Eight-degree-of-freedom crawler-type armored vehicle simulation platform construction method and related device

Abstract

The invention discloses an eight-degree-of-freedom crawler-type armored vehicle simulation platform construction method and a related device, and relates to the field of crawler-type armored vehicle simulation, and the method comprises the steps: building an eight-degree-of-freedom vehicle dynamics model of a crawler-type armored vehicle based on a Newton's kinetics theory; the eight degrees of freedom comprise the longitudinal direction, the transverse direction, the vertical direction, the roll angle, the pitch angle, the yaw angle, the left side track winding angular velocity and the right side track winding angular velocity of a vehicle body, iterative simulation solving is conducted on the eight-degree-of-freedom vehicle dynamics model, a simulation result of the tracked armored vehicle is obtained, and the tracked armored vehicle dynamics model with the high degree of freedom is established. And the refinement degree of the model is improved.

Description

Technical Field

[0001] The present application relates to the field of tracked armored vehicle simulation, and in particular to a method for constructing an 8-DOF tracked armored vehicle simulation platform and related devices. Background Art

[0002] Land military vehicles are particularly important in modern military warfare. Advanced military vehicles are a symbol of national military strength and an important force in protecting national security. In recent years, with the development of vehicle technology, military vehicle equipment has been upgraded rapidly, and performance requirements have been continuously improved, which urgently requires rapid development and iteration. New R&D processes are needed to shorten the production cycle in the field of platform interconnection and software. The design and development of armored vehicles in the new era have the following requirements: stronger performance, shorter cycle, and higher requirements. Tracked vehicles have good passability and maneuverability on off-road roads, so they are widely used in many civil and military industries such as mining and excavation, transportation assistance, search and exploration, and environmental monitoring. As tracked vehicles develop towards unmanned and intelligent directions, the traditional cockpit is removed, and the driver's comfort is no longer considered, which has higher maneuverability potential. However, the rapid development of new tracked vehicles is deeply dependent on the dynamics simulation platform. The high-precision tracked vehicle dynamics simulation platform is not only a test basis for studying the rationality of decision-making and planning algorithms in typical scenarios, but also an important reference for the rapid design of new high-performance unmanned equipment and the development of advanced control algorithms for extreme working conditions.

[0003] The models constructed by the existing tracked armored vehicle simulation platform are relatively low in refinement. Summary of the invention

[0004] The purpose of this application is to provide a method for constructing an 8-DOF tracked armored vehicle simulation platform and related devices, which can establish a tracked armored vehicle dynamics model with a high degree of freedom and improve the refinement of the model.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a method for constructing an 8-DOF tracked armored vehicle simulation platform, comprising:

[0007] Based on Newton's dynamics theory, an 8-DOF vehicle dynamics model of a tracked armored vehicle is constructed; the 8 degrees of freedom include the longitudinal, lateral, vertical, roll angle, pitch angle, yaw angle, left track winding angular velocity, and right track winding angular velocity;

[0008] The 8-DOF vehicle dynamics model is iteratively simulated and solved to obtain simulation results of the tracked armored vehicle.

[0009] In a second aspect, the present application provides an 8-DOF tracked armored vehicle simulation platform, comprising:

[0010] The 8-DOF vehicle dynamics model building module is used to build an 8-DOF vehicle dynamics model of a tracked armored vehicle based on Newton's dynamics theory; the 8 degrees of freedom include the longitudinal, lateral, vertical, roll angle, pitch angle, yaw angle, left track winding angular velocity, and right track winding angular velocity;

[0011] The tracked armored vehicle simulation module is used to iteratively simulate and solve the 8-DOF vehicle dynamics model to obtain simulation results of the tracked armored vehicle.

[0012] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned method for constructing an 8-DOF tracked armored vehicle simulation platform.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for constructing an 8-DOF tracked armored vehicle simulation platform.

