sheet 80 as can be seen in the figure, Y axis means an axis extending in the front and rear direction of the sheet 80, the present invention is The direction of the X-axis and the Y-axis is not limited to those shown in the drawings, but the X-axis and the Y-axis are interchanged, that is, the X-axis is set in the front-rear direction of the sheet 80 and the Y-axis is moved in the left-right direction of the sheet 80. It is also possible to set and produce, and if necessary, the X-axis and the Y-axis may be set so as not to be parallel to the left-right direction or the front-rear direction of the sheet, for example, by setting the X-axis and the Y-axis in the diagonal direction of the sheet.

Further, in the present invention, as a result, as described above, as shown in the figure, the X axis is located at the bottom and the Y axis is not disposed at the top of the X axis orthogonal to the X axis, on the contrary, The Y axis may be arranged and the X axis may be arranged on the Y axis.

The X-axis 20 and the Y-axis 50 are composed of the same driving mechanism, but first described the X-axis as follows.

First, the X-axis 20 is rotatably supported by the bearings 23 and 24 on the vertical brackets 21 and 22 fixed in parallel to the upper both sides of the base plate 10, and the X-axis 20 ), Fixed brackets 41 and 42 fixed in parallel to both lower sides of the X-axis horizontal plate 40 are attached in a fixed state, and a driven gear 26 is attached to this X-axis 20. .

The reduction gear 27 is gear-coupled to the driven gear 26 of the X-axis 20, and the reduction gear 27 is gear-coupled with the drive gear 28 of the drive means 30, thereby driving the drive means ( The forward and reverse rotation of 30 causes the X-axis 20 to perform forward and reverse rotation, thereby forming an operation of tilting the X-axis horizontal plate 40 back and forth.

Next, the Y axis 50 is supported in a rotatable state by the bearings 53 and 54 on the vertical brackets 51 and 52 fixed in parallel to the upper both sides of the X axis horizontal plate 40. On the Y axis 50, fixed brackets 71 and 72 fixed in parallel to both sides of the lower side of the Y axis horizontal plate 70 are attached in a fixed state, and the driven gear 56 is attached to the Y axis 50. Is condensed.

The reduction gear 57 is gear-coupled to the driven gear 56 of the Y-axis 50, and the reduction gear 57 is gear-coupled with the drive gear 58 of the drive means 60, thereby driving the drive means ( The reverse rotation of the 60 causes the Y axis 50 to perform the reverse rotation operation, thereby forming an operation in which the Y axis horizontal plate 70 is inclined left and right.

In the present invention, the X-axis drive means 30 and the Y-axis drive means 60 is to enable a low power consumption and high speed reverse rotation by using a small 200W class geared motor to obtain the drive torque required as an electric motor, The rotation speed of the motor can be controlled by the accelerator function, and an electrically operated brake is built in the electric motor to brake the rotation of the motor shaft. The control sensors (potentiometers S1 and S2) are installed so that the inclination angle of the motion table can be calculated in real time for each of the X and Y axes, thereby enabling position control such as an expensive servobot. .

In the present invention, the driving means 30 and 60 may preferably use a servo motor capable of position control. However, since the driving means 30 and 60 are expensive, the present embodiment will be described as an example of low cost.

In addition, in the present invention, the inclination angles of the X-axis horizontal plate 40 and the Y-axis horizontal plate 70 are set to 25 degrees before, after, and left and right with respect to the horizontal plane, respectively, and the X-axis horizontal plate 40 And the Y-axis horizontal plate 70 is inclined at the set angle of the fixed bracket (41, 71) at the lower portion of the X-axis and Y-axis fixed bracket (41, 71), respectively, to detect the inclination at this angle Proximity sensors (S3, S4) (S5, S6) was installed as the primary safety sensor for detecting the tilt angle of the X-axis horizontal plate 40 and Y-axis horizontal plate 70 before and after And the safety switches (S7, S8) (S9, S10) as secondary safety sensors for detecting the power supply to the driving means (30, 60) by detecting the deviation when the maximum value (25 °) set to the left and right. Install on each vertical bracket (21, 51).

