8-dof tracked armored vehicle simulation platform construction method and related device

Abstract

The application discloses a kind of 8 degrees of freedom tracked armored vehicle simulation platform construction method and related device, it is related to tracked armored vehicle simulation field, the method includes: based on Newtonian dynamics theory, the 8 degrees of freedom vehicle dynamics model of tracked armored vehicle is built;8 degrees of freedom includes vehicle body longitudinal, transverse, vertical, roll angle, pitch angle, yaw angle, left side track winding angular velocity and right side track winding angular velocity, iteration simulation solution is carried out to 8 degrees of freedom vehicle dynamics model, the simulation result of tracked armored vehicle is obtained, establish the high degree of freedom tracked armored vehicle dynamics model, improve the degree of refinement of model.

Description

Technical Field

[0001] This 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 Technology

[0002] Land-based military vehicles play a crucial role in modern warfare. Advanced military vehicles symbolize a nation's military strength and are a vital force in protecting national security. In recent years, with the development of vehicle technology, military vehicle equipment has been rapidly upgraded, with performance requirements constantly increasing, necessitating rapid development and iteration. New R&D processes are needed to shorten the production cycle in platform interconnection and software. The design and development of armored vehicles in the new era faces the following demands: stronger performance, shorter cycles, and higher requirements. Tracked vehicles possess excellent off-road capability and mobility, thus being widely used in many civilian and military industries such as mining, transportation assistance, search and exploration, and environmental monitoring. As tracked vehicles develop towards unmanned and intelligent operation, the traditional driver's cockpit has been eliminated, and driver comfort is no longer a consideration, resulting in higher potential mobility. However, the rapid development of new tracked vehicles heavily relies on dynamics simulation platforms. High-precision tracked vehicle dynamics simulation platforms are not only the testing foundation 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 conditions.

[0003] Currently, the models built by existing tracked armored vehicle simulation platforms have a relatively low level of detail. Summary of the Invention

[0004] The purpose of this application is to provide a method and related device for constructing an 8-DOF tracked armored vehicle simulation platform, which can establish a dynamic model of a tracked armored vehicle with high degrees of freedom and improve the model's level of detail.

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

[0006] Firstly, this application provides a method for constructing an 8-DOF tracked armored vehicle simulation platform, including:

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

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

[0009] Secondly, this application provides an 8-DOF tracked armored vehicle simulation platform, including:

[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 Newtonian dynamics theory; the 8 degrees of freedom include longitudinal, lateral, vertical, roll, pitch, yaw, left track winding angular velocity, and right track winding angular velocity.

[0011] The tracked armored vehicle simulation module is used to: perform iterative simulation and solution of the 8-DOF vehicle dynamics model to obtain the simulation results of the tracked armored vehicle.

[0012] Thirdly, this application provides a computer device, including: 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-described method for constructing an 8-DOF tracked armored vehicle simulation platform.

[0013] Fourthly, this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for constructing an 8-DOF tracked armored vehicle simulation platform.

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

[0015] This application provides a method and related apparatus for constructing an 8-DOF tracked armored vehicle simulation platform. Based on Newtonian dynamics theory, an 8-DOF vehicle dynamics model of the tracked armored vehicle is constructed. The 8 degrees of freedom include longitudinal, lateral, vertical, roll, pitch, yaw, left track winding angular velocity, and right track winding angular velocity. The 8-DOF vehicle dynamics model is iteratively simulated and solved to obtain the simulation results of the tracked armored vehicle. This application can establish a tracked armored vehicle dynamics model with high degrees of freedom, improving the model's refinement. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an application environment diagram of a method for constructing an 8-DOF tracked armored vehicle simulation platform according to an embodiment of this application.