[0014] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0015] The present application provides a method for constructing an 8-degree-of-freedom tracked armored vehicle simulation platform and related devices. Based on Newton's dynamics theory, an 8-degree-of-freedom vehicle dynamics model of a tracked armored vehicle is constructed; the 8 degrees of freedom include the longitudinal, lateral, vertical, roll angle, pitch angle, yaw angle, left track winding angular velocity and right track winding angular velocity of the vehicle body. The 8-degree-of-freedom vehicle dynamics model is iteratively simulated and solved to obtain the simulation result of the tracked armored vehicle. The present application can establish a tracked armored vehicle dynamics model with high degrees of freedom and improve the refinement of the model. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is an application environment diagram of a method for constructing an 8-DOF tracked armored vehicle simulation platform in an embodiment of the present application;

[0018] Figure 2A schematic diagram of a flow chart of a method for constructing an 8-DOF tracked armored vehicle simulation platform provided in one embodiment of the present application;

[0019] Figure 3 A schematic diagram of the implementation process of the tracked armored vehicle dynamics simulation platform provided in one embodiment of the present application;

[0020] Figure 4 A schematic diagram of a tracked armored vehicle model solution process provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of functional modules of an 8-DOF tracked armored vehicle simulation platform provided in one embodiment of the present application;

[0022] Figure 6 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] There are two main ways to build tracked armored vehicle simulation platforms. The first one is to rely on foreign commercial software such as Adams and Trucksim for analysis. Heavy reliance on the above software will lead to the following consequences: 1) The interruption of the supply of the above software poses a serious threat to national defense security and will seriously affect the progress of research and development; 2) The above software is a black box model for users, which is not conducive to the in-depth grasp of the dynamic characteristics. Its dynamic equations and model gradient information are difficult to obtain, and it cannot be applied to the global dynamic optimization of the whole vehicle; 3) The current solution efficiency of the above software is low, and because the code is not open source, it is difficult to improve the solution efficiency.

[0025] Second, most of the models built in the existing literature are based on two-dimensional plane motion conditions as the premise of research, which makes it difficult to accurately perform complex and changeable three-dimensional spatial actions on the battlefield. The above problems will have the following impacts: 1) The built model can be used for simple plane motion tests, but it cannot support research under multi-directional coupled complex conditions such as longitudinal, lateral, vertical, roll, pitch, and yaw; 2) The degree of refinement of the model affects the accuracy of the dynamic model to a certain extent, and the accuracy of the dynamic model is directly related to the control accuracy, so the low degree of refinement of the model will affect the development of accurate and reliable control algorithms, hindering the development of tracked special vehicles towards high mobility and unmanned directions.

[0026] In response to the above problems, this application proposes a method for constructing an 8-DOF tracked armored vehicle simulation platform, performs high-precision modeling of the tracked armored vehicle, and then develops code based on the constructed model. After that, the computational efficiency of the code is optimized through sparse matrix operations, parallel computing, data-driven, and efficient computing algorithm development. Finally, the model is visualized through the Unreal Engine, and finally a refined dynamic simulation platform for tracked armored vehicles is constructed, which provides support for the research of tracked armored vehicles in complex environments, and also provides a reference for the development of subsequent control algorithms.

[0027] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0028] The 8-DOF tracked armored vehicle simulation platform construction method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the dynamic construction parameters to the server 104. After the server 104 receives the dynamic construction parameters, for the dynamic construction parameters, the server 104 builds an 8-degree-of-freedom vehicle dynamics model of the tracked armored vehicle based on Newton's dynamics theory, and iteratively simulates and solves the 8-degree-of-freedom vehicle dynamics model to obtain the simulation results of the tracked armored vehicle. The server 104 can feedback the obtained simulation results of the tracked armored vehicle to the terminal 102. In addition, in some embodiments, the 8-degree-of-freedom tracked armored vehicle simulation platform construction method can also be implemented by the server 104 or the terminal 102 alone, such as the terminal 102 can directly perform dynamic construction for the dynamic construction parameters, or the server 104 can obtain the dynamic construction parameters from the data storage system and perform dynamic construction for the dynamic construction parameters.

[0029] The terminal 102 may be, but is not limited to, various desktop computers and laptop computers. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers, or may be a cloud server.

[0030] In an exemplary embodiment, Figure 2 As shown, a method for constructing an 8-DOF tracked armored vehicle simulation platform is provided. The method is executed by a computer device, and can be executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In the embodiment of the present application, the method is applied to Figure 1The server 104 in the example is used as an example to illustrate, including the following steps 201 to 202. Among them:

[0031] Step 201: Based on Newton's dynamics theory, an 8-degree-of-freedom vehicle dynamics model of a tracked armored vehicle is constructed; the 8 degrees of freedom include the longitudinal, lateral, vertical, roll angle, pitch angle, yaw angle, left track winding angular velocity, and right track winding angular velocity of the vehicle body.

[0032] Step 202: performing iterative simulation and solving on the 8-DOF vehicle dynamics model to obtain simulation results of the tracked armored vehicle.

