Wheeled armored vehicle dynamics simulation platform and construction method, equipment and medium thereof

Abstract

The invention discloses a wheeled armored vehicle dynamics simulation platform, a construction method thereof, equipment and a medium, and relates to the field of wheeled armored vehicle simulation, and the method comprises the steps: constructing a dynamics model of a wheeled armored vehicle based on a Lagrange dynamics method; the dynamical model of the wheeled armored vehicle comprises a sprung mass dynamical model, an unsprung mass dynamical model and a turret system dynamical model; and performing iterative simulation solution on the dynamical model of the wheeled armored vehicle to obtain a simulation result of the wheeled armored vehicle. According to the invention, the refinement degree of the dynamical model construction of the wheeled armored vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of wheeled armored vehicle simulation, and in particular to a wheeled armored vehicle dynamics simulation platform and a construction method, equipment, and medium thereof. Background Art

[0002] With the development of electric vehicles in recent years, distributed drive technology has also been more widely used in the military and civilian fields, especially in the context of the military of various countries vigorously developing new energy power in recent years, the application of distributed drive technology in the military field has developed rapidly. As a major member of wheeled armored vehicles, 8×8 distributed drive wheeled vehicles are mainly responsible for military reconnaissance, personnel transportation, logistics support and other tactical functions, playing an irreplaceable role in the complex and ever-changing modern battlefield.

[0003] As wheeled armored vehicles develop towards unmanned and intelligent directions, the traditional cockpit is removed, the driver's comfort is no longer considered, and they have higher mobility potential. However, the rapid development of new wheeled vehicles is deeply dependent on the dynamics simulation platform. The dynamics model of wheeled armored vehicles is the basis for optimizing vehicle design parameters, building control algorithms, and rapid development of new vehicles.

[0004] The model constructed by the existing wheeled armored vehicle simulation platform is of low refinement. Summary of the invention

[0005] The purpose of this application is to provide a wheeled armored vehicle dynamics simulation platform and its construction method, equipment, and medium, which can improve the refinement of the wheeled armored vehicle dynamics model construction.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a method for constructing a wheeled armored vehicle dynamics simulation platform, comprising:

[0008] Based on the Lagrangian dynamics method, a dynamic model of a wheeled armored vehicle is constructed; the dynamic model of the wheeled armored vehicle includes a sprung mass dynamic model, an unsprung mass dynamic model and a turret system dynamic model;

[0009] The dynamics model of the wheeled armored vehicle is iteratively simulated and solved to obtain a simulation result of the wheeled armored vehicle.

[0010] In a second aspect, the present application provides a wheeled armored vehicle dynamics simulation platform, comprising:

[0011] A wheeled armored vehicle dynamics model construction module is used to: construct a dynamics model of a wheeled armored vehicle based on a Lagrangian dynamics method; the dynamics model of the wheeled armored vehicle includes a sprung mass dynamics model, an unsprung mass dynamics model and a turret system dynamics model;

[0012] The simulation module is used to iteratively simulate and solve the dynamic model of the wheeled armored vehicle to obtain the simulation result of the wheeled armored vehicle.

[0013] 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 method for constructing the above-mentioned wheeled armored vehicle dynamics simulation platform.

[0014] 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 method for constructing the above-mentioned wheeled armored vehicle dynamics simulation platform.

[0015] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0016] The present application provides a wheeled armored vehicle dynamics simulation platform and a construction method, device, and medium thereof. The dynamics model of the wheeled armored vehicle is constructed by utilizing the Lagrangian dynamics method, wherein the dynamics model of the wheeled armored vehicle includes a sprung mass dynamics model, an unsprung mass dynamics model, and a turret system dynamics model. The dynamics model of the wheeled armored vehicle is iteratively simulated and solved to obtain a simulation result of the wheeled armored vehicle, thereby solving the problem of low refinement of the model constructed by the existing wheeled armored vehicle simulation platform and realizing the refined construction of the dynamics model of the wheeled armored vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 This is an application environment diagram of a method for constructing a wheeled armored vehicle dynamics simulation platform in one embodiment of the present application;

[0019] Figure 2 A schematic flow chart of a method for constructing a wheeled armored vehicle dynamics simulation platform provided in one embodiment of the present application;

[0020] Figure 3 A schematic diagram of the implementation process of a wheeled armored vehicle dynamics simulation platform provided in one embodiment of the present application;

[0021] Figure 4 A schematic diagram of a dynamics model framework of an 8×8 wheeled vehicle provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of a wheeled vehicle model solution process provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of functional modules of a wheeled armored vehicle dynamics simulation platform provided in one embodiment of the present application;

[0024] Figure 7 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] 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.

