RU172019U1 - DEVICE FOR CREATING SHOCK ACCELERATION IN MACHINE SIMULATORS - Google Patents

Abstract

The utility model relates to the field of training equipment and can be used to create shock accelerations in the simulators of excavators, mining machines, vehicles and military vehicles. The device includes a fixed base, three drives connected through a crank mechanism with a moving base, on which a specialist chair is installed, a drive control unit, a spring-loaded movable spline pair, a moving base sensor, a specialist chair sensor and a microprocessor unit. The technical problem lies in the development of a device for creating shock accelerations with the required parameters, providing approximation of the conditions for training specialists on simulators of machines for various purposes to real ones. The technical result - improving the quality of simulation of shock accelerations by increasing their similarity to the accelerations that occur when striking in the virtual space of the simulator scene and in the real work of machines and mechanisms.

Description

The utility model relates to the field of training equipment and can be used to create shock accelerations in the simulators of excavators, mining machines, vehicles and military vehicles.

Known devices that simulate the fluctuations of the chassis (cab, operator’s chair) in the simulators of machines for various purposes (US 5018973, G09B 9/04, publ. 05/28/1991; RU 31869 U1, G09B 9/04, publ. 08/27/2003; RU 82911 U1, G09B 9/04, published May 10, 2009). Such devices are characterized by the ability to simulate vibrations in machine simulators and, in general, provide the task of practicing the necessary practical operating skills by specialists.

The closest set of essential features to the declared one is the dynamic platform of the vehicle simulator (RU 82911 U1, G09B 9/04, published May 10, 2009), containing a movable tabletop for placing the cab and a fixed bed on which three electric drives are installed (gear motors ) connected through a crank-axial mechanism with a movable worktop at three points that are the vertices of an imaginary triangle, a drive control unit and a spring-loaded movable stand, the upper end of which is through cardans hinge connected to the table top in the center of the triangle by weight, and the bottom - via a splined connection with a stationary bed, a second spring concentrically mounted relative to the first, wherein the springs have different lengths and different pitch winding, and arranged so that the direction of winding of one of the spring opposite the direction of the other. The device has three degrees of freedom and provides the movement of the payload in three directions: translational motion along the vertical axis, rotation around the transverse axis (pitch), rotation around the longitudinal axis (roll). The movement is carried out by a corresponding change in the position of each of the three shafts of the gear motors.

The disadvantage of analogs is the low similarity of simulating accelerations during impacts inherent in the operating modes of machines, for example, hitting an excavator bucket against the ground, passing a ledge or tank ditch by a combat vehicle, firing a tank gun, etc. This drawback is due to the lack of instrumental assessment of the similarity of the created shock accelerations to real (required). Analogs contain at least two design units, for example, a transmission unit from the gearbox shaft to the moving base and the specialist’s chair itself, in which the transient response is not controlled, but which affect the magnitude of the created accelerations. It is not a trivial task to separate and fine-tune the amplitude-frequency characteristic of each node using only the calculation of the control action of the drives in the absence of control of the parameters of the above nodes.

The technical problem solved by the creation of the claimed utility model is to develop a device for creating shock accelerations with the required parameters, ensuring that the conditions for training specialists on machine simulators are close to real.

The technical result achieved when using the utility model is to improve the quality of simulation of shock accelerations by increasing their similarity to the accelerations that occur during impacts in the virtual space of the simulator scene and in the actual operation of machines and mechanisms.

The specified technical result is achieved by the fact that in the device for creating shock accelerations in machine simulators, including a fixed base, on which three drives are mounted, connected through crank mechanisms at three points with a movable base, on which the specialist’s chair is installed, and connected to the control unit drives, and a spring-loaded movable spline pair, the spline shaft of which is connected through the cardan joint to the movable base at its center of mass, and the spline sleeve is mounted on a fixed base In addition, a moving base sensor mounted on a moving base and a specialist chair sensor mounted on a specialist chair are introduced, which are connected to a microprocessor unit connected to the drive control unit and configured to exchange signals with an external computer in real time.

The technical result is also achieved by the fact that:

as a drive, the servo motor ESMA, Delta Electronics, INCs, with a gearbox of the AB / ABR series, Apex Dynamics, INCs, and incremental encoders;

ASDA-A2, Delta Electronics, INCs servo drive with CANbus interface and CANOpen control protocol was used as a drive control unit;

as a specialist chair sensor, a three-axis acceleration sensor with a measurement range of ± 4g was used;

a three-axis acceleration sensor with a measurement range of ± 16g was used as a moving base sensor;

microprocessor unit is made on an Nvidia Tegra 2 processor.

The essence of the claimed device for creating shock accelerations in the simulators of machines is illustrated in the drawing, which shows its kinematic and structural diagrams.

The device for creating shock accelerations in machine simulators includes (see drawing) a fixed base 1, a movable base 2, a specialist chair 3, drives 4, 5 and 6, crank mechanisms 7, 8 and 9, a spline shaft 10 and a spline sleeve 11, forming a movable spline pair, a spring 12, a cardan joint 13, a drive control unit 14, a moving base sensor 15, a specialist chair sensor 16 and a microprocessor unit 17.