[0033] By implementing the above steps 201 to 202, a tracked armored vehicle dynamics model with high degrees of freedom can be established to improve the refinement of the model. First, a tracked armored vehicle dynamics model is built based on Newton's dynamics theory. The dynamics model includes six degrees of freedom, including longitudinal, lateral, vertical, roll, pitch, and yaw, and two degrees of freedom for the winding of the tracks on both sides, for the tracked armored vehicle, and a total of eight degrees of freedom for considering the contact with the ground. Then, code development is performed based on the constructed model, and then the computational efficiency of the code is optimized through sparse matrix operations, parallel computing, data-driven, and efficient computing algorithm development methods. Finally, the model is visualized through the Unreal Engine, and finally a dynamics simulation platform for tracked vehicles with eight degrees of freedom considering the contact with the ground is constructed.

[0034] In another exemplary embodiment of the present application, the above step 201 specifically includes: based on Newton's dynamics theory, constructing a vehicle body dynamics equation and a ground contact dynamics equation; the vehicle body dynamics equation includes a vehicle body translation dynamics equation and a vehicle body rotation dynamics equation; the ground contact dynamics equation includes a dynamics equation during the winding motion of the left track and a dynamics equation during the winding motion of the right track; the vehicle body dynamics equation and the ground contact dynamics equation constitute an 8-degree-of-freedom vehicle dynamics model of a tracked armored vehicle.

[0035] The input of the multi-degree-of-freedom model is the torque of the driving wheels on both sides of the track, the angular velocity of the driving wheels, and the driving force of the track. The vehicle to be studied is regarded as a multi-rigid body system, including a sprung mass rigid body and two unsprung mass rigid bodies. The movement of the vehicle body is caused by the combined effects of the vertical and horizontal contact friction and shear force, air resistance, suspension force, ground support force, etc. Figure 4 It provides input and output interfaces for each submodule of the vehicle dynamics model and the overall vehicle dynamics model architecture, including the interactions between the vehicle body, suspension, and ground contact models.

[0036] The dynamic behavior of a simplified vehicle composed of multiple rigid components is represented by a multi-degree-of-freedom vehicle model. The vehicle body has translations in the longitudinal, lateral and vertical directions, as well as rotations around the x, y and z axes.

[0037] The reference system is the geodetic coordinate O1-X1Y1Z1, and the vehicle mass center coordinate O-XYZ. The three translational degrees of freedom in this coordinate system are the displacements of the vehicle mass center x, y, z, and the three rotational degrees of freedom are the roll angles of the vehicle mass center Pitch angle θ, yaw angle ψ, angular velocity ω of the two tracks l and ω r The dynamic equations of each degree of freedom are established according to Newtonian dynamics as follows:

[0038] (1) Body translation

[0039] The translation equation of the vehicle's center of mass along the X direction is:

[0040] δma x =Fr x cosψ-Fr y sinψ(1);

[0041] The translation equation of the vehicle's center of mass along the Y direction is:

[0042] δma y =Fr x sinψ+Fr y cosψ(2);

[0043] The spring force and damping force of the suspension system considered in vertical motion are

[0044] F k =K k C k Δl i (3);

[0045] F c =K c C c D i (4);

[0046] Then the translation equation of the vehicle's center of mass along the Z direction is:

[0047] δma z =Fr z (5);

[0048] Among them, δ is the coefficient of increase in rotating mass. For example, when a tank is driving, the mass of the tank with rotating parts will increase by δ times; m is the mass of the whole vehicle, g is the acceleration of gravity; a x 、a y 、a zThey represent the acceleration of the vehicle body along the X, Y, and Z axes respectively; F k is the spring force of the suspension system considered in vertical motion, K k ,C k ,Δl i Respectively represent the spring lever ratio, spring stiffness and spring elastic deformation; F c is the damping force of the suspension system considered in vertical motion, K c ,C c ,D i Respectively represent the damper lever ratio, damping coefficient and dynamic deflection of the damper; Fr x 、Fr y 、Fr z They are the resultant forces acting on the center of mass of the vehicle when the vehicle moves along the X, Y, and Z directions, including the ground contact friction and shear force, air resistance, suspension force, and ground support force.

