RU38987U1 - TRAINER FOR TRAINING DRIVING A TRACKED CAR - Google Patents

Abstract

The utility model relates to technical means of teaching driving vehicles and can be used to teach the management of tracked vehicles. The proposed technical solution improves the quality of modeling the movement of the machine and simulating noise while reducing the price of the simulator. This problem is solved by the fact that in a well-known simulator containing a visual environment display device, an analog-to-digital converter, a digital-to-analog converter, a cabin with controls and their position sensors, mechanically connected to the cabin vibration drive, a visual environment simulation unit, a machine motion simulation unit , the first group of outputs of which is connected to the group of inputs of a noise simulator, the group of outputs of the latter is connected to an acoustic system installed in the cab, characterized in that it additionally contains a device block and a device control unit, the input group of which is connected to the first group of outputs of the digital-to-analog converter, the group of inputs of which is connected to the second group of outputs of the machine motion simulation unit, and the third group of outputs of the latter is connected to the group of inputs of the visual simulation unit, the first group the outputs of which are connected to the first group of inputs of the machine motion simulation block, the second group of which is connected to the group of outputs of the analog-to-digital converter of Tell, a group of inputs of which is connected with a group of outputs of position sensors of controls, a second group of outputs is connected to a group of input devices display visual situation, a group of devices of the control unit outputs cos

Description

The utility model relates to technical means of training for driving vehicles and can be used to teach the management of military tracked vehicles in the preparation of driver-mechanics in training units of the Russian Army.

A known simulator for training drivers of a tracked vehicle (USSR Author's Certificate No. 144311 Mcl G 09 V 9/04), containing a cabin with controls associated with an electromechanical drive and a movie projector controlled by this drive.

A well-known simulator for training a tank driver (Rymarenko AG, Zimin KB Technical means of intensification of training in tank driving. Edition VABTV, M., 1970.), containing a cabin with controls associated with the sensor unit; acoustic unit; electrohydraulic drive mechanically connected to the cabin; a movie projector with an information reader installed on it; sequentially connected engine and transmission simulation blocks, the first output of the latter being connected to the first input of the engine simulation block, the output of which is connected through a noise simulator to an acoustic block.

Also known is a driver simulator of a tracked vehicle (USSR Author's Certificate. No. 1531707 Mcl G 09 V 9/04), containing a cabin with controls and sensors for their position, the input of which is mechanically connected to the electrohydraulic drive, the input of the vibration modeling block, the group of outputs of the organs position sensors control connected to the group of inputs of the unit for simulating the movement of the machine, the first and second outputs of which are respectively connected to

the first and second inputs of the noise simulator, the output of the latter is connected to the speaker system installed in the cab.

The closest analogue (prototype) is a tracked vehicle driver simulator (Certificate of the Russian Federation No. 6459 Mcl. G 09 V 9/04 for a utility model) containing a visual environment display device, an analog-to-digital converter, a digital-to-analog converter, a cabin with controls and sensors of their position, mechanically connected with the drive oscillations of the cabin, a unit for simulating the visual environment, a block for simulating the movement of the machine, the first group of outputs of which is connected to the group of inputs of the noise simulator, the group of outputs after it is connected with the speaker system installed in the cab.

The sharp rise in the cost of combat vehicles, fuels and lubricants, the need for land charges when driving combat vehicles, etc. led to significant costs required for driver training, and with a limited budget allocated to the Ministry of Defense, training in full "Combat Vehicle Driving Course" becomes impossible (the mileage required to train a third-class driver is 250 km). In this regard, it is necessary to reduce the mileage of combat vehicles by increasing the share of "mileage" on the simulator and reduce the cost of the simulator itself.

Exercise machines analogs do not provide the necessary share of "run" due to poor-quality motion simulation, because The analog motion model used in these simulators has limitations on the accuracy of modeling the movement of the machine. This is due to the fact that increasing the detail of modeling leads to a significant increase in the number of crucial analog elements, which results in an increase in the so-called instrumental error, which for a certain number of elements exceeds the error of the mathematical model implemented in the block of motion simulation on analog elements. In serial

manufactured tracked military tracked vehicles, the movement process is described by a maximum of twelve differential equations. Further detailing the movement process, i.e. an increase in the number of differential equations leads to an increase in instrumental accuracy to a level not acceptable for a driving simulator. In addition, with an increase in detail, the cost of the simulator increases.