The operation of the device is as follows.

The spatial position of the movable base 2 is determined by the positions of the vertices of the points of attachment of the rods of the crank mechanisms 7, 8, 9.

The control is carried out using the drive control unit 14, connected to an external computer, by applying to the drives 4, 5 and 6 control signals generated during the virtual operation of the machine.

The static weight of the movable base 2 with the specialist chair 3 installed on it is held by the spring 12. The side rotations of the movable base 2 are eliminated by a movable spline pair, the splined sleeve 11 of which is rigidly connected to the fixed base 1.

In the process, the microprocessor unit 17 detects the level of shock in the virtual space of the scene simulator machine.

In the absence of strokes in the virtual space of the machine simulator scene, that is, when the acceleration value a _{p of the} movable base 2 is less than the specified minimum threshold value a _min , and if there is a significant change in the orientation of the machine in space from the external computer, the current calculated values of the position parameters are sent to the microprocessor unit 17 mobile platform 2 at time t _i : pitch angles ϕ _p (t _i ), roll ϕ _r (t _i ) and heights h (t _i ), which are converted into values of angles ϕ ₁ (t _i ), ϕ ₂ (t _i ), φ ₃ (t _i) corresponding to the output shaft in drives 4, 5 and 6. These calculated values are provided in the drive control unit 14, which is formed by a group of synchronous signals at the inputs of the drives 4, 5, 6. The actuators 4, 5 and 6 fulfill the newly set position of the movable platform 2.

Rotation around the transverse axis (pitch) is ensured by the synchronous operation of two drives 4 and 6 and the out-of-phase operation of the third drive 5. When a pitch angle signal is fed from the external calculator to the drive control unit 14, the latter generates a group of synchronous signals to the inputs of the drives 4 and 6 in phase, and the antiphase signal supplied to the input of the drive 5. Drives 4, 5 and 6, acting through the crank mechanisms 7, 8, 9 on the movable base 2 together with a two-stage universal joint 13, provide rotation of the chair 3 Professionals widely around the transverse axis.

Rotation around the longitudinal axis (roll) is ensured by the out-of-phase operation of the two drives 4 and 6 with the stationary third drive 6. The control signal “roll angle” from the external calculator is fed to the drive control unit 14, which generates antiphase signals arriving at the drives 4 and 6. These the drives through the crank mechanisms 7, 9 synchronously act on the movable base 2, together with a two-stage cardan hinge 13, providing a movable base 2 with a specialist chair 3 rotation around the longitudinal axis, i.e. roll.

The reciprocating movement along the vertical axis is ensured by the synchronous operation of all three drives 4, 5 and 6. The signal “vertical movement” from the external computer is fed to the drive control unit 14, which generates phase-matching signals arriving at the inputs of all three drives 4, 5 and 6. Actuators 4, 5 and 6, working synchronously and acting through the crank mechanisms 7, 8, 9 on the movable base 2, together with a two-stage cardan joint 13, a spring 12 and a movable slot that is kept from side movements howl pair of movable base 2 provide a chair specialist 3 reciprocates along a vertical axis.

подвижного основания 2 и временной интервал дискретизации dt_p массива в трех плоскостях х, у, z, массив заданных значений ускорений

кресла специалиста 3 и временной интервал дискретизации dt_k массива в трех плоскостях х, у, z. В начальный момент, при значении поправочного коэффициента K_p для ускорений a_р подвижного основания 2, равного единице, в микропроцессорном блоке 17 вычисляется массив значений углов поворота приводов 4, 5, 6 соответственно ϕ₁(t_i, j), ϕ₂(t_i, j), ϕ₃(t_i, j) и с заданным дискретом времени dt_p последовательно подается в блок 14 управления приводами, где формируется группа синхронных сигналов, поступающих на входы приводов 4, 5, 6. Параллельно в микропроцессорный блок 17 с датчика 15 подвижного основания поступает массив значений ускорений

подвижного основания 2 и временной интервал дискретизации dt_p массива в трех плоскостях x, у, z, а с датчика 16 кресла специалиста поступает массив значений ускорений

кресла 3 специалиста и временной интервал дискретизации dt_k массива в трех плоскостях x, у, z, где вычисляются среднеквадратические ускорения:When an impact occurs in the virtual space of the machine simulator scene, that is, when the acceleration value a _{p of the} movable base 2 is at least a predetermined threshold value a _min in each of the three planes x, y, z, an additional array of parameters i is supplied to the microprocessor unit 17 of the impact, including the start time of the impact t _i , an array of specified values of accelerations

movable base 2 and the sampling time interval dt _{p of the} array in three planes x, y, z, an array of specified values of accelerations

specialist’s chair 3 and the sampling time interval dt _{k of the} array in three planes x, y, z. At the initial moment, when the correction coefficient K _p for the accelerations a _{p of the} movable base 2 is equal to unity, in the microprocessor unit 17, an array of values of the rotation angles of the drives 4, 5, 6, respectively, ϕ ₁ (t _i , j), ϕ ₂ (t _i , j), ϕ ₃ (t _i , j) and with a given time discrete, dt _{p is} sequentially supplied to the drive control unit 14, where a group of synchronous signals is generated that are input to the drives 4, 5, 6. In parallel to the microprocessor unit 17 s sensor 15 of the moving base receives an array of acceleration values

movable base 2 and the sampling time interval dt _{p of the} array in three planes x, y, z, and from the sensor 16 of the specialist’s chair an array of acceleration values is received