[0049] (2) Body rotation

[0050] The vehicle body rotates around the X direction, and the roll dynamics equation of the vehicle's center of mass is:

[0051]

[0052] The vehicle body rotates around the Y direction, and the pitch dynamic equation of the vehicle's center of mass is:

[0053]

[0054] The vehicle body rotates around the Z direction, and the yaw dynamic equation of the vehicle's center of mass is:

[0055]

[0056] in, I θ ,I ψ are the moment of inertia of the vehicle when rotating around the X, Y, and Z axes respectively; M θ 、M ψ They are the resultant moments generated by the longitudinal, lateral, vertical contact friction and shear force, air resistance, suspension force, ground support force and other forces acting on the center of mass of the vehicle; K θ , K ψ are the stiffness coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; C θ , C ψ are the damping coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; Roll Angle The first and second derivatives of ; are the first and second derivatives of the pitch angle θ respectively; are the first and second derivatives of the yaw angle ψ, respectively.

[0057] (3) Track winding motion

[0058] When analyzing the crawler driving wheel, this application does not involve multi-body dynamics, and does not consider the interaction between the driving wheel and the track chain and the track plates on the track. Therefore, this application analyzes the track and the driving wheel as a whole. Analogous to the analysis of tire movement in vehicle dynamics, the winding movement of the crawler driving wheel and the track is considered as a whole, and the movement of the entire track is equivalent to a tire. Since the crawler grounding part is very long and the ground pressure distribution is complex, the crawler coordinate system is introduced. Let (x t ,y t ) is the coordinate of a point on the track contact section.

[0059] For the two-dimensional dynamic analysis of the vehicle, the three degrees of freedom of motion are considered: lateral, longitudinal, and yaw. Therefore, for the lateral and longitudinal forces of the track, the differential of the longitudinal force of the track is written as dF x =dFcosθ t , the differential of the lateral force of the track is written as dF y =dFsinθ, heading angle

[0060] Substituting the shear displacement into the shear force formula, we can obtain the integral calculation formula for the longitudinal force and the lateral force of the track contact:

[0061]

[0062]

[0063] Where b is the track shoe width, L is the track shoe length, c is the soil viscosity adhesion coefficient; μ is the soil shear resistance angle, for cohesive soil, μ = 0; j is the track shear displacement, θ t is the vehicle heading angle, K w is the deformation modulus of soil under shear stress. That is, through the above formula, the track traction force is calculated by integration on the track coordinate system, and the track traction force is the longitudinal and lateral force of the track contact. At the same time, the traction force on the entire track can be calculated based on the distribution of ground pressure p(x,y) on the track coordinate system.

[0064] The dynamic equation of the left track winding motion is as follows:

[0065]

[0066] Where J is the track moment of inertia, is the angular acceleration of the left track winding motion, TL is the left driving wheel torque, F XL is the traction force of the left crawler track in longitudinal motion, r is the radius of the driving wheel, and similarly, the dynamic equation of the right crawler track during winding motion is as follows:

[0067]

[0068] in, is the angular acceleration of the right track winding motion, T R is the right driving wheel torque, F XR It is the longitudinal traction force of the right crawler track.

[0069] Based on the above analysis, the 8-DOF vehicle dynamics model of the tracked armored vehicle is finally obtained in the form shown in formula (13).

[0070]

[0071] In another exemplary embodiment of the present application, the above step 202 specifically includes: using the adaptive step size Runge-Kutta method to iteratively simulate and solve the 8-DOF vehicle dynamics model to obtain the simulation result of the tracked armored vehicle. Specifically including the following steps 301 to 303:

[0072] Step 301: Obtaining vehicle body parameters and dynamic parameters; the vehicle body parameters include mass, moment of inertia and mechanism parameters; the moment of inertia includes the moment of inertia of the vehicle when rotating around the X, Y and Z axes and the moment of inertia of the tracks; the mechanism parameters include spring lever ratio, spring stiffness, spring elastic deformation, damper lever ratio, damper damping coefficient, dynamic deflection, wheel radius and distance between the tracks on both sides;

[0073] Step 302: Calculate all state quantities at the next moment according to the initial values ​​of each state quantity of the tracked armored vehicle and the 8-DOF vehicle dynamics model of the tracked armored vehicle; the state quantities include displacement and velocity;

[0074] Step 303: Replace the initial values ​​of each state of the tracked armored vehicle with all state quantities at the next moment, and return to the step "calculate all state quantities at the next moment according to the initial values ​​of each state quantity of the tracked armored vehicle and the 8-degree-of-freedom vehicle dynamics model of the tracked armored vehicle" to obtain the simulation result of the tracked armored vehicle.