In analogue simulators, the possibility of outputting instrumental information to the trained driver, which he needs for proper training, is not presented.

The disadvantage of the prototype simulator is also its relatively high cost, because the machine motion simulation block and the noise simulator are made on analog elements, and the visual environment simulation block is made on a digital computer. This is not rational, because if a digital computer is introduced into the simulator, it is logical to use it to implement all simulator simulator systems, including motion simulation and noise simulation.

The proposed technical solution eliminates the disadvantages of the existing simulator, namely:

1. To improve the quality of modeling the movement of the machine and simulating noise through the use of digital models.

2. To reduce the cost of the simulator due to the exclusion from its structure of analog models and related elements, such as power supplies and other auxiliary devices, not represented in the formula, but taking place in real simulators. These models are transferred to a digital computer already used to simulate the visual environment, which is part of the simulator, but is not fully used.

This problem is solved in that in a well-known simulator containing a device for displaying the visual situation, an analog-to-digital converter, a digital-to-analog converter, a cabin with controls and sensors for their position,

mechanically connected with the drive of the oscillations of the cabin, a unit for simulating the visual environment, a block for simulating the movement of the machine, the first group of outputs of which is connected to a group of inputs of a noise simulator, the group of outputs of the latter is connected to an acoustic system installed in the cabin, characterized in that it further comprises a unit of devices and a unit instrument control, the input group of which is connected to the first group of outputs of the digital-to-analog converter, the group of inputs of which is connected to the second group of outputs of the model block movement of the machine, and the third group of outputs of the latter is connected to the group of inputs of the visual simulation unit, the first group of outputs of which is connected to the first group of inputs of the machine's motion simulation unit, the second group of which is connected to the output group of the analog-to-digital converter, the input group of which is connected to the group the outputs of the position sensors of the controls, the second group of outputs is connected to the group of inputs of the visual display device, the group of outputs of the control unit it is connected to the group of inputs of the instrument cluster in the cabin, and the second group of outputs of the digital-to-analog converter is connected to the group of inputs of the drive oscillation cabin.

Comparative analysis with the prototype shows that the inventive simulator is characterized by the presence of new blocks and their relationships with other elements. Thus, the claimed simulator meets the criterion of "novelty." Comparison of the proposed solutions with other technical solutions shows that the new blocks introduced into the simulator individually are widely known. However, when they are introduced in this connection with the other elements of the circuit of the known simulator, the new blocks exhibit new properties, which leads to the expansion of the functionality of the known simulator and to a decrease in its cost due to the exclusion of analog modeling blocks from the simulator and their implementation on a personal

COMPUTER. This allows us to conclude that the technical solution meets the criterion of "significant" differences.

Figure 1 shows a block diagram of a simulator.

The simulator contains: a cabin 1 with position sensors of the controls 7 and an acoustic system 6, a device 2 for displaying the visual situation, a unit of devices 3, a control unit for devices 4, a noise simulator 5, an analog-to-digital converter (ADC), a unit 9 simulating the movement of the machine, a unit 10 simulations of a visual environment, an oscillation drive of a cabin 11, a digital-to-analog converter (DAC) 12.

Figure 2 presents the block diagram of the implementation of the block simulating the visual environment.

Figure 3 presents the block diagram of the implementation of the motion simulation block.

Before you begin to describe the operation of the simulator, we define some provisions regarding the fact that all simulator simulator systems are made on a personal computer.