[0018] Figure 2A flowchart illustrating a method for constructing an 8-DOF tracked armored vehicle simulation platform according to an embodiment of this application;

[0019] Figure 3 A schematic diagram illustrating the implementation process of a dynamics simulation platform for tracked armored vehicles provided in an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the calculation process for a tracked armored vehicle model provided in an embodiment of this application;

[0021] Figure 5 A functional module diagram of an 8-DOF tracked armored vehicle simulation platform provided in an embodiment of this application;

[0022] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] Currently, there are two main types of simulation platforms for tracked armored vehicles. The first type relies on foreign commercial software such as Adams and Trucksim for analysis. However, heavy reliance on such software will have the following consequences: 1) The supply of such software will be cut off, which will seriously threaten national defense security and severely affect the research and development progress; 2) The software is a black box model for users, which is not conducive to a deep understanding of the dynamic characteristics. The dynamic equations and model gradient information are difficult to obtain, and it is impossible to apply them to the global dynamic optimization of the whole vehicle; 3) The current software has low solution efficiency, and because the code is not open source, it is difficult to improve the solution efficiency.

[0025] Secondly, most of the models built in existing literature are based on two-dimensional planar motion conditions, making it difficult to accurately execute complex and ever-changing three-dimensional spatial movements on the battlefield. The above problems will have the following impacts: 1) The built models can be used for simple planar motion tests, but they cannot support research on complex multi-directional coupled conditions such as longitudinal, lateral, vertical, tilt, pitch, and yaw; 2) The level of model refinement 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. Therefore, a low level of model refinement will affect the development of accurate and reliable control algorithms, hindering the development of tracked special vehicles towards high mobility and unmanned operation.

[0026] To address the aforementioned issues, this application proposes a method for constructing an 8-DOF tracked armored vehicle simulation platform. The method involves high-precision modeling of the tracked armored vehicle, followed by code development based on the constructed model. The computational efficiency of the code is then optimized through methods such as sparse matrix operations, parallel computing, data-driven approaches, and the development of efficient computational algorithms. Finally, the model is visualized using Unreal Engine, ultimately constructing a refined dynamics simulation platform for the tracked armored vehicle. This provides support for research on tracked armored vehicles in complex environments and also serves as a reference for the development of subsequent control algorithms.

[0027] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] The method for constructing an 8-DOF tracked armored vehicle simulation platform provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be set up independently, integrated into server 104, or placed in the cloud or on another server. Terminal 102 can send dynamics construction parameters to server 104. After receiving the dynamics construction parameters, server 104, based on Newtonian dynamics theory, builds an 8-DOF vehicle dynamics model of the tracked armored vehicle and performs iterative simulation to obtain the simulation results of the tracked armored vehicle. Server 104 can then feed back the obtained simulation results of the tracked armored vehicle to terminal 102. Furthermore, in some embodiments, the method for constructing the 8-DOF tracked armored vehicle simulation platform can also be implemented independently by server 104 or terminal 102. For example, terminal 102 can directly perform dynamics construction based on the dynamics construction parameters, or server 104 can obtain the dynamics construction parameters from the data storage system and perform dynamics construction based on those parameters.

[0029] The terminal 102 can be, but is not limited to, various desktop computers and laptops. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers, or it can be a cloud server.

[0030] In one exemplary embodiment, such as Figure 2 As shown, a method for constructing an 8-DOF tracked armored vehicle simulation platform is provided. This method is executed by computer equipment, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is applied to... Figure 1Taking server 104 as an example, the explanation includes the following steps 201 to 202. Wherein:

[0031] Step 201: Based on Newtonian dynamics theory, construct an 8-DOF vehicle dynamics model for the tracked armored vehicle; the 8 degrees of freedom include longitudinal, lateral, vertical, roll, pitch, yaw, left track winding angular velocity, and right track winding angular velocity.

[0032] Step 202: Iteratively simulate and solve the 8-DOF vehicle dynamics model to obtain the simulation results of the tracked armored vehicle.