[0075] Based on the vehicle dynamics model formula derived in step 201, select corresponding software (such as Matlab, Visual Studio, etc.) to develop relevant codes, that is, write simulation codes that support vectorized operations. The solution calculation steps are as shown in the attached figure. Figure 4As shown in the figure, firstly, the body parameters such as mass, moment of inertia, mechanism parameters, etc. are determined for the simulated vehicle. Then the dynamic parameters (including suspension module and track contact module parameters, such as soil viscosity adhesion coefficient, soil shear resistance angle, track shear displacement, track contact vehicle heading angle, soil deformation modulus under shear stress, etc.) are determined. Input the initial values ​​of each state quantity of the vehicle, which includes position parameters (displacement) and speed; according to the initial values ​​of each state quantity, calculate the external force and torque of each part through the sub-modules such as the vehicle body and the ground contact, integrate all the calculation results of external forces and torques, and substitute them into the vehicle body dynamics equation and the ground contact dynamics equation, that is, substitute all the calculation results of external forces and torques into the 8-degree-of-freedom vehicle dynamics model shown in formula (13) to obtain the acceleration of each state quantity, and at the same time obtain the differential equation of the intermediate quantity (i.e., formula (13)) through the ground contact model (i.e., the ground contact dynamics equation); integrate the above acceleration and differential equation (i.e., formula (13)) through the adaptive step size Runge-Kutta method shown in formula (14) to obtain all the state quantities at the next moment, and use all the state quantities at the next moment as the initial values ​​for the next model solution, and finally obtain the simulation results of the tracked armored vehicle.

[0076] Among them, the moment of inertia includes: the moment of inertia of the vehicle when rotating around the XYZ axis I θ ,I ψ , and the track moment of inertia J. Mechanism parameters: refers to the spring lever ratio, spring stiffness and spring elastic deformation; damper lever ratio, damping coefficient and dynamic deflection and other component parameters; as well as body structure parameters such as wheel radius and distance between tracks on both sides. Position parameters refer to the distribution of ground pressure p(x,y) on the track coordinate system; speed refers to the heading angle The longitudinal speed and lateral speed required for calculation; the intermediate variables refer to variables such as track shear displacement j in the integral calculation formula of the longitudinal and lateral forces of the track contact.

[0077] Solve the initial value problem of a class of ordinary differential equations, that is, given a relationship between a function and its derivative (such as a dynamic equation), and a certain initial condition (such as the initial position and velocity), we need to find the solution of this function over time. The model solution adopts the fourth-order Runge-Kutta integration method, which is a fourth-order approximate integration method that can be used in dynamic iterative calculations. Its idea is to calculate the function f(x) at the starting point, midpoint, midpoint and end point of the interval, and then perform a weighted average of the function value, as shown in formula (14).

[0078]

[0079] In the above formula, h is the interval, k1~k4 are the function values ​​corresponding to the starting point, midpoint, the middle point of the midpoint, and the end point respectively; y n is the integral value obtained by iteration at the current moment, y n+1 is the integral value of the next moment obtained by iteration. The final solution is that through this iterative process, we can get a series of y n These values ​​constitute an approximate solution to the function over time.

[0080] Through the above steps, we can obtain the high-precision dynamic model simulation code of the tracked armored vehicle, solve the dynamic differential equations of the tracked armored vehicle during movement, realize preliminary simulation calculations, and compare with existing commercial software to verify the correctness of the built model. Build the same tracked armored vehicle model in commercial software such as ADAMS, Recurdyn, etc., compare the calculation results of the above simulation code with the calculation results of the commercial software, and verify the correctness of the built model.

[0081] For the codes in the above steps, we optimized and iterated the codes with the goal of improving computational efficiency and solution accuracy, mainly considering the following aspects:

[0082] (1) The integration algorithm initially adopted in the calculation process in the above steps is the fourth-order Runge-Kutta method. Under certain working conditions, this integration method cannot be well applied. It is necessary to coordinate the calculation efficiency and calculation accuracy to improve the integration method (such as variable step size integration) and obtain the adaptive step size Runge-Kutta method to improve the calculation efficiency and calculation accuracy.

[0083] (2) The coefficient matrix of the dynamic differential equation derived in step 201 is of relatively large order. When solving the equation, the coefficient matrix-related knowledge is considered to improve the solution efficiency.