If we consider the prototype, then the formula and description clearly shows that the digital computer is functionally a block 10 simulating the visual environment, so it was included in the pre-distinctive part of the formula. This block consists of software and hardware. The computer itself cannot perform the functions of the indicated unit, and therefore cannot solve the tasks assigned to it; it is only a means for implementing the program, which ensures the functioning of the unit 10 necessary for the simulator to work. In this regard, in the formula of the proposed technical solution, the computer is not given, although in fact it is present. About the same thing can be said about block 9 of motion simulation and noise simulator 5, which in the prototype are made on analog elements, and in the proposed technical

solution using software and hardware. A more detailed interaction of the hardware and software parts of these blocks will be presented below.

The simulator works as follows.

A trained driver located in the cockpit 1 of the simulator acts, in a certain way, depending on the task, on the controls. As a result, the sensors 7, mechanically connected with the controls, move and analog voltages are formed at their outputs, proportional to the amount of movement of the controls. These voltages are supplied to the corresponding inputs of the analog-to-digital converter 8 with the help of which they are converted into a digital code, which is converted by a computer into the numerical values of the variables proportional to the position of the controls in the cab1, which are necessary to control the model of movement of the machine.

The basis of the machine’s motion model is composed of differential equations, usually with non-linear right-hand sides, describing the movement of aggregates and units of a real machine in interaction with the ground and the terrain profile. Based on these equations, a software module was created that simulates the movement of the machine, which in combination with a personal computer is a block 9 of motion simulation. As a result of the solution (integration) of differential equations, the values of the output displacements of the motion model are calculated, the main ones:

1. engine torque;

2. engine shaft speed;

3. linear speed of the machine;

4. angular speed of rotation of the machine;

5. pitch angle of the sprung part of the body;

6. roll angle of the sprung part of the body;

7. drive wheel speed;

8. engine coolant temperature;

9. engine oil pressure;

Output variables 1-2 through the first group of outputs of block 9 are fed to the inputs of noise simulator 5, which is a software module in conjunction with a personal computer, a sound card that converts a digital code into an audio signal and, if necessary, an amplifier to create the necessary noise level. As a result, the trained driver hears in the headphones of the headset or through the speakers (speaker system 6) installed in cab 1, engine noise, depending on the mode of operation of the simulated machine.

The software module of the noise simulator 5 is as follows. On a real machine, noise is recorded in several characteristic modes, for example, starting with a minimally stable engine shaft speed and ending at maximum intervals at equal intervals over the engine shaft speed. Further, the same recording is carried out only at a different load on the engine. The result is a finite number of fragments of noise recording at the driver's seat. Then these fragments are digitized on a computer and using the output variables of the motion simulation unit 9, these fragments are selected and converted using the sound card into an analog engine noise signal. Intermediate values between the fixed frequencies of rotation of the motor shaft at which noise was recorded is interpolated due to a shift in the fundamental frequencies of the spectrum of digitized noise. Thus, the simulated noise in the inventive simulator practically corresponds to real noise and the more digitized fragments, the closer it is to real.

Output variables 3-6 characterize the parameters of the movement of the machine on the ground, so they are through the third group of outputs of block 9 of the motion simulation,

arrive at the group of inputs of block 10 simulating the visual environment. These variables control the position of the simulated vehicle on the ground. The terrain is reproduced programmatically using 30 graphics.

There are a lot of options for the execution of the block 10 simulating the visual environment, they can be seen in almost all computer games that use 30 graphics. As an embodiment of the visual environment simulation unit 10 in conjunction with the visual environment display device 2, it can be represented as follows.

The enlarged visual environment simulation unit 10 consists of a visual database (Fig. 2), a frame sampling module, and a frame generation module (software or hardware) in some standard three-dimensional graphics (Open GL, Direct 3D, ...). The visual database is a set of interconnected named elements of the type "LOCATION", "OBJECT", "IMAGE", "LIGHT", "ROUTES", an approximate composition of which is presented in the table.

Table the terrain objects Images shine tracks \ \ Y eleven 1 \! § 1 and ! \ a ; 1 |
^{! ah} ! eleven "
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eleven § e "in 1 a; 8 0 0 m And ^. ^ m a about
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The frame generation module is a mass-produced computer board with acceleration elements of three-dimensional graphics (with orientation to some standard - Open GL, Direct 3D, ...), for example Viper 550.