[0026] At present, there are two main ways to build wheeled armored vehicle simulation platforms in my country. The first one is to rely on foreign commercial software such as Adams and Trucksim for analysis. Heavy reliance on the above software will cause the following consequences: 1) The suspension 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 is impossible to apply it 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.

[0027] The second is to use Newtonian mechanics and other mechanical systems to model the dynamics of the whole vehicle. However, the models built by relevant research institutes are less refined. During the construction process, the tire mass is concentrated on the vehicle mass, ignoring the impact of tire movement on the dynamic characteristics of the vehicle body, and certain limited assumptions are made to simplify the vehicle model. In addition, 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 spatial three-dimensional 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, pitch, roll, and yaw; 2) The 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 refinement of the model will affect the development of accurate and reliable control algorithms.

[0028] 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.

[0029] The construction method of the wheeled armored vehicle dynamics simulation platform 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 parameters of the wheeled armored vehicle to the server 104. After the server 104 receives the parameters of the wheeled armored vehicle, for the parameters of the wheeled armored vehicle, the server 104 constructs a dynamic model of the wheeled armored vehicle based on the Lagrangian dynamics method, performs iterative simulation and solves the dynamic model of the wheeled armored vehicle, and obtains the simulation results of the wheeled armored vehicle. The server 104 can feedback the obtained simulation results for the wheeled armored vehicle to the terminal 102. In addition, in some embodiments, the construction method of the wheeled armored vehicle dynamics simulation platform can also be implemented by the server 104 or the terminal 102 alone, such as the terminal 102 can directly construct a dynamic model for the wheeled armored vehicle parameters, or the server 104 can obtain the wheeled armored vehicle parameters from the data storage system and construct a dynamic model for the wheeled armored vehicle parameters.

[0030] 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.

[0031] In an exemplary embodiment, Figure 2As shown, a method for constructing a wheeled armored vehicle dynamics 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 1 The server 104 in the example is used as an example to illustrate, including the following steps 201 to 202. Among them:

[0032] Step 201: constructing a dynamic model of a wheeled armored vehicle based on a Lagrangian dynamics method; the dynamic model of the wheeled armored vehicle includes a sprung mass dynamic model, an unsprung mass dynamic model and a turret system dynamic model.

[0033] Step 202: performing iterative simulation and solving on the dynamics model of the wheeled armored vehicle to obtain simulation results of the wheeled armored vehicle.

[0034] The implementation of the above steps 201 to 202 improves the refinement of the construction of the dynamic model of the wheeled armored vehicle, provides support for the research of wheeled armored vehicles in complex environments, and also provides a reference for the development of subsequent control algorithms.

[0035] In another exemplary embodiment of the present application, the modeling process of step 201 is specifically as follows:

[0036] The input of the multi-degree-of-freedom model is the steering wheel angle and wheel torque. The tire rotation is driven by the wheel torque and the longitudinal ground force. The input of the tire model module is the wheel rotation angular velocity and wheel center speed, and the output is the tire force and torque. The vertical movement of the unsprung mass is generated by the vertical force of the tire and the suspension force. The movement of the vehicle body is generated by the longitudinal and lateral tire forces, aerodynamics, and suspension forces. The input and output interfaces of each submodule of the vehicle dynamics model are as follows: Figure 4 shown.

[0037] In order to improve the computational efficiency, vectorized programming method is applied to establish a vehicle dynamics model that supports vectorized computation. Figure 4 It is the whole vehicle dynamics model framework, including the interaction between the body, suspension, unsprung mass and tire models. Figure 4 The driver model in refers to the input of the vehicle model, including the tire torque and steering angle.