[0084] (3) During the model calculation process, in order to obtain higher accuracy, some codes take a long time to solve. Consider simplifying the relevant calculation process through graph search, data-driven methods, etc., to achieve the goal of balancing solution efficiency and calculation accuracy.

[0085] The method for constructing an 8-DOF tracked armored vehicle simulation platform also includes: using the Unreal Engine to visualize the simulation results of the tracked armored vehicle.

[0086] The code obtained from the above steps is combined with the Unreal Engine to build a tracked armored vehicle dynamics simulation platform. The specific process is as follows:

[0087] A basic model of a tracked armored vehicle simulation platform is built in the Unreal Engine, including components such as the body shell, tires and suspension, and a turret system, and a complete tracked armored vehicle model is constructed based on the assembly of the above components.

[0088] Combine the optimized dynamics simulation code obtained in the above steps with the tracked armored vehicle model in the Unreal Engine, and use the Unreal Engine to visualize the calculation results of the simulation code so that users can view the calculation results more clearly and conveniently. This forms an overall framework in which the self-written code calculates dynamic behavior and the Unreal Engine model is built to display the calculation results of the code.

[0089] Considering user friendliness during the integration process, the corresponding user interface is developed based on the Qt platform, including basic functions such as modular components, component parameter modification, motion process display, and mouse drag module. During the development process, corresponding external data interfaces are reserved so that the developed simulation platform can support the testing and verification of decision-making planning control algorithms, and finally build a fully autonomous and refined tracked armored vehicle dynamics simulation platform.

[0090] The present application also provides an application scenario, which applies the above-mentioned 8-DOF tracked armored vehicle simulation platform construction method. Specifically: The 8-DOF tracked armored vehicle simulation platform construction method provided in this embodiment can be applied in a tracked armored vehicle simulation scenario. The tracked armored vehicle simulation scenario includes an information acquisition link and a tracked armored vehicle simulation link; the dynamics construction parameters enter the tracked armored vehicle simulation link from the information acquisition link to obtain the simulation results of the tracked armored vehicle. The 8-DOF tracked armored vehicle simulation platform construction method provided in this embodiment belongs to the tracked armored vehicle simulation link. Specifically, in the tracked armored vehicle simulation process for the dynamics construction parameters, an 8-DOF vehicle dynamics model of the tracked armored vehicle can be built based on Newton's dynamics theory, and the 8-DOF vehicle dynamics model can be iteratively simulated and solved to obtain the simulation results of the tracked armored vehicle.

[0091] This application has the following advantages:

[0092] Advantage 1: In the process of dynamic modeling of tracked armored vehicles, in addition to the conventional 6 degrees of freedom of the vehicle body, emphasis is placed on the influence of the lateral and longitudinal movement of the track winding when contacting the ground on the dynamic characteristics of the vehicle body, and the model has high accuracy.

[0093] Advantage 2: The system uses fully self-written code, which can support subsequent secondary development and upgrades, and also provide important support for the acquisition of gradient information.

[0094] Advantage 3: The code is iteratively optimized and vectorized modeling is applied to balance the computational efficiency and accuracy of the code. While ensuring the computational accuracy, the computational efficiency is higher.

[0095] Advantage 4: The code is linked to the Unreal Engine in one step, which has a better visual interface and human-computer interaction interface, and is more user-friendly and convenient.

[0096] Based on the same inventive concept, the embodiment of the present application also provides an 8-DOF tracked armored vehicle simulation platform for implementing the above-mentioned 8-DOF tracked armored vehicle simulation platform construction method. The implementation scheme for solving the problem provided by the simulation platform is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more 8-DOF tracked armored vehicle simulation platform embodiments provided below can refer to the limitations of the 8-DOF tracked armored vehicle simulation platform construction method above, and will not be repeated here.

[0097] In an exemplary embodiment, Figure 5 As shown, an 8-DOF tracked armored vehicle simulation platform is provided, including:

[0098] 8-DOF vehicle dynamics model building module T1 is used to: build an 8-DOF vehicle dynamics model of a tracked armored vehicle based on Newtonian dynamics theory; the 8-DOF includes the longitudinal, lateral, vertical, pitch angle, roll angle, yaw angle, left track winding angular velocity, and right track winding angular velocity of the vehicle body;

[0099] The tracked armored vehicle simulation module T2 is used to iteratively simulate and solve the 8-DOF vehicle dynamics model to obtain the simulation result of the tracked armored vehicle.

