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Simulation platform for simulating high and low frequency motion of vehicle and implementation method thereof

A simulation platform and vehicle technology, applied in educational appliances, teaching models, instruments, etc., can solve the problems of inability to simulate the motion of large-scale carrier equipment, small load/driver power ratio, and increase system cost, so as to improve work accuracy and visualization. Monitoring, increasing the ratio of power, and realizing the effect of real-time detection

Active Publication Date: 2015-08-12
山西交通科学研究院集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the driving parts of the parallel mechanism are realized by electric cylinders or hydraulic cylinders. When electric cylinders are used to drive, they have the advantages of strong overload capacity, easy realization of high-precision servo control, and flexible movement. However, their output torque is limited and cannot be used for large carrier equipment. Motion simulation; when driven by a hydraulic cylinder, the platform can withstand heavy loads, but the shortcomings of the hydraulic system, such as large volume, easy leakage of components, high maintenance costs, sensitivity to temperature, and poor mobility, limit its development and application in motion simulation platforms
In addition, the motion parameters of the simulation platform need to be measured by precision optical instruments, which not only increases the system cost, but also cannot guarantee the accuracy and real-time performance of the measured parameters, which also reduces the motion accuracy and dynamic performance of the system
[0004] In summary, due to technical problems such as the fact that the current simulation platform cannot truly simulate the actual movement of the vehicle, can only perform open-loop or semi-closed-loop feedback control, and the power ratio of the load / driver is small, the motion characteristics of the vehicle equipment obtained by the test cannot be realistic. Reflect engineering reality
In fact, the characteristics of the vehicle-mounted equipment obtained from the test are often better than those in engineering practice. When designing with the performance parameters of the vehicle-mounted equipment obtained by the current simulation system, the safety performance and working accuracy are quite different from the actual engineering. , which seriously affects the function of vehicle equipment

Method used

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  • Simulation platform for simulating high and low frequency motion of vehicle and implementation method thereof
  • Simulation platform for simulating high and low frequency motion of vehicle and implementation method thereof
  • Simulation platform for simulating high and low frequency motion of vehicle and implementation method thereof

Examples

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Embodiment 1

[0020] A simulation platform for simulating the high and low frequency movement of vehicles, the parallel dual-drive simulation platform includes an output platform, an attitude adjustment platform and a detection branch, and its structural diagram is as follows figure 1 As shown; the output platform includes a moving platform 1, a ball joint 2, a linear motion actuator 3 and a universal joint 4; the attitude adjustment platform includes a guide rail seat 10, a fixed platform 7, a slider 5, a servo motor 6, a linear Guide rail 9, ball screw 8, base 12 and static load balancing device 11, the static load balancing device 11 includes steel wire rope 14, fixed pulley A15, pressure plate 16, double column 17, fixed pulley B18, suspension ring 19, counterweight 20, Column seat 21; the shape of the moving platform 1 is hexagonal, and mounting holes are evenly distributed on its edge; there are six spherical hinges 2, two adjacent ones are set as a group, and the upper hinge seat of t...

Embodiment 2

[0022] A simulation platform for simulating the high and low frequency movement of vehicles, the parallel dual-drive simulation platform includes an output platform, an attitude adjustment platform and a detection branch, and its structural diagram is as follows figure 1 As shown; the output platform includes a moving platform 1, a ball joint 2, a linear motion actuator 3 and a universal joint 4; the attitude adjustment platform includes a guide rail seat 10, a fixed platform 7, a slider 5, a servo motor 6, a linear Guide rail 9, ball screw 8, base 12 and static load balancing device 11, the static load balancing device 11 includes steel wire rope 14, fixed pulley A15, pressure plate 16, double column 17, fixed pulley B18, suspension ring 19, counterweight 20, Column seat 21; the shape of the moving platform 1 is rectangular, and mounting holes are evenly distributed on its edge; there are six spherical hinges 2, and two adjacent ones are set as a group, and the upper hinge sea...

Embodiment 3

[0024] For the implementation method of the emulation platform described in embodiment 1 or 2, its flow process is as Figure 8 As shown, the specific steps are as follows: a) Obtain vehicle motion data, and use linear interpolation method to establish the change curve of the six-dimensional pose and running time of the moving platform 1; set the system parameters, and select the linear motion actuator 3 with a moving range of -20 ~20mm, servo cycle is 4ms, motion curve interval is 250 frames / second; servo motor 6 moving range is -700~700mm, servo cycle is 10ms, motion curve interval is 100 frames / second; running time corresponds to vehicle motion data The time is consistent; b) decompose the motion with a frequency above 5Hz to the output platform; decompose the motion with a frequency below 5Hz to the attitude adjustment platform; c) use the kinematics model of the parallel mechanism to map the motion of the output platform and the attitude adjustment platform to its straight...

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Abstract

The present invention relates to a simulation platform for simulating high and low frequency motion of a vehicle and an implementation method thereof. The simulation platform comprises an output platform, a posture adjusting platform and a detection branch; wherein the output platform comprises a moving platform, a spherical hinge, a rectilinear motion actuator and a universal hinge, and is used for simulating high frequency small vibration generated by the vehicle; the posture adjusting platform comprises a slide block, a servo motor, a fixed platform, a ball screw, a linear guide rail, a guide rail base, a pedestal and a static load balancing device, and is used for simulating multidimensional sharp swing; the static load balancing device achieves static load through a counterweight balancing system, so as to reduce output torque of a motor; the detection branch is a six-degree-of-freedom kinematic chain, each single- degree-of-freedom kinematic pair is provided with a sensor for obtaining motion parameters of the moving platform in real time. The simulation platform of the present invention adopts a dual drive control mode to achieve decomposition of simulation motion to two driving platforms, and combines the detection branch and the static load balancing device, thus the simulation platform has the characteristics of large carrying capacity, real-time self detection of the motion parameters, extensive applicability, real simulation, etc.

Description

technical field [0001] The invention belongs to the field of motion simulation equipment, and in particular relates to a simulation platform for simulating high and low frequency motion of vehicles and an implementation method thereof. Background technique [0002] The working environment of vehicles and other vehicles is complex, and the high-precision vehicle-mounted optical instruments installed on them are always in a bumpy state. The motion spectrum is composed of high-frequency small vibrations and low-frequency large swings. Therefore, how to truly reproduce the motion simulation of vehicles during travel is a The problems that need to be solved urgently in the research and development of simulation equipment. Due to the outstanding advantages of high precision, good dynamic performance, strong bearing capacity, and compact structure, parallel mechanisms have been widely used in the field of motion simulation of vehicles, ships, and aircraft in recent years. Traditio...

Claims

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Application Information

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IPC IPC(8): G09B25/00
CPCG09B25/00
Inventor 刘晓孙贝贾磊薛春明
Owner 山西交通科学研究院集团有限公司
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