[0038] 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 can move in the longitudinal, lateral and vertical directions, as well as rotate around the xyz axes. The 8 tires have 8 degrees of freedom for rotation, and due to the existence of the suspension system, the 8 tires have 8 degrees of freedom for vertical movement. In addition, the 8×8 wheeled armored vehicle has a turret structure, which is divided into a turret and a gun barrel. The turret has a degree of freedom for rotation around the Z axis of the vehicle body, and the gun barrel has a degree of freedom for rotation around the Y axis of its hinge point with the turret.

[0039] In the modeling process, O-XYZ represents the earth coordinate system, O1-X1Y1Z1 represents the vehicle coordinate system, and the generalized coordinates of multiple degrees of freedom are expressed by vectors as follows:

[0040]

[0041] Where: q represents the generalized coordinates of the vehicle model; q bv Represents the position vector of the vehicle body’s center of mass; X A ,Y A ,Z A are the displacements of the center of mass along the x, y, and z directions of the global coordinate system, constituting the absolute displacement of the center of mass along the global coordinate system; q bω represents the rotation angle of the vehicle body’s center of mass, are the roll angle, pitch angle and yaw angle of the vehicle body around the x, y and z axes of the global coordinate system respectively; q uθ represents the angular velocity sequence generated by the rotation of the eight tires on both sides, θ i represents the angular velocity of tire rotation; q uz represents the vertical displacement sequence of the eight tires on both sides, z i Indicates the vertical displacement of the tire; the 8 tires are distinguished by subscripts, ufr represents the right tire of the first axle, ufl represents the left tire of the first axle, usr represents the right tire of the second axle, usl represents the left tire of the second axle, utr represents the right tire of the third axle, utl represents the left tire of the third axle, urr represents the right tire of the fourth axle, and url represents the left tire of the fourth axle; q t Represents the degrees of freedom of the turret and the barrel, which are the rotation angles θ of the turret around the Z axis of the vehicle body. turret , the rotation angle θ of the gun barrel around the Y axis at the turret hinge gun .

[0042] The xy coordinates of the 8 tire centers in the vehicle body coordinate system in the XY plane w ,y w for:

[0043]

[0044] Where: l represents the longitudinal distance between the four axles of the vehicle and the center of mass, w represents the wheelbase of the four axles, l and w are the distances in the vehicle coordinate system, subscript f represents the first axle, s represents the second axle, t represents the third axle, and r represents the fourth axle. The position of the center of mass of the turret in the vehicle coordinate system is the distance h from the center of mass of the vehicle along the positive direction of the Z axis of the vehicle coordinate system g , the barrel length is L g , assuming that the center of mass of the gun barrel is located at L g / 2 places.

[0045] Unsprung mass, i.e. the relative vertical position z of the tire in the vehicle coordinate system w It can be represented by its absolute coordinates, the vehicle body roll angle, pitch angle and the xy coordinates in the vehicle body coordinate system, as shown below:

[0046]

[0047] Among them, x w is the horizontal coordinate of the tire in the vehicle body coordinate system, y w is the ordinate of the tire in the vehicle body coordinate system.

[0048] From formula (3), the vertical velocity of the unsprung mass in the vehicle body coordinate system can be expressed as follows:

[0049]

[0050] In the formula, is the vertical velocity of the unsprung mass in the vehicle body coordinate system, that is, the derivative of the relative vertical position of the tire in the vehicle body coordinate system; are the derivatives of the tire's roll angle and pitch angle, respectively.

[0051] The relative positions of the turret and the gun barrel in the vehicle coordinate system are expressed as:

[0052]

[0053] Among them, x t ,y t ,z t Respectively represent the x-axis, y-axis, and z-axis coordinates of the turret in the vehicle coordinate system; g ,y g ,z g They represent the x-axis, y-axis, and z-axis coordinates of the center of mass of the gun barrel in the vehicle coordinate system. Based on Lagrangian dynamics, the 22-degree-of-freedom dynamic equation of the vehicle is derived as shown below:

[0054]

[0055] Where: T represents the kinetic energy of the wheeled armored vehicle system, Q b represents the generalized force on the sprung mass, Qu represents the generalized force on the unsprung mass, Q t represents the generalized force on the turret, q b represents the generalized coordinates of the vehicle body, i.e. the sprung mass; q u Represents the generalized coordinates of the eight tires, i.e., the unsprung masses, including the tire rotation angle and vertical position; q t Represents the generalized coordinates of the turret, including the turret rotation angle and the barrel rotation angle.