[0100] As an optional implementation, the 8-DOF vehicle dynamics model is as follows:

[0101]

[0102] Among them, δ is the rotation mass increase coefficient, m is the vehicle mass, and g is the gravitational acceleration; a x 、a y 、a z They represent the acceleration of the vehicle body along the X, Y, and Z axes respectively; Fr x , Fr y , Fr z They are the combined forces of the ground contact friction and shear force, air resistance, suspension force, and ground support force acting on the center of mass of the vehicle when the vehicle moves in the X, Y, and Z directions; θ and ψ are the roll angle, pitch angle, and yaw angle of the vehicle’s center of mass, respectively; I θ ,I ψ are the moment of inertia of the vehicle when rotating around the X, Y, and Z axes respectively; M θ 、M ψThey are the resultant moments generated by the longitudinal, lateral, vertical contact friction and shear force, air resistance, suspension force, and ground support force acting on the center of mass of the vehicle; K θ , K ψ are the stiffness coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; C θ , C ψ are the damping coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; Roll Angle The first and second derivatives of ; are the first and second derivatives of the pitch angle θ respectively; are the first and second derivatives of the yaw angle ψ respectively; J is the moment of inertia of the track, is the angular acceleration of the left track winding motion, T L is the left driving wheel torque, F XL is the longitudinal traction force of the left crawler track, r is the radius of the driving wheel, is the angular acceleration of the right track winding motion, T R is the right driving wheel torque, F XR It is the longitudinal traction force of the right crawler track.

[0103] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store tracked armored vehicle simulation data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for constructing an 8-degree-of-freedom tracked armored vehicle simulation platform is implemented.

[0104] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0105] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0106] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0107] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0108] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0109] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for constructing an 8-DOF tracked armored vehicle simulation platform, characterized in that: The method for constructing the 8-DOF tracked armored vehicle simulation platform comprises: Based on Newton's dynamics theory, an 8-DOF vehicle dynamics model of a tracked armored vehicle is constructed; the 8 degrees of freedom include the longitudinal, lateral, vertical, roll angle, pitch angle, yaw angle, left track winding angular velocity, and right track winding angular velocity; The 8-DOF vehicle dynamics model is iteratively simulated and solved to obtain simulation results of the tracked armored vehicle.

2. The method for constructing an 8-DOF tracked armored vehicle simulation platform according to claim 1, characterized in that: Based on Newton's dynamics theory, an 8-DOF vehicle dynamics model of a tracked armored vehicle is constructed, including: Based on Newton's dynamics theory, the vehicle body dynamics equation and the ground contact dynamics equation are constructed; the vehicle body dynamics equation includes the vehicle body translation dynamics equation and the vehicle body rotation dynamics equation; the ground contact dynamics equation includes the dynamics equation during the winding motion of the left track and the dynamics equation during the winding motion of the right track; the vehicle body dynamics equation and the ground contact dynamics equation constitute an 8-degree-of-freedom vehicle dynamics model of the tracked armored vehicle.

3. The method for constructing an 8-DOF tracked armored vehicle simulation platform according to claim 1, characterized in that: The 8-DOF vehicle dynamics model is as follows: Among them, δ is the rotation mass increase coefficient, m is the vehicle mass, and g is the gravitational acceleration; a x 、a y 、a z They represent the acceleration of the vehicle body along the X, Y, and Z axes respectively; Fr x , Fr y , Fr z They are the combined forces of the ground contact friction and shear force, air resistance, suspension force, and ground support force acting on the center of mass of the vehicle when the vehicle moves in the X, Y, and Z directions; θ and ψ are the roll angle, pitch angle, and yaw angle of the vehicle’s center of mass, respectively; I θ ,I ψ are the moment of inertia of the vehicle when rotating around the X, Y, and Z axes respectively; M θ 、M ψ They are the resultant moments generated by the longitudinal, lateral, vertical contact friction and shear force, air resistance, suspension force, and ground support force acting on the center of mass of the vehicle; K θ , K ψ are the stiffness coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; C θ , C ψ are the damping coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; Roll Angle The first and second derivatives of ; are the first and second derivatives of the pitch angle θ respectively; are the first and second derivatives of the yaw angle ψ respectively; J is the moment of inertia of the track, is the angular acceleration of the left track winding motion, T L is the left driving wheel torque, F XL is the longitudinal traction force of the left crawler track, r is the radius of the driving wheel, is the angular acceleration of the right track winding motion, T R is the right driving wheel torque, F XR It is the longitudinal traction force of the right crawler track.