The visual environment display device 2 is a commercially available RGB monitor compatible with a frame generation module, such as a conventional computer monitor.

The frame sampling module, in accordance with the selected exercise route on the ground, the position of the simulated machine in space and the position of the observation device in the machine, extracts information about the route of the simulated exercise from the visual database. In addition, this module generates the amount of geometric data necessary for building the frame about the terrain, objects and lighting, that is, what the trained driver should see on the visual environment display device 2. Then he translates these data in accordance with the standard implemented in the frame generation module, and transmits the obtained control sequence to the frame generation module, which forms a frame in the visual environment display device 2.

The use of hardware and software acceleration allows for a frame change of at least 25 times per second, which is perceived by the driver as a continuous image of the terrain in front of the machine. The output variables 3-8 arriving at the frame sampling module, which determine the movement of the machine in space, from the motion simulation block 9, provide information from the visual database on the modeled terrain for each new position of the machine relative to the terrain. As a result, when “driving” a car on the simulator, the trained driver sees a changing terrain on the visual display device 2. Moreover, the changes that he sees are determined by the spatial position of the simulated machine, which depends on the position in which it puts the controls in the cab 1 and on the characteristics of the machine itself, embedded in the motion simulation block 9, i.e. the driver controls the machine on the simulator as he would in a real machine in a real area.

In addition to forming the terrain image, the block 10 simulating the visual environment, provides the formation of variables characterizing the external influences of the terrain on the simulated car, these variables include, for example:

1. The coefficient of soil resistance to the rectilinear movement of the machine.

2. Traction coefficient of the track with the pound.

3. The coefficient of soil resistance to rotation.

4. The height and (or) the angle of roughness of the simulated terrain under each caterpillar mover.

Information about these variables using the frame sampling module is extracted from the visual database depending on the spatial position of the simulated machine and fed through the first group of outputs of the visual simulation unit 10 to the first group of inputs of the motion simulation unit 9. In block 9 of the motion simulation, a system of differential equations is described that describes the internal and external dynamics of the simulated machine depending on the position of the controls in the cab 1 (second group of inputs of the block 9 of the motion simulation) and road and ground conditions of the simulated area (first group of inputs of the block 9). It should be noted that the output variables of the angle of pitch and pitch of the sprung part of the machine are transmitted through the second and third groups of outputs of the block 9 motion simulation.

Variables transmitted through the third group of outputs control the image of the area, creating a visible tilt of the machine in the longitudinal and transverse planes. The same variables transmitted through the second group of outputs, with the help of a digital-to-analog converter 12, are converted into analog voltages proportional to the pitch and roll angles that control the cab vibration drive 11.

The drive 11 of the oscillations of the cab provides its movement in a certain plane (planes for multi-stage drives), thereby creating a physical effect on the trained driver.

The drive 11 of the cabin vibrations can be performed as a single-power, for example, pitch, and multi-degree, for example, pitch, roll, yaw. The cab oscillation drive 11 itself is a known power drive, for example electro-hydraulic or electromechanical.

In addition, a unit 3 of devices is installed in cab 1 and is a shield (shields depending on the type of simulated machine) on which the devices are located, from which the driver receives information about the condition of the machine. Such instruments include, for example, a tachometer, speedometer, engine oil pressure gauge, coolant temperature gauge, etc. To control the readings of these devices, a device control unit 4 is used, which converts analog voltages proportional to the values of the values measured by these devices into voltages proportional to the angle of rotation of the arrows of the corresponding devices. The practical implementation of the unit 4 control devices depends on the type of device that you want to control and in the simplest case is a set of amplifiers, each of which controls a specific device.