[0056] When calculating the kinetic energy of the sprung mass, the kinetic energy of the tires and the turret's lateral and longitudinal motion is taken into account, as shown in the following formula:

[0057]

[0058] Where: V b 、V ui are the components of the generalized velocity of the vehicle body and the velocity of the unsprung mass in the vehicle body coordinate system, M b 、M ui They are the mass matrices of the vehicle body and the unsprung mass when calculating the lateral and longitudinal kinetic energy, respectively.

[0059] There is a coordinate transformation between the vehicle coordinate system and the earth coordinate system, and its transformation matrix is:

[0060]

[0061] From the above formula, we can get the vehicle speed V b In the vehicle coordinate system:

[0062]

[0063] The lateral and longitudinal velocities of the eight wheels in the vehicle coordinate system can be determined from their relative positions h in the vehicle coordinate system. b,u,i The following vehicle speed is expressed as follows:

[0064]

[0065] Through coordinate transformation and matrix calculation, the kinetic energy of the sprung mass can be expressed as:

[0066]

[0067] Where M gb is the intermediate parameter, M gb =[h A,b ] T [M b ][h A,b ]+∑[h A,b ] T [h b,u,i ] T [M ui][h b,u,i ][h A,b ].

[0068] The kinetic energy of the unsprung mass is composed of the rotational and vertical motion of the tire, as shown below:

[0069]

[0070] Where: V uz ,ω u are the vertical speed and angular velocity of the 8 unsprung tires, M u , J u are the mass matrix and moment of inertia matrix for calculating the vertical kinetic energy of the unsprung mass. According to the matrix calculation, equation (12) can be converted into the form of generalized coordinates and generalized mass matrix:

[0071]

[0072] In the formula, m u,fr ,…,m u,rl represents the mass of eight tires, j u,fr ,…j u,rl Represents the rotational inertia of the 8 tires.

[0073] Turret system kinetic energy T t It is composed of the turret rotation kinetic energy and the barrel rotation kinetic energy, as shown in the following formula:

[0074]

[0075] In the formula, ω turret is the turret rotation speed, ω gun is the barrel rotation speed, J turret is the moment of inertia of the turret around the central Z axis, J gun is the moment of inertia of the barrel around the Y-axis at the hinge.

[0076] The vertical forces acting on the sprung mass (vehicle body) include the vehicle body weight, suspension force, and vertical air resistance. The longitudinal forces include the lateral force generated between the tire and the ground, the longitudinal force, and the air resistance component in the global coordinate system. The lateral force includes the component of the lateral and longitudinal forces of the ground on the tire. The three-axis torques include the torque of the above forces on the center of mass, the tire self-aligning torque, the air resistance torque, and the reaction torque on the drive tire and turret system.

[0077] The vertical force on the tire is composed of the tire's own weight and suspension force:

[0078] F z,i =F bs,i +m u,i g (16);

[0079] The longitudinal slip rate of the tire contact point with the ground is calculated as follows:

[0080]

[0081] Where: κ i is the tire slip rate, ω i is the tire rotation angular velocity, R e,i is the effective radius of the wheel, v wx,i 、v wy,i are the longitudinal and transverse speeds of the wheel center respectively, and the calculation method is shown in the following formula:

[0082]

[0083] Where: v ux,i , v uy,i The lateral and longitudinal velocities of the tire in the vehicle coordinate system, δ i is the tire turning angle, and the tire slip angle α i The calculation is as follows:

[0084]

[0085] Another calculation method is:

[0086]

[0087] Apply the tire magic formula to calculate tire longitudinal force, lateral force, self-aligning moment, rolling resistance moment, and yaw resistance moment.

[0088] The longitudinal force at the tire's contact point with the ground is described by the magic formula as follows:

[0089]

[0090] The lateral force at the point where the tire contacts the ground is described by the magic formula as follows:

[0091]

[0092] The tire overturning moment (yaw resistance moment) is calculated as follows:

[0093]

[0094] The tire rolling resistance torque is calculated as follows:

[0095]

[0096] The tire self-aligning torque is calculated as follows:

[0097] M z =-t(F y -S Vyk)+M zr +sF x (25);

[0098] The parameters in the above formula can be found in Magic Formula 5.2 and 6.1.