4. The method for constructing an 8-DOF tracked armored vehicle simulation platform according to claim 1, characterized in that: The 8-DOF vehicle dynamics model is iteratively simulated and solved to obtain the simulation results of the tracked armored vehicle, which specifically include: The adaptive step-size Runge-Kutta method is used to iteratively simulate and solve the 8-DOF vehicle dynamics model to obtain the simulation results of the tracked armored vehicle.

5. The method for constructing an 8-DOF tracked armored vehicle simulation platform according to claim 1, characterized in that: The 8-DOF vehicle dynamics model is iteratively simulated and solved to obtain the simulation results of the tracked armored vehicle, which specifically include: Obtaining vehicle body parameters and dynamic parameters; the vehicle body parameters include mass, moment of inertia and mechanism parameters; the moment of inertia includes the moment of inertia of the vehicle when rotating around the X, Y and Z axes and the moment of inertia of the tracks; the mechanism parameters include spring lever ratio, spring stiffness, spring elastic deformation, damper lever ratio, damper damping coefficient, dynamic deflection, wheel radius and distance between the tracks on both sides; According to the initial values ​​of each state quantity of the tracked armored vehicle and the 8-DOF vehicle dynamics model of the tracked armored vehicle, all state quantities at the next moment are calculated; the state quantities include displacement and velocity; Replace the initial values ​​of each state of the tracked armored vehicle with all state quantities at the next moment, and return to step "calculate all state quantities at the next moment according to the initial values ​​of each state quantity of the tracked armored vehicle and the 8-degree-of-freedom vehicle dynamics model of the tracked armored vehicle" to obtain the simulation result of the tracked armored vehicle.

6. The method for constructing an 8-DOF tracked armored vehicle simulation platform according to claim 1, characterized in that: The 8-DOF tracked armored vehicle simulation platform construction method further includes: Use Unreal Engine to visualize simulation results of a tracked armored vehicle.

7. An 8-DOF tracked armored vehicle simulation platform, characterized in that: The 8-DOF tracked armored vehicle simulation platform includes: The 8-DOF vehicle dynamics model building module is used to build an 8-DOF vehicle dynamics model of a tracked armored vehicle based on Newton's dynamics theory; the 8 degrees of freedom include the longitudinal, lateral, vertical, roll angle, pitch angle, yaw angle, left track winding angular velocity, and right track winding angular velocity; The tracked armored vehicle simulation module is used to iteratively simulate and solve the 8-DOF vehicle dynamics model to obtain simulation results of the tracked armored vehicle.

8. The 8-DOF tracked armored vehicle simulation platform according to claim 7, characterized in that: The 8-DOF vehicle dynamics model is as follows: Among them, δ is the rotation mass increase coefficient, m is the vehicle mass, and g is the gravitational acceleration; a x 、a y 、a z They represent the acceleration of the vehicle body along the X, Y, and Z axes respectively; Fr x , Fr y , Fr z They are the combined forces of the ground contact friction and shear force, air resistance, suspension force, and ground support force acting on the center of mass of the vehicle when the vehicle moves in the X, Y, and Z directions; θ and ψ are the roll angle, pitch angle, and yaw angle of the vehicle’s center of mass, respectively; I θ ,I ψ are the moment of inertia of the vehicle when rotating around the X, Y, and Z axes respectively; M θ 、M ψ They are the resultant moments generated by the longitudinal, lateral, vertical contact friction and shear force, air resistance, suspension force, and ground support force acting on the center of mass of the vehicle; K θ , K ψ are the stiffness coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; C θ , C ψ are the damping coefficients of the vehicle suspension when rotating around the X, Y, and Z axes respectively; Roll Angle The first and second derivatives of ; are the first and second derivatives of the pitch angle θ respectively; are the first and second derivatives of the yaw angle ψ respectively; J is the moment of inertia of the track, is the angular acceleration of the left track winding motion, T L is the left driving wheel torque, F XL is the longitudinal traction force of the left crawler track, r is the radius of the driving wheel, is the angular acceleration of the right track winding motion, T R is the right driving wheel torque, F XR It is the longitudinal traction force of the right crawler track.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for constructing an 8-DOF tracked armored vehicle simulation platform as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for constructing an 8-DOF tracked armored vehicle simulation platform described in any one of claims 1 to 6 is implemented.

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