In the figure, reference numeral 27a denotes a reduction gear shaft, 27b and 27c denote bearings for supporting the reduction gear shaft 27a, reference numeral 29 denotes a bracket for installing the proximity sensors S3 and S4, and 32 means driving means 30. It is a fixing bracket.

Reference numeral 57a denotes a reduction gear shaft, 57b and 57c denote bearings for supporting the reduction gear shaft 57a, reference numeral 59 denotes a bracket for installing the proximity sensors S5 and S6, and 62 denotes a driving means 60. It is a fixing bracket.

Figure 6a is a side view showing the state of movement of the X-axis, the Y-axis 50 is in a state in which only the X-axis 20 forward and backward rotation, the effect of the seat 80 is tilted forward or backward By doing so, the person seated on the seat 80 may feel as if he is moving up or down in the actual space according to the state of the screen driven by the monitor of the front, not shown.

FIG. 6B is a front view illustrating a state of movement of the Y axis, and the X axis 20 exhibits an effect of inclining the seat 80 to the left or right side when only the Y axis 50 performs the reverse rotation operation while keeping the horizontal state. By doing so, the person seated on the seat 80 may feel as if he is tilted to the left or tilted to the right in the actual space according to the screen state driven by the front monitor.

7A and 7B are front and side views showing the movement of the seat by the parallel movement of the X-axis and the Y-axis. The Y-axis 50 is tilted to the left when the X-axis 20 is inclined backward. If it is, the occupant on the seat 80 is inclined to the left rear, this inclination direction in all directions, that is, 360 ° in accordance with the inclined state of the X-axis 20 and Y-axis 50 Can also be implemented continuously.

Advantages of the present invention is right here, it is made of a simple structure compared to the motion table of the conventional three-axis or six-axis control method, by the simple two-axis control of the X-axis (20) and Y-axis (50) 80) The above-mentioned passengers can be tilted in all directions so that they can feel physically realistic in virtual reality by the simulator.

8 is a system configuration diagram of a motion base according to the present invention, and FIG. 10 is a block diagram showing a motion controller configuration of the motion base according to the present invention.

The motion base of the present invention consists of the motion table 1 described above and a motion controller 2 for controlling it, the motion controller 2 and the motion table 1 comprising an electric panel 3 composed of inverters and relays. The motion controller 2 is connected to the simulator PC 4.

The motion controller 2 detects a change in a user's command or motion, sends an appropriate change corresponding thereto to the motion table 1, and exchanges real-time interactive information with a sensory experience in order to enhance the user's realism. It is possible to understand and analyze all the things that are not, its configuration is shown in Figure 9, the CPU board 101, analog board 102, digital input / output board 103, multi-channel switching It consists of a power supply 104, a motherboard 105, an LCD 106, and an LED and a reset switch 107.

The CPU board 101 is a DSP (Digital Signal Process) for real-time system implementation, in the present invention was manufactured using a chip of Texas Instruments TMS320C32 50MHz. This controller is capable of high speed operation of up to 50MFL0PS (Mega Floating Point Operation Per Second) and is designed to support various analog and digital input / output.

The CPU board 100 is composed of a RAM, a ROM, a memory mapped peripheral I / O, an EPLD for processing a control signal, and other peripheral circuits such as a general microprocessor.

The analog board 102 is composed of an interface circuit with an ADC control and sensor signal input circuit, a DAC control and a current output circuit CPU. When the relay and the motor are in operation, a lot of noise and ripple enters the analog part, so it is necessary to separate the power supply.

