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Virtual reality technology based secondary platform half-physical simulation system and method

A virtual reality technology and semi-physical simulation technology, applied in general control systems, control/regulation systems, simulators, etc., can solve problems such as control algorithm setting errors, collisions, incorrect command input at the human-computer interaction terminal, etc. Reduce development costs, improve reliability, and avoid the effect of crashing into the platform and running away

Inactive Publication Date: 2015-01-28
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the human-computer interaction terminal command input is incorrect or the control algorithm setting error causes the problem of over-range or platform collision during the debugging process of the existing secondary platform simulation. The present invention provides a virtual-based Secondary Platform Semi-Physical Simulation System and Method for Realistic Technology

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  • Virtual reality technology based secondary platform half-physical simulation system and method
  • Virtual reality technology based secondary platform half-physical simulation system and method

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specific Embodiment approach 1

[0036] Specific implementation mode one: combine figure 1 Describe this embodiment, the secondary platform semi-physical simulation system based on virtual reality technology described in this embodiment, the simulation system is realized based on the host computer and industrial computer, both the upper computer and the industrial computer are connected to Ethernet, so The above system includes upper computer operating system, 3D simulation model and industrial computer module;

[0037] The upper computer operating system and 3D simulation model are embedded in the upper computer; the industrial computer module is embedded in the industrial computer;

[0038] The host computer operating system and the three-dimensional simulation model perform data interaction through a dynamic link library;

[0039] The upper computer operating system is used to output a given position instruction and display the state of the simulation model of the secondary platform in real time;

[0040...

specific Embodiment approach 2

[0043] Specific implementation mode two: combination figure 2 This embodiment is described. This embodiment is a further limitation of the secondary platform semi-physical simulation system based on virtual reality technology described in Embodiment 1. The industrial computer module includes an instruction calculation model, a control model, a motor model and For the secondary platform mathematical model, multiple motion control cards are inserted into the industrial computer, and the instruction solution model, control model, motor model and secondary platform mathematical model are respectively embedded in different motion control cards;

[0044] The instruction solving model is used to solve the input given position instruction, and send the resolved instruction to the control module;

[0045] The control model is used to adjust the instructions issued by the solution model, generate motor control quantities and platform control quantities, and send them to the motor model...

specific Embodiment approach 3

[0048] Specific embodiment three: this embodiment is a further limitation of the secondary platform semi-physical simulation system based on virtual reality technology described in specific embodiment two, and the simulation model of the secondary platform is:

[0049] The center of the table body of the workbench is provided with four omnidirectional wheels and their control motors and motor drive modules, and the bottom of the table body has an air foot composed of three voice coil motors;

[0050] The axes of the four omnidirectional wheels are perpendicular to each other, and the four motor drive modules respectively control the rotation of the corresponding omnidirectional wheels by controlling the corresponding motors;

[0051]Three voice coil motors are evenly distributed along the circumference of the table body, and the control of the entire secondary platform inclination and vertical direction precession is completed by controlling the three voice coil motors.

[005...

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Abstract

The invention provides a virtual reality technology based secondary platform half-physical simulation system and method and belongs to the secondary platform half-physical simulation field. The virtual reality technology based secondary platform half-physical simulation system and method aims at solving the problem of the outrange or a platform collision due to the fact that the human-computer interaction end instruction input is incorrect or the control algorithm setting is wrong in the debugging process of the existing secondary platform simulation. The virtual reality technology based secondary platform half-physical simulation system and method is implemented based on an upper computer and an industrial personal computer, a preset position instruction is output through an operation system of the upper computer, the state of a simulation model of a secondary platform is timely displayed, the simulation model of the secondary platform is generated through a three-dimensional simulation model, the simulation is performed on the real-time operation state of the secondary platform through the combination of the input motor control quantity and platform control quantity, the corresponding prompt is performed when the outrange or the platform collision of the secondary platform is produced, and the output of the motor control quantity and the platform control quantity is implemented according to the input preset position instruction through the industrial personal computer. The virtual reality technology based secondary platform half-physical simulation system and method is applied to the simulation secondary platform work.

Description

technical field [0001] The invention belongs to the field of secondary platform semi-physical simulation. Background technique [0002] In modern society, a platform with high flatness is often required. For example, in full-physical simulation experiments such as space rendezvous and docking, ground measurement, navigation, network communication, and formation control, it is necessary to support the entire ground simulator and provide a basic platform for ground simulation experiments. ; Provide platform support for physical simulation tests such as formation satellite ground test verification and control algorithm verification analysis. Since the platform may be in a tilted state due to the unevenness of the large-area horizontal base when it is moving or stationary, it is not conducive to providing a working platform as horizontal as possible for the load to ensure accurate docking. Fast and precise leveling to ensure sufficient levelness of the platform. [0003] The s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02G05B23/02
Inventor 陈兴林杜靖刘帅王岩周乃新刘宇维
Owner HARBIN INST OF TECH