[0099] The suspension force is composed of spring force and damping force. When the stiffness and damping ratio are constant values, the suspension force can be expressed as:

[0100]

[0101] In the formula, F bss,i is the suspension force, k bs,i is the suspension stiffness coefficient, Δl s.i is the suspension deformation, c d,i is the suspension damping coefficient, is the suspension deformation speed.

[0102] To calculate the air resistance, first calculate the air resistance slip angle. Assuming the air is still and the wind speed is 0, the air resistance slip angle is the vehicle's center of mass slip angle. The calculation method is as follows:

[0103]

[0104] Among them, α air is the air resistance slip angle, is the longitudinal velocity of the vehicle, is the lateral velocity of the vehicle body, and ψ is the yaw angle of the vehicle body.

[0105] Then, the air resistance coefficient is calculated by linear interpolation and cubic spline interpolation according to the air resistance side slip angle:

[0106]

[0107] Calculate the air resistance factor Q:

[0108]

[0109] Where D is the air density.

[0110] In summary, substitute the above results into the following formula to calculate the air resistance:

[0111]

[0112] Where: A air is the frontal area of ​​the vehicle, L air Calculate the length for the vehicle's air resistance.

[0113] Based on the calculation of the tire force and suspension model above, the generalized force matrix of the sprung mass is as follows:

[0114]

[0115] Among them, δ i is the tire angle input, T d,i is the tire torque input, T gun is the barrel driving torque, T turret is the turret driving torque.

[0116] The forces on the unsprung mass include suspension force, ground vertical force and tire weight, and the torques on the unsprung mass include driving torque and tire rolling resistance torque. The generalized force matrix is ​​expressed as:

[0117]

[0118] Among them, δ i is the tire angle input, T d,i is the tire torque input, and g is the acceleration due to gravity.

[0119] The generalized forces acting on the turret system include the turret drive torque and the barrel drive torque:

[0120]

[0121] Based on force analysis and the principle of virtual work, the generalized force can be derived as shown in the following equation:

[0122]

[0123] According to Lagrangian mechanics and D'Alembert's principle, the generalized equation of motion of the sprung mass (i.e., the vehicle body dynamics equation) is established, that is, the expression of the sprung mass dynamics model is as follows:

[0124]

[0125] Where t represents the time, T represents the kinetic energy of the wheeled armored vehicle system, The first derivative of the generalized coordinates of the sprung mass, M gb is the intermediate parameter, represents the second-order derivative of the generalized coordinates of the vehicle body, i.e., the sprung mass, M gb The first derivative of represents the transpose of the first-order derivative of the generalized coordinates of the vehicle body, i.e., the sprung mass, Q b Represents the generalized force acting on the sprung mass.

[0126] The generalized equation of motion of the unsprung mass (i.e., the tire dynamics equation), i.e., the expression of the unsprung mass dynamics model is as follows:

[0127]

[0128] Where t represents the time, T represents the kinetic energy of the wheeled armored vehicle system, The first derivative of the generalized coordinates of the unsprung mass of a wheeled armored vehicle, M gu is the intermediate parameter, The second derivative of the generalized coordinates representing the unsprung mass of a wheeled armored vehicle, M gu The first derivative of u Represents the generalized force acting on the unsprung mass.

[0129] The generalized equation of motion of the turret system (i.e., the turret dynamics equation), i.e., the expression of the turret system dynamics model is as follows:

[0130]

[0131] Where t represents the time, T represents the kinetic energy of the wheeled armored vehicle system, represents the first-order derivative of the generalized coordinates of the turret, M t is the intermediate parameter, The second derivative of the generalized coordinates of the unsprung mass of the wheeled armored vehicle, q b represents the generalized coordinates of the vehicle body, i.e., the sprung mass, M gb is the intermediate parameter, Q t Represents the generalized force acting on the turret.

[0132] The second-order differentials of all state variables can be obtained by using formulas (35), (36) and (37), the first-order differentials of the state variables can be obtained by integration, and the values ​​of all state variables can be obtained by calculation.

[0133] The above step 202 specifically includes: using the adaptive step size Runge-Kutta method to iteratively simulate and solve the dynamic model of the wheeled armored vehicle to obtain a simulation result of the wheeled armored vehicle.