[0033] By implementing steps 201 to 202 above, a dynamic model of a tracked armored vehicle with high degrees of freedom can be established, improving the model's refinement. First, a dynamic model of the tracked armored vehicle is built based on Newtonian dynamics theory. This model provides a refined model of the tracked armored vehicle with six degrees of freedom (longitudinal, lateral, vertical, tilt, pitch, and yaw) and two degrees of freedom (track winding on both sides), totaling eight degrees of freedom considering ground contact. Then, code is developed based on the established model. Subsequently, the computational efficiency of the code is optimized through methods such as sparse matrix operations, parallel computing, data-driven approaches, and the development of efficient computational algorithms. Finally, the model is visualized using Unreal Engine, ultimately constructing a dynamic simulation platform for a tracked vehicle with eight degrees of freedom considering ground contact.

[0034] In another exemplary embodiment of this application, step 201 specifically includes: establishing vehicle body dynamics equations and ground contact dynamics equations based on Newtonian dynamics theory; the vehicle body dynamics equations include vehicle translational dynamics equations and vehicle rotational dynamics equations; the ground contact dynamics equations include dynamics equations for the left track winding motion and dynamics equations for the right track winding motion; the vehicle body dynamics equations and ground contact dynamics equations constitute an 8-DOF vehicle dynamics model of a tracked armored vehicle.

[0035] The inputs to the multi-degree-of-freedom model are the torques and angular velocities of the driving wheels on both sides of the track, as well as the track driving force. The vehicle under study is considered as a multi-rigid-body system, including one sprung mass rigid body and two unsprung mass rigid bodies. The motion of the vehicle body is generated by the combined effects of longitudinal, lateral, and vertical track-ground contact friction and shear forces, air resistance, suspension forces, and ground support forces. Figure 4 It provides input / output interfaces for each sub-module of the vehicle dynamics model and the overall vehicle dynamics model architecture, including the interaction between the 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 translational motion in the longitudinal, lateral, and vertical directions, as well as rotation around the x, y, and z axes.

[0037] The reference frame is chosen as geodetic coordinates O1-X1Y1Z1, and the vehicle's center of mass coordinates are O-XYZ. In this coordinate system, there are three translational degrees of freedom representing the displacement of the vehicle's center of mass (x, y, z), and three rotational degrees of freedom representing the roll angle of the vehicle's center of mass. Pitch angle θ, yaw angle ψ, angular velocity ω of the two tracks winding l and ω r Based on Newtonian dynamics, the dynamic equations for each degree of freedom are established as follows:

[0038] (1) Vehicle translation

[0039] The translational 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 translational equation of the vehicle's center of mass along the Y direction:

[0042] δma y =Fr x sinψ+Fr y cosψ(2);

[0043] In vertical motion, considering the spring force and damping force of the suspension system, respectively

[0044] F k =K k C k Δl i (3);

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

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

[0047] δma z =Fr z (5);

[0048] Where δ is the coefficient for increasing rotating mass; for example, when a tank is moving, the mass of the tank with rotating parts will increase by δ times; m is the total mass of the vehicle; g is the acceleration due to gravity; a x a y a zThese represent the accelerations of the vehicle body along the X, Y, and Z axes, respectively; F k For the suspension system spring force considered in vertical motion, K k C k ,Δl i These represent the spring-lever ratio, spring stiffness, and spring elastic deformation, respectively; F c K is the damping force of the suspension system considered during vertical motion. c C c D i These represent the damper lever ratio, damper damping coefficient, and dynamic deflection, respectively; Fr x 、Fr y 、Fr z These are the combined forces acting on the vehicle's center of gravity when the vehicle moves along the X, Y, and Z directions, including the frictional force from the ground contact with the ground, shear force, air resistance, suspension force, and ground support force.

