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Real-time visual unmanned bicycle simulation system and method based on Unity3D

A technology for simulation systems and bicycles, applied in general control systems, control/adjustment systems, instruments, etc., can solve problems such as time-consuming and labor-consuming, increase development costs, and reduce debugging efficiency, achieve intuitive verification, improve debugging efficiency, and reduce The effect of development costs

Inactive Publication Date: 2019-11-15
SHAANXI UNIV OF SCI & TECH
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Problems solved by technology

Considering that the timeliness of the simulation depends on the way the model is established, the calculation method, and the computing power of the controller, and when the unmanned bicycle is integrated and debugged, if there is a failure, it may be necessary to re-analyze the model and transplant the model data to the unmanned bicycle. It is time-consuming and labor-intensive to carry out re-debugging in the embedded platform of human bicycle, which greatly reduces the debugging efficiency and increases the development cost

Method used

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  • Real-time visual unmanned bicycle simulation system and method based on Unity3D
  • Real-time visual unmanned bicycle simulation system and method based on Unity3D
  • Real-time visual unmanned bicycle simulation system and method based on Unity3D

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Embodiment 1

[0040] Embodiment 1: In order to reasonably simplify the establishment of the equation, the following assumptions are made:

[0041] ①The bicycle contains 4 rigid bodies: front wheel, rear wheel, car body and front fork;

[0042] ②The wheels are thin enough to have only one contact point with the ground;

[0043] ③ The wheels do not slide relative to each other during the rolling process;

[0044] ④ All angles of the system are small;

[0045] Let dL P is the momentum moment of the rigid body relative to the moving point P, M P is the principal moment of the external force system applied on the rigid body to the point, M(Q P ) is the moment of the resultant force of the traction inertial force added on the center of mass of the rigid body to the point, according to the theorem (the time derivative of the moment of momentum of the particle system relative to the moving point is equal to the principal moment of the external force system to the point and the moment added on the...

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Abstract

The invention discloses a real-time visual unmanned bicycle simulation system and method based on Unity3D. A relevant control command signal is input through a control command giving module; after receiving the relevant control command signal sent by the control command giving module, a driving simulation module carries out real-time simulation operation on a driving process of an unmanned bicyclethrough an unmanned bicycle driving model to obtain continuous driving state information of the unmanned bicycle, and outputs the driving state information to a data sending module; the data sendingmodule transmits the driving state information of the unmanned bicycle to a data receiving module of an upper computer in a serial communication mode; and after receiving the driving state informationuploaded by a data sending module of a lower computer, the data receiving module imports the information into a Unity3D platform. According to the simulation system and method, the accuracy of the unmanned bicycle driving model and a control algorithm can be verified more conveniently and visually.

Description

technical field [0001] The invention relates to the technical field of unmanned bicycles, in particular to a real-time visual unmanned bicycle simulation system and method based on Unity3D. Background technique [0002] As a multi-body structure, the study of unmanned bicycle is not only of great significance in theory, but also of high practical value. Unmanned bicycle control is a typical control balance problem. During the control process, it can reflect many key problems in control theory, such as stabilization problems, nonlinear problems, robustness problems, and tracking problems. Its structural and dynamic characteristics It is relatively complex and difficult to control. It is an ideal experimental platform for researching variable structure control, nonlinear control, intelligent control and other control methods. [0003] The research process of unmanned bicycle control can be divided into object modeling, controller design and simulation, hardware design, softwa...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 李韶杰纪洲杨鑫泽胡强李艳徐朝晖
Owner SHAANXI UNIV OF SCI & TECH
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