[0134] The dynamic model of the wheeled armored vehicle is iteratively simulated and solved to obtain the simulation results of the wheeled armored vehicle, which specifically include:

[0135] Obtaining body parameters and dynamic model parameters of the wheeled armored vehicle; the body parameters include mass, moment of inertia and structural parameters of the wheeled armored vehicle; the dynamic model parameters include air resistance calculation factors, tire structural parameters and turret geometric parameters;

[0136] Calculating the state quantity at the next moment according to the initial value of the state quantity of the wheeled armored vehicle and the dynamic model of the wheeled armored vehicle; the state quantity includes the generalized coordinates and speed of the wheeled armored vehicle;

[0137] The initial value of the state quantity of the wheeled armored vehicle is replaced by the state quantity of the next moment, and the process returns to the step "calculating the state quantity of the next moment according to the initial value of the state quantity of the wheeled armored vehicle and the dynamic model of the wheeled armored vehicle" to obtain the simulation result of the wheeled armored vehicle.

[0138] Based on the vehicle dynamics model formula derived in the above steps, select the corresponding software (such as Matlab, Visual Studio, etc.) to develop the relevant code. The solution calculation steps are as shown in the attached figure. Figure 5 As shown in , first determine the body parameters of the simulated vehicle, such as mass, moment of inertia, mechanism parameters, etc., determine the parameters of each submodule, such as air resistance calculation factor, tire structure parameters, turret geometric parameters, magic formula constants, etc., input the initial values ​​of each state of the vehicle, generalized coordinates, speed and initial values ​​of intermediate variables; according to the current vehicle state, calculate the external forces and torques of each part through the suspension, air resistance, tire and other submodules, integrate all the external force and torque calculation results, substitute them into the body dynamics equation, tire dynamics equation and turret dynamics equation, and obtain the generalized acceleration of each state quantity. At the same time, obtain the differential equation of the intermediate quantity through the tire submodel; integrate the above generalized acceleration and differential equation to obtain all state quantities at the next moment, and use them as the initial value for the next step of model solution. The model solution adopts the fourth-order Runge-Kutta integration method, as shown in formula (38).

[0139]

[0140] Among them, f(t,x i ,u) is the dynamic equation derived above, t is the current time, h is the integration step, x i is the current state, u is the current input, k1-k4 are intermediate calculation variables, x i+1 It is the state quantity at the next moment after integration.

[0141] Through the above steps, a high-precision dynamic model simulation code of a wheeled armored vehicle can be obtained. The same wheeled armored vehicle model is built in software such as ADAMS and Recurdyn, and the calculation results of the above simulation code are compared with those of commercial software to verify the correctness of the built model.

[0142] The codes in the above steps are optimized and iterated with the goal of improving calculation efficiency and solution accuracy. The specific process is as follows:

[0143] For the dynamic model code developed in the above steps, the code is optimized and iterated with the goal of improving computational efficiency, mainly considering the following aspects:

[0144] (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) to improve the calculation efficiency and calculation accuracy.

[0145] (2) The coefficient matrix of the dynamic differential equation derived in the above steps is of a relatively large order. When solving the equation, the efficiency of the solution is improved by considering the relevant knowledge of the coefficient matrix.

[0146] (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.

[0147] The method for constructing the wheeled armored vehicle dynamics simulation platform provided in the present application also includes: using the Unreal Engine to visualize the simulation results of the wheeled armored vehicle.

[0148] The above-derived code is combined with the Unreal Engine to build a wheeled armored vehicle dynamics simulation platform. The specific process is as follows:

[0149] A basic model of a wheeled armored vehicle simulation platform is built in the Unreal Engine, including components such as the body shell, tires, suspension, and turret system, and a complete wheeled armored vehicle model is constructed based on the assembly of the above components.

[0150] Combine the optimized dynamics simulation code obtained in the above steps with the wheeled 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 built Unreal Engine model displays the calculation results of the code.

[0151] 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 wheeled armored vehicle dynamics simulation platform.