[0049] (2) Vehicle body rotation

[0050] The roll dynamics equation of the vehicle's center of mass when the vehicle rotates about the X direction is as follows:

[0051]

[0052] The pitch dynamics equation of the vehicle's center of mass when the vehicle rotates about the Y direction is:

[0053]

[0054] The yaw dynamics equation of the vehicle's center of mass when the vehicle rotates about the Z direction is as follows:

[0055]

[0056] in, I θ I ψ These represent the vehicle's moments of inertia when rotating about the X, Y, and Z axes, respectively. M θ M ψ These are the resultant torques generated by the combined action of longitudinal, lateral, and vertical contact friction forces and shear forces, air resistance, suspension forces, and ground support forces on the vehicle's center of gravity. K θ K ψ These are the stiffness coefficients of the vehicle suspension when rotating about the X, Y, and Z axes, respectively. C θ C ψ These are the damping coefficients of the vehicle suspension when rotating around the X, Y, and Z axes, respectively; These are the roll angles. The first and second derivatives; These are the first and second derivatives of the pitch angle θ, respectively; These are the first and second derivatives of the yaw angle ψ, respectively.

[0057] (3) Track winding motion

[0058] In analyzing the track drive sprocket, this application does not involve multibody dynamics and does not consider the interaction between the drive sprocket, track links, and track plates. Therefore, this application analyzes the track and drive sprocket as a whole, analogous to the analysis of tire motion in vehicle dynamics. The winding motion of the track drive sprocket and the track is considered as a whole, and the motion of the entire track is equivalent to that of a tire. Due to the long track contact portion and complex ground pressure distribution, a track coordinate system is introduced, assuming (x... t ,y t ) represents the coordinates of a point on the track's contact section.

[0059] For the two-dimensional planar dynamics analysis of the vehicle, considering the motion in three degrees of freedom—lateral, longitudinal, and yaw—the differential of the longitudinal force of the track can be written as dF. x =dFcosθ t The differential of the lateral force of the track can be written as dF y =dFsinθ, heading angle

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

[0061]

[0062]

[0063] Where b is the track width, L is the track length, c is the soil adhesion coefficient; μ is the soil shear resistance angle, which is μ = 0 for cohesive soils; j is the track shear displacement, θ t K is the vehicle's heading angle. w Let be the deformation modulus of the soil under shear stress. The track traction force can be calculated by integrating the above formula in the track coordinate system. The track traction force is the longitudinal and lateral force at ground contact. Simultaneously, the traction force across the entire track can be calculated based on the distribution of ground pressure p(x,y) in the track coordinate system.

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

[0065]

[0066] Where J is the track rotational inertia, Let T be the angular acceleration of the left track winding motion.L F represents the torque of the left driving wheel. XL Let r be the longitudinal traction force of the left track during travel, and r be the radius of the drive wheel. Similarly, the dynamic equation for the right track's winding motion is as follows:

[0067]

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

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

[0070]

[0071] In another exemplary embodiment of this application, 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 results of the tracked armored vehicle. Specifically, this includes the following steps 301 to 303:

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

[0073] Step 302: Based on the initial values ​​of each state variable of the tracked armored vehicle and the 8-DOF vehicle dynamics model of the tracked armored vehicle, calculate all state variables for the next moment; state variables include displacement and velocity.

[0074] Step 303: Replace the initial values ​​of each state of the tracked armored vehicle with all the state variables of the next moment, and return to the step "Calculate all the state variables of the next moment based on the initial values ​​of each state variable of the tracked armored vehicle and the 8-DOF vehicle dynamics model of the tracked armored vehicle", to obtain the simulation results of the tracked armored vehicle.

[0075] Based on the vehicle dynamics model formula derived in step 201, appropriate software (such as Matlab, Visual Studio, etc.) is selected to develop relevant code, that is, to write simulation code that supports vectorized operations. The solution and calculation steps are as follows. Figure 4As shown, the vehicle body parameters, such as mass, moment of inertia, and mechanism parameters, are first determined for the simulated vehicle. Then, the dynamic parameters (including parameters of the suspension module and the ground contact module, such as soil viscosity coefficient, soil shear resistance angle, track shear displacement, ground contact vehicle heading angle, and soil deformation modulus under shear stress) are determined. Input the initial values ​​of each state quantity of the vehicle, including position parameters (displacement) and velocity; based on the initial values ​​of each state quantity, calculate the external forces and torques on each part through sub-modules such as the vehicle body and ground contact, integrate all the calculation results of external forces and torques, and substitute them into the vehicle dynamics equation and the ground contact dynamics equation, that is, substitute all the calculation results of external forces and torques into the 8-DOF 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 step of model solution, and finally obtain the simulation results of the tracked armored vehicle.