3 specialist seats and the sampling time interval dt _{k of the} array in three planes x, y, z, where the root mean square accelerations are calculated:

и измеренных значений

подвижного основания 2 на интервале Т_р=Jdt_p по формулам:for arrays of given values

and measured values

rolling base 2 on the interval T _p = Jdt _p according to the formulas:

и измеренных значений

кресла 3 специалиста на интервале Т_k=Jdt_k по формулам:for arrays of given values

and measured values

3 specialist chairs in the interval T _k = Jdt _k according to the formulas:

Based on the obtained values are calculated:

correction factor for the acceleration of the moving base 2 according to the formula

K _p = a _wp2 / a _wp1 ;

correction factor for chair accelerations 3 specialists according to the formula

K _k = a _wk2 / a _wkl .

подвижного основания 2, которые корректируются путем деления на поправочный коэффициент K_р. Далее заявленное устройство работает согласно вышеизложенному алгоритму. За счет учета значения поправочного коэффициента K_p при формировании в блоке 14 управления приводами группы синхронных сигналов, поступающих на входы приводов 4, 5, 6, обеспечивается увеличение подобия создаваемых ускорений, возникающих на подвижном основании 2. Дополнительно из микропроцессорного блока 17 передается во внешний вычислитель значение поправочного коэффициента K_k, которое свидетельствует о степени подобия ускорений, имитируемых в кресле 3 специалиста, и о наличии или отсутствии необходимости регулировки жесткости и демпфирования самого кресла 3 специалиста.During a subsequent impact in the process of simulating vibrations in machine simulators, an array of specified acceleration values is supplied to the microprocessor unit 17 from an external computer

rolling base 2, which are adjusted by dividing by the correction factor K _p . Further, the claimed device operates according to the above algorithm. By taking into account the value of the correction coefficient K _p when forming in the drive control unit 14 a group of synchronous signals supplied to the inputs of the drives 4, 5, 6, an increase in the similarity of the generated accelerations occurring on the moving base 2 is provided. Additionally, it is transferred from the microprocessor unit 17 to an external computer the value of the correction coefficient K _k , which indicates the degree of similarity of the accelerations simulated in the chair 3 specialist, and the presence or absence of the need to adjust the stiffness and damping vanya chair 3 specialists.

The claimed utility model is implemented in a prototype simulator of the excavator EKG-18R, in which the actuators 4, 5 and 6 used servo motors ESMA, Delta Electronics, INCs, with a series gearbox AB / ABR, Apex Dynamics, INCs, and incremental encoders, as drive control unit 14 used an ASDA-A2 servo drive, Delta Electronics, INCs, with CANbus interface and CANOpen control protocol, a three-axis acceleration sensor LSM303DLHC, STMicroelectronics, with a measurement range of ± 16g was used as a sensor 15 of the moving base t ehosevoy acceleration sensor LSM303DLHC, STMicroelectronics, with a measuring range of ± 4g, and the microprocessor unit 17 is formed on Nvidia Tegra processor 2.

The results of preliminary tests of the prototype simulator of the EKG-18R excavator simulator confirm the increase in the quality of simulation of shock accelerations that occur when striking in the virtual space of the simulator scene and in the real work of the excavator.

Claims (6)

1. A device for creating shock accelerations in machine simulators, comprising a fixed base on which three drives are mounted, connected through crank mechanisms at three points with a moving base, on which a specialist chair is mounted, and connected to the drive control unit, and a spring-loaded movable spline a couple, the splined shaft of which is connected via a cardan joint to the movable base at its center of mass, and the splined sleeve is mounted on a fixed base, characterized in that A moving base sensor mounted on a moving base and a specialist chair sensor mounted on a specialist chair have been introduced, which are connected to a microprocessor unit connected to the drive control unit and configured to exchange signals with an external computer in real time. 2. The device for creating shock accelerations in machine simulators according to claim 1, characterized in that the actuator used is a servo motor ESMA, Delta Electronics, INCs, with a gearbox of the AB / ABR series, Apex Dynamics, INCs, and incremental encoders. 3. The device for creating shock accelerations in machine simulators according to claim 1, characterized in that the ASDA-A2, Delta Electronics, INCs servo drive with CANbus interface and CANOpen control protocol is used as a drive control unit. 4. The device for creating shock accelerations in machine simulators according to claim 1, characterized in that a three-axis acceleration sensor with a measurement range of ± 4g is used as a specialist chair sensor. 5. The device for creating shock accelerations in machine simulators according to claim 1, characterized in that a three-axis acceleration sensor with a measurement range of ± 16g is used as a moving base sensor. 6. The device for creating shock accelerations in simulators of machines according to claim 1, characterized in that the microprocessor unit is made on an Nvidia Tegra 2 processor.

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