[0152] The overall process of the embodiment is as follows Figure 3As shown in the figure, firstly, a dynamic model of a wheeled vehicle is built based on the Lagrangian dynamics theory. The model consists of three parts: sprung mass, unsprung mass, and turret system. Then, based on the above model, relevant operation codes are developed to solve the differential equations in the motion process of wheeled armored vehicles, realize preliminary simulation calculations, and compare with existing commercial software to verify the correctness of the built model. After the code is developed, the developed code is optimized and iterated accordingly with the goal of improving the code solving efficiency and calculation accuracy. Finally, the corresponding platform is built in the Unreal Engine, which is associated with the developed code to build a complete distributed drive wheeled armored vehicle dynamics simulation platform.

[0153] This application first uses the relevant knowledge of Lagrangian dynamics to perform high-precision, vectorized modeling of wheeled armored vehicles, 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 dynamics simulation platform for wheeled armored vehicles is constructed.

[0154] The method for constructing a wheeled armored vehicle dynamics simulation platform provided by this application has the following advantages:

[0155] 1. In the process of dynamic modeling of wheeled armored vehicles, emphasis is placed on the impact of tire lateral and longitudinal movement on the dynamic characteristics of the vehicle body, and the model has high accuracy.

[0156] 2. The model is constructed using the Lagrangian dynamics method, and the three-dimensional rotation in space is taken into account in the coordinate transformation, so that the wheeled armored vehicle can analyze the complex motion process in three-dimensional space, and the model has high applicability.

[0157] 3. The use of fully independently written code can support subsequent secondary development and upgrades, and can also provide important support for the acquisition of gradient information.

[0158] 4. The code was iteratively optimized and vectorized modeling was applied to balance the computational efficiency and accuracy of the code. While ensuring the computational accuracy, the computational efficiency was higher.

[0159] 5. Associating the code with the Unreal Engine has a better visual interface and human-computer interaction interface, which is more user-friendly and convenient.

[0160] The present application also provides an application scenario, which applies the above-mentioned method for constructing a wheeled armored vehicle dynamics simulation platform. Specifically: the method for constructing a wheeled armored vehicle dynamics simulation platform provided in this embodiment can be applied in a content distribution scenario. The wheeled armored vehicle dynamics model construction scenario includes a parameter acquisition link and a dynamics model construction link; the wheeled armored vehicle parameters enter the dynamics model construction link from the parameter acquisition link to obtain the corresponding wheeled armored vehicle simulation results. The method for constructing a wheeled armored vehicle dynamics simulation platform provided in this embodiment belongs to the dynamics model construction link. Specifically, in the process of constructing a dynamics model link for wheeled armored vehicle parameters, a dynamics model of a wheeled armored vehicle can be constructed based on the Lagrangian dynamics method, and the dynamics model of the wheeled armored vehicle can be iteratively simulated and solved to obtain the simulation results of the wheeled armored vehicle.

[0161] Based on the same inventive concept, the embodiment of the present application also provides a wheeled armored vehicle dynamics simulation platform for implementing the above-mentioned construction method of the wheeled armored vehicle dynamics simulation platform. The implementation scheme for solving the problem provided by the wheeled armored vehicle dynamics simulation platform is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more wheeled armored vehicle dynamics simulation platform embodiments provided below can refer to the limitations of the construction method of the wheeled armored vehicle dynamics simulation platform above, and will not be repeated here.

[0162] In an exemplary embodiment, Figure 6 As shown, a wheeled armored vehicle dynamics simulation platform is provided, including:

[0163] The wheeled armored vehicle dynamics model construction module T1 is used to: construct a dynamics model of the wheeled armored vehicle based on the Lagrangian dynamics method; the dynamics model of the wheeled armored vehicle includes a sprung mass dynamics model, an unsprung mass dynamics model and a turret system dynamics model;

[0164] The simulation module T2 is used to perform iterative simulation and solution on the dynamic model of the wheeled armored vehicle to obtain the simulation result of the wheeled armored vehicle.

[0165] 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 7As 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 wheeled armored vehicle dynamics model construction 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 a wheeled armored vehicle dynamics simulation platform is implemented.

[0166] Those skilled in the art will understand that Figure 7 The 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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).

[0171] 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.

[0172] 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.