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

[0077] To solve the initial value problem of a class of ordinary differential equations, given a function and its derivative relationship (such as a dynamic equation), and a certain initial condition (such as initial position and velocity), we need to find the solution of this function as a function changes 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 four stages: the starting point, the midpoint, the midpoint of the midpoint, and the ending point of the interval, and then perform a weighted average of the function values, as shown in equation (14).

[0078]

[0079] In the above formula, h is the interval, and k1 to k4 are the function values ​​corresponding to the starting point, midpoint, the midpoint of the midpoint, and the ending point, respectively; y n Let y be the integral value obtained at the current time step through iteration. n+1 Let be the integral value obtained at the next time step through iteration. The final solution is obtained through this iterative process, from which we can obtain a series of y values. n These values ​​constitute an approximate solution to the function as it changes over time.

[0080] The above steps yield high-precision dynamic model simulation code for tracked armored vehicles. This code solves the dynamic differential equations during the vehicle's motion, enabling preliminary simulation calculations. The results are then compared with existing commercial software to verify the model's accuracy. The same tracked armored vehicle model is then built in commercial software such as ADAMS and Recurdyn. The calculation results from the simulation code are compared with those from the commercial software to verify the model's correctness.

[0081] To improve computational efficiency and solution accuracy, the code for the above steps will be optimized iteratively, mainly considering the following aspects:

[0082] (1) The integration algorithm initially used in the above steps is the 4th-order Runge-Kutta method. Under certain working conditions, this integration method is not well applied. It is necessary to coordinate the computational efficiency and computational accuracy to improve the integration method (such as variable step size integration) to obtain the adaptive step size Runge-Kutta method, so as to improve computational efficiency and computational accuracy.

[0083] (2) The coefficient matrix of the dynamic differential equation derived in step 201 has a large order. When solving the problem, we can improve the efficiency by considering the relevant knowledge of the coefficient matrix.

[0084] (3) In order to obtain higher accuracy, some code takes a long time to solve. We consider simplifying the relevant calculation process by means of graph search, data-driven methods, etc., so as to achieve a balance between solution efficiency and calculation accuracy.

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

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

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

[0088] The optimized dynamics simulation code obtained in the above steps is combined with the tracked armored vehicle model in Unreal Engine. Unreal Engine is then used to visualize the calculation results of the simulation code, allowing users to view the results more clearly and conveniently. This forms an overall framework for the self-written code to calculate the dynamics behavior and the Unreal Engine model to display the code's calculation results.

[0089] User-friendliness was considered during the development process, and a corresponding user interface was developed based on the Qt platform, including basic functions such as modular components, component parameter modification, motion process display, and mouse drag-and-drop modules. External data interfaces were provided during development, enabling the developed simulation platform to support the testing and verification of decision-making, planning, and control algorithms, ultimately constructing a fully autonomous and sophisticated dynamics simulation platform for tracked armored vehicles.

[0090] This application also provides an application scenario in which the above-described 8-DOF tracked armored vehicle simulation platform construction method is applied. Specifically, the 8-DOF tracked armored vehicle simulation platform construction method provided in this embodiment can be applied to a tracked armored vehicle simulation scenario. The tracked armored vehicle simulation scenario includes an information acquisition stage and a tracked armored vehicle simulation link; dynamic construction parameters enter the tracked armored vehicle simulation link from the information acquisition stage 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 simulation process of tracked armored vehicles targeting dynamic construction parameters, an 8-DOF vehicle dynamics model of the tracked armored vehicle can be built based on Newtonian dynamics theory. The 8-DOF vehicle dynamics model is then 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 dynamic modeling of tracked armored vehicles, in addition to the conventional 6 degrees of freedom of the vehicle body, the influence of the lateral and longitudinal motion of the track winding on the dynamic characteristics of the vehicle body when in contact with the ground is emphasized, resulting in high model accuracy.