Before describing the digital input / output board 103, the motion base has various position sensors (safety sensors) and inverter status information, and digital control of the inverter, brake control of the motor, and power control are required. This increases reliability and flexibility in implementation and simplifies instrumentation, but it is too slow because I / O data is read and written to the serial port of the PLC. Therefore, since most of the functions of the PLC are related to the input and output and do not use advanced technology, the present invention is directly implemented using EPLD. The basic sequence is programmed in EPLD in advance and operated by the operation switch of the motherboard in manual setting and by the controller in automatic setting. The digital input / output board is composed of the aforementioned EPLD circuit, 23 digital inputs, and 7 digital outputs, and the digital SUB board is composed of 23 digital outputs.

The motherboard 105 functions to connect each board, and is configured in a slot type in consideration of the expandability of the controller, and displays an LED, a manual pushbutton switch, and a digital input for displaying a digital output. LED, LCD display, power input connector, power LC filter, power LED, and external reset switch.

FIG. 10 is a flowchart illustrating the operation of the motion controller according to the present invention. After initializing the system (S11), the system error is checked (S12), and when an error occurs, the power is notified to the outside and the power is turned off. (S13), the system is terminated. If there is no error, the position of the joystick is read (S14), and a change in position is detected (S15), and if there is a change, a motion shift signal is applied to operate the motion table according to the change (S16).

On the other hand, if there is no change, it checks the PC command (S17), and determines whether or not the command of the PC (S18), if there is a command from the PC to execute the operation command to the motion table (S19).

Next, after the execution of the command of the PC or no command of the PC checks the power failure (S20), if it is determined that the power failure (S21) initializes the system, turns off the power (S22) and ends the system, If normal, the process returns to step S14 and the process is repeated.

As described above, the present invention is to enable a 360 ° rotational movement having an arbitrary inclination by the parallel movement of the two axes orthogonal to the X and Y axes, according to the present invention conventional motion base consisting of three or six axes By implementing the two axes of seesaw movement has a useful effect to create a condition to provide a low-cost simulation equipment and arcade entertainment equipment.

Claims (8)

An X-axis 20 supported by the bearings 23 and 24 in a rotatable state on the vertical brackets 21 and 22 fixed in parallel to the upper both sides of the base plate 10, and to which the driven gear 26 is condensed; Is installed on the base plate 10 is gear-coupled between the drive means 30 for forward and reverse rotation of the X axis 20, the driven gear 26 and the drive gear 28 of the drive means 30 An X-axis horizontal plate 40 fixed to the reduction gear 27 and the X-axis 20 and inclined back and forth according to the rotation of the X-axis 20 by the driving of the driving means 30, and the number of the X-axis Supported to be orthogonal to the X-axis 20 in a state rotatable by the bearings 53 and 54 on the vertical brackets 51 and 52 fixed in parallel to the upper both sides of the flat plate 40, and the driven gear 56 is compressed. Installed on the X-axis and the X-axis horizontal plate 40, the drive means 60 for forward and reverse rotation of the Y-axis 50, the driven gear 56 and the drive means 60 Drive Gear (58) Y-axis horizontal plate 70 is fixed to the reduction gear 57 and the Y-axis 50 is inclined to the left and right in accordance with the rotation of the Y-axis 50 by the drive of the drive means 60 and A motion table (1) comprising a seat (80) fixedly mounted on the Y-axis horizontal plate (70); A motion controller (2) for controlling the motion table (1); The X-axis driving means 30 and the Y-axis driving means 60 is made of an electric motor with a built-in brake, the position control sensor (S1, S2) is provided on the axis of each drive means (30, 60), respectively Proximity sensors (S3, S4, S5, S6) for detecting that the X-axis horizontal plate 40 and the Y-axis horizontal plate 70 reach the set angle are X-axis and Y-axis fixing brackets 41, 71, respectively. It is installed at the lower portion of the, and when the inclination angle of the X-axis horizontal plate 40 and Y-axis horizontal plate 70 is out of the maximum value for detecting this to cut off the power supplied to the drive means (30, 60) A two-axis motion base for dynamic simulation, comprising safety switches (S7, S8, S9, S10). delete delete delete delete delete delete delete