[0173] 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 a wheeled armored vehicle dynamics simulation platform, characterized in that: The method for constructing the wheeled armored vehicle dynamics simulation platform comprises: Based on the Lagrangian dynamics method, a dynamic model of a wheeled armored vehicle is constructed; the dynamic model of the wheeled armored vehicle includes a sprung mass dynamic model, an unsprung mass dynamic model and a turret system dynamic model; The dynamics model of the wheeled armored vehicle is iteratively simulated and solved to obtain a simulation result of the wheeled armored vehicle.

2. The method for constructing a wheeled armored vehicle dynamics simulation platform according to claim 1, characterized in that: The expression of the sprung mass dynamics model is as follows: Where t represents the time, T represents the kinetic energy of the wheeled armored vehicle system, and q b represents the generalized coordinates of the vehicle body, i.e., the sprung mass, The first derivative of the generalized coordinates of the sprung mass, M gb is the intermediate parameter, represents the second-order derivative of the generalized coordinates of the vehicle body, i.e., the sprung mass, M gb The first derivative of represents the transpose of the first-order derivative of the generalized coordinates of the vehicle body, i.e., the sprung mass, Q b Represents the generalized force acting on the sprung mass.

3. The method for constructing a wheeled armored vehicle dynamics simulation platform according to claim 1, characterized in that: The expression of the unsprung mass dynamic model is as follows: Where t represents the time, T represents the kinetic energy of the wheeled armored vehicle system, and q u The generalized coordinates representing the unsprung mass of a wheeled armored vehicle, The first derivative of the generalized coordinates of the unsprung mass of a wheeled armored vehicle, M gu is the intermediate parameter, The second derivative of the generalized coordinates representing the unsprung mass of a wheeled armored vehicle, M gu The first derivative of u Represents the generalized force acting on the unsprung mass.

4. The method for constructing a wheeled armored vehicle dynamics simulation platform according to claim 1, characterized in that: The expression of the turret system dynamics model is as follows: Where t represents the time, T represents the kinetic energy of the wheeled armored vehicle system, and q t represents the generalized coordinates of the turret, represents the first-order derivative of the generalized coordinates of the turret, M t is the intermediate parameter, The second derivative of the generalized coordinates of the unsprung mass of the wheeled armored vehicle, q b represents the generalized coordinates of the vehicle body, i.e., the sprung mass, M gb is the intermediate parameter, Q t Represents the generalized force acting on the turret.

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

6. The method for constructing a wheeled armored vehicle dynamics simulation platform according to claim 1, characterized in that: The dynamic model of the wheeled armored vehicle is iteratively simulated and solved to obtain the simulation results of the wheeled armored vehicle, which specifically include: Obtaining body parameters and dynamic model parameters of the wheeled armored vehicle; the body parameters include mass, moment of inertia and structural parameters of the wheeled armored vehicle; the dynamic model parameters include air resistance calculation factors, tire structural parameters and turret geometric parameters; Calculating the state quantity at the next moment according to the initial value of the state quantity of the wheeled armored vehicle and the dynamic model of the wheeled armored vehicle; the state quantity includes the generalized coordinates and speed of the wheeled armored vehicle; The state quantity at the next moment is used to replace the initial value of the state quantity of the wheeled armored vehicle, and the process returns to step "calculating the state quantity at the next moment according to the initial value of the state quantity of the wheeled armored vehicle and the dynamics model of the wheeled armored vehicle" to obtain the simulation result of the wheeled armored vehicle.

7. The method for constructing a wheeled armored vehicle dynamics simulation platform according to claim 1, characterized in that: The method for constructing the wheeled armored vehicle dynamics simulation platform also includes: Use Unreal Engine to visualize the simulation results of a wheeled armored vehicle.

8. A wheeled armored vehicle dynamics simulation platform, characterized in that: The wheeled armored vehicle dynamics simulation platform includes: A wheeled armored vehicle dynamics model construction module is used to: construct a dynamics model of a wheeled armored vehicle based on a Lagrangian dynamics method; the dynamics model of the wheeled armored vehicle includes a sprung mass dynamics model, an unsprung mass dynamics model and a turret system dynamics model; The simulation module is used to iteratively simulate and solve the dynamic model of the wheeled armored vehicle to obtain the simulation result of the wheeled armored vehicle.

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 a wheeled armored vehicle dynamics simulation platform according to any one of claims 1 to 7.

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 a wheeled armored vehicle dynamics simulation platform described in any one of claims 1 to 7 is implemented.

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