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

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

[0095] Advantage 4: Step-by-step integration of code with Unreal Engine provides a better visual interface and human-computer interaction interface, making it more user-friendly and convenient.

[0096] Based on the same inventive concept, this application also provides an 8-DOF tracked armored vehicle simulation platform for implementing the above-described method for constructing an 8-DOF tracked armored vehicle simulation platform. The solution provided by this simulation platform is similar to the solution described in the above method. Therefore, the specific limitations of one or more 8-DOF tracked armored vehicle simulation platform embodiments provided below can be found in the limitations of the 8-DOF tracked armored vehicle simulation platform construction method described above, and will not be repeated here.

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

[0098] The 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 degrees of freedom include longitudinal, lateral, vertical, pitch, roll, yaw, left track winding angular velocity, and right track winding angular velocity.

[0099] The tracked armored vehicle simulation module T2 is used to: perform iterative simulation and solution of the 8-DOF vehicle dynamics model to obtain the simulation results of the tracked armored vehicle.

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

[0101]

[0102] Where δ is the rotational mass increase coefficient, m is the total vehicle mass, and g is the gravitational acceleration; a x a y a z These represent the accelerations of the vehicle body along the X, Y, and Z axes, respectively; Fr x 、Fr y 、Fr z These are the combined forces acting on the vehicle's center of gravity when the vehicle translates along the X, Y, and Z directions, including the ground contact friction, shear force, air resistance, suspension force, and ground support force. θ and ψ are the roll angle, pitch angle, and yaw angle of the vehicle's center of gravity, respectively. I θ I ψ These represent the vehicle's moments of inertia when rotating about the X, Y, and Z axes, respectively. M θ M ψThese are the resultant torques generated by the combined action of longitudinal, lateral, and vertical contact friction and shear forces, air resistance, suspension forces, and ground support forces on the vehicle's center of gravity. K θ K ψ These are the stiffness coefficients of the vehicle suspension when rotating about the X, Y, and Z axes, respectively. C θ C ψ These are the damping coefficients of the vehicle suspension when rotating around the X, Y, and Z axes, respectively; These are the roll angles. The first and second derivatives; These are the first and second derivatives of the pitch angle θ, respectively; ψ represents the first and second derivatives of the yaw angle ψ, respectively; J is the track moment of inertia. Let T be the angular acceleration of the left track winding motion. L F represents the torque of the left driving wheel. XL The longitudinal traction force of the left track is r, where r is the radius of the drive sprocket. T is the angular acceleration of the right track winding motion. R F is the torque of the right driving wheel. XR This refers to the longitudinal traction force of the right track.

[0103] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 6 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores simulation data for tracked armored vehicles. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for constructing an 8-DOF tracked armored vehicle simulation platform.