As already mentioned above, block 9 of the motion simulation is a personal computer with software that provides the solution of differential equations with non-linear right-hand sides describing the internal and external dynamics of the simulated machine. The control of these equations, namely, the change in the right-hand sides of the differential equations describing the internal dynamics, is carried out by changing the variables characterizing the current position of the controls that the trained driver acts to control the machine. When moving the controls in the cockpit 1 of the simulator, the sensors 7 move the position of the controls. As a result, the output of the latter changes the voltage proportional to the position of the controls. These voltages are supplied by an analog-to-digital converter 8 by means of which the voltage from the sensors is converted into values of variables characterizing the current position of the controls in the cab 1.

When modeling the external dynamics of the machine, the first group of inputs of the motion simulation block 9 is fed with variables from the visual environment simulation block 10, variables characterizing the state of road and ground conditions along which the machine model moves. These variables are part of the right-hand sides of the equations describing the external dynamics of the machine.

Thus, the block 9 simulating the movement of the car simulates the movement of the car on the terrain reproduced by the block 10 simulating the visual situation, taking into account the actions of the learner by the controls installed in the cab 1 and taking into account the variables characterizing the parameters of road and ground conditions along which the car moves.

The type and number of equations describing the external and internal dynamics of the machine depends on the type of simulated machine and the degree of detail of its description, therefore, it is not possible to propose a specific implementation of this block. In this regard, we give the general principle of building block 9 motion simulation. Figure 3 shows a diagram of a model of a moving machine.

Presented in figure 3, the modules of the models included in the block 9 modeling motion motion can be implemented by well-known technical speeches described in the following inventions. Their only difference is that the mathematical models presented in these inventions are solved by means of analog computing technology, and in the proposed technical solution using digital technology.

The transition to digital technology is justified by the fact that its development, in recent years, can significantly simplify the hardware of the simulator. For example, the use of a relatively simple, for the present time, Pentium-II personal computer with a clock frequency of even 266 MHz to simulate the visual environment allows you to create a high-quality picture of the area. At the same time, computer capabilities are used only by 20-30%, this allows you to simulate the rest of the simulator system on the same computer, including the motion simulation system. As a result of using the digital motion model, electronic boards are excluded from the simulator, on which the motion model is typed in analog modeling, which leads to a reduction in the price of the simulator.

Modules for modeling the engine, transmission and the interaction of tracks with soil can be performed, for example, according to copyright certificate No. 940186 M. Kl. ³ G 06 G 7/78 "Device for simulating the movement of a tracked vehicle."

The model module of the engine cooling system can be performed, for example, according to copyright certificate No. 1287202 M. Kl. ^3G G 06 G 7/64. "Device for modeling the cooling system of an internal combustion engine."

The engine lubrication system module can be performed, for example, according to copyright certificate No. 802973 M. Kl. ^3G G 06 G 7/62. "Device for modeling the pressure of oil in the engine."

The suspension model module can be performed, for example, according to copyright certificate No. 1807504 M. Kl. ^3G G 06 G 7/70. "A device for modeling vibrations of a tracked vehicle."

Thus, the proposed technical solution eliminates the disadvantages of the simulator of the prototype and increase its effectiveness.

Claims (1)

A training simulator for driving a tracked vehicle, containing a visual environment display device, an analog-to-digital converter, a digital-to-analog converter, a cabin with controls and sensors for their position, mechanically connected to the drive oscillation cabin, a visual environment simulation unit, a vehicle motion simulation unit, the first group of outputs which is connected to the group of inputs of the noise simulator, the group of outputs of the latter is connected to the acoustic system installed in the cab, characterized in that it additionally contains a device block and a device control unit, the input group of which is connected to the first group of outputs of the digital-to-analog converter, the group of inputs of which is connected to the second group of outputs of the machine motion simulation unit, and the third group of outputs of the latter is connected to the group of inputs of the visual simulation unit, the first group of outputs which is connected to the first group of inputs of the machine motion simulation block, the second group of which is connected to the group of outputs of the analog-to-digital conversion an atelier, the input group of which is connected to the group of outputs of the position sensors of the controls, the second group of outputs is connected to the group of inputs of the visual display device, the group of outputs of the control unit of devices is connected to the group of inputs of the unit in the cab, and the second group of outputs of the digital-to-analog converter is connected to the group of inputs cab vibration drive.