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

[0105] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0106] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0108] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this 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 can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0109] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0110] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of 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 includes: Based on Newtonian dynamics, an 8-DOF vehicle dynamics model was constructed for a tracked armored vehicle. The 8 degrees of freedom include longitudinal, lateral, vertical, roll, pitch, yaw, left track winding angular velocity, and right track winding angular velocity. The 8-DOF vehicle dynamics model is as follows: ； in, To increase the coefficient for rotating mass, For the overall vehicle quality, It is the acceleration due to gravity; , , They respectively represent the body edge Acceleration in three directions along the axis; , , The vehicles along When the vehicle moves in three directions, the resultant force of the contact friction with the ground, shear force, air resistance, suspension force, and ground support force acts on the vehicle's center of gravity. , , These are the roll angle, pitch angle, and yaw angle of the vehicle's center of gravity, respectively. , , They are respectively around The moment of inertia of the vehicle when the shaft rotates; , , These are the resultant torques generated by the combined action of longitudinal, lateral, and vertical contact friction and shear forces, air resistance, suspension forces, and ground support forces on the vehicle's center of gravity. , , They are respectively around The stiffness coefficient of the vehicle suspension when the shaft rotates; , , They are respectively around The damping coefficient of the vehicle suspension when the shaft rotates; These are the roll angles. The first and second derivatives; pitch angle The first and second derivatives; They are respectively the yaw angle The first and second derivatives; For track rotational inertia, Let be the angular acceleration of the left track winding motion. This is the torque of the left driving wheel. The longitudinal traction force of the left track is the longitudinal travel force of the track. The radius of the driving wheel, Let be the angular acceleration of the right track winding motion. This is the torque of the right-hand drive wheel. The longitudinal traction force of the right track; The integral formulas for calculating the longitudinal and lateral forces in ground contact are as follows: ； in, For track plate width, For track plate length, The soil viscosity coefficient; The soil shear resistance angle; This represents the track shear displacement. For the vehicle's heading angle, Let be the deformation modulus of the soil under shear stress. The distribution of ground pressure in the track coordinate system. The derivative of the longitudinal force of the track, The differential of the lateral force of the track; The 8-DOF vehicle dynamics model was iteratively simulated and solved to obtain the 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 Newtonian dynamics theory, an 8-DOF vehicle dynamics model of a tracked armored vehicle is constructed, specifically including: Based on Newtonian dynamics theory, vehicle body dynamics equations and ground contact dynamics equations are constructed. The vehicle body dynamics equations include vehicle translational dynamics equations and vehicle rotational dynamics equations. The ground contact dynamics equations include the dynamics equations for the left track's winding motion and the dynamics equations for the right track's winding motion. The vehicle body dynamics equations and ground contact dynamics equations constitute an 8-DOF vehicle dynamics model of a 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 was iteratively simulated and solved to obtain simulation results for the tracked armored vehicle, specifically including: The adaptive step size Runge-Kutta method was used to iteratively simulate and solve the 8-DOF vehicle dynamics model, and the simulation results of the tracked armored vehicle were obtained.

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 was iteratively simulated and solved to obtain simulation results for the tracked armored vehicle, specifically including: Obtain vehicle body parameters and dynamic parameters; the vehicle body parameters include mass, moment of inertia and mechanism parameters; the moment of inertia includes the vehicle's moment of inertia when rotating about the X, Y and Z axes and the track moment of inertia; the mechanism parameters include spring lever ratio, spring stiffness, spring elastic deformation, damper lever ratio, damper damping coefficient, dynamic deflection, wheel radius and track distance on both sides. Based on the initial values ​​of each state variable of the tracked armored vehicle and the 8-DOF vehicle dynamics model of the tracked armored vehicle, calculate all state variables for the next moment; the state variables include displacement and velocity. Replace the initial values ​​of each state of the tracked armored vehicle with all the state variables of the next moment, and return to the step "Calculate all the state variables of the next moment based on the initial values ​​of each state variable of the tracked armored vehicle and the 8-DOF vehicle dynamics model of the tracked armored vehicle", 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 method for constructing the 8-DOF tracked armored vehicle simulation platform also includes: The simulation results of tracked armored vehicles are visualized using Unreal Engine.

6. An 8-DOF tracked armored vehicle simulation platform based on the construction method of the 8-DOF tracked armored vehicle simulation platform according to claim 1, 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 Newtonian dynamics theory; the 8 degrees of freedom include longitudinal, lateral, vertical, roll, pitch, yaw, left track winding angular velocity, and right track winding angular velocity. The tracked armored vehicle simulation module is used to: perform iterative simulation and solution of the 8-DOF vehicle dynamics model to obtain the simulation results of the tracked armored vehicle.

7. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method for constructing an 8-DOF tracked armored vehicle simulation platform according to any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method for constructing an 8-DOF tracked armored vehicle simulation platform as described in any one of claims 1-5.

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