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

Abstract

The application discloses a wheeled armored vehicle dynamics simulation platform and a construction method, equipment and medium thereof, relates to the field of wheeled armored vehicle simulation, and comprises the following steps: based on a Lagrange dynamics method, a dynamics model of a wheeled armored vehicle is constructed; the dynamics model of the wheeled armored vehicle comprises a sprung mass dynamics model, an unsprung mass dynamics model and a turret system dynamics model; and the dynamics model of the wheeled armored vehicle is iteratively simulated and solved to obtain a simulation result of the wheeled armored vehicle. The application improves the refinement degree of the construction of the dynamics model of the wheeled armored vehicle.

Description

Technical Field

[0001] This application relates to the field of wheeled armored vehicle simulation, and in particular to a wheeled armored vehicle dynamics simulation platform and its construction method, equipment, and medium. Background Technology

[0002] As wheeled armored vehicles evolve towards unmanned and intelligent operation, the traditional driver's cockpit has been eliminated, and driver comfort is no longer a concern, resulting in greater potential for mobility. However, the rapid development of new wheeled vehicles heavily relies on dynamics simulation platforms. Dynamics models of wheeled armored vehicles are the foundation for optimizing vehicle design parameters, establishing control algorithms, and rapidly developing new vehicles.

[0003] Currently, the models built by existing wheeled 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 dynamic simulation platform for wheeled armored vehicles, as well as its construction method, equipment, and medium, which can improve the precision of the dynamic model construction of wheeled armored vehicles.

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

[0006] Firstly, this application provides a method for constructing a dynamics simulation platform for wheeled armored vehicles, including:

[0007] A dynamic model of a wheeled armored vehicle is constructed based on the Lagrange 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;

[0008] The dynamic model of the wheeled armored vehicle is iteratively simulated and solved to obtain the simulation results of the wheeled armored vehicle.

[0009] Secondly, this application provides a dynamics simulation platform for wheeled armored vehicles, including:

[0010] A wheeled armored vehicle dynamics model construction module is used to: construct a dynamics model of a wheeled armored vehicle based on the Lagrange 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;

[0011] The simulation module is used to perform iterative simulation and solution of the dynamic model of the wheeled armored vehicle to obtain the simulation results of the wheeled 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 a wheeled armored vehicle dynamics 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 a dynamic simulation platform for wheeled armored vehicles.

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

[0015] This application provides a dynamic simulation platform for wheeled armored vehicles, along with its construction method, equipment, and medium. By utilizing Lagrange dynamics, a dynamic model of the wheeled armored vehicle is constructed. This model includes a sprung mass dynamic model, an unsprung mass dynamic model, and a turret system dynamic model. The dynamic model of the wheeled armored vehicle is iteratively simulated and solved to obtain simulation results. This addresses the problem of low model refinement in existing wheeled armored vehicle simulation platforms, achieving a higher level of refinement in the construction of the wheeled armored vehicle dynamic model. 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 a dynamic simulation platform for wheeled armored vehicles according to an embodiment of this application;

[0018] Figure 2 A flowchart illustrating a method for constructing a dynamics simulation platform for a wheeled armored vehicle, as provided in an embodiment of this application;

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

[0020] Figure 4 A schematic diagram of an 8×8 wheeled vehicle dynamics model framework provided in an embodiment of this application;

[0021] Figure 5 This is a schematic diagram of the calculation process for a wheeled vehicle model provided in an embodiment of this application;

[0022] Figure 6 A functional module diagram of a wheeled armored vehicle dynamics simulation platform provided in one embodiment of this application;

[0023] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0024] 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.

[0025] Currently, there are two main types of simulation platforms for wheeled armored vehicles. The first type relies on commercial software such as Adams and Trucksim for analysis. Relying on such software will have the following consequences: 1) The above software is a black box model for users, which is not conducive to a deep understanding of the dynamic characteristics. Its dynamic equations and model gradient information are difficult to obtain, and it cannot be applied to the global dynamic optimization of the whole vehicle; 2) The current software has low solution efficiency, and because the code is not open source, it is difficult to improve the solution efficiency.

[0026] The second approach involves using Newtonian mechanics and other mechanical systems for vehicle dynamics modeling. However, the models developed by related research institutes have a low level of detail. During the modeling process, tire mass is concentrated within the vehicle body mass, neglecting the impact of tire motion on the vehicle's dynamic characteristics, and making limited assumptions to simplify the vehicle model. Furthermore, most models in existing literature are based on two-dimensional planar motion conditions, making it difficult to accurately execute complex and varied three-dimensional spatial movements on the battlefield. These problems will have the following impacts: 1) The developed models can be used for simple planar motion tests, but they cannot support research under complex multi-directional coupled conditions such as longitudinal, lateral, vertical, pitch, roll, and yaw; 2) The level of detail in 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. Therefore, a low level of model detail will affect the development of accurate and reliable 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 a wheeled armored vehicle dynamics simulation platform provided in this application embodiment can be applied to, for example, Figure 1In 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 other servers. Terminal 102 can send wheeled armored vehicle parameters to server 104. After receiving the wheeled armored vehicle parameters, server 104 constructs a dynamic model of the wheeled armored vehicle based on the Lagrange dynamics method, iteratively simulates and solves the dynamic model to obtain the simulation results. Server 104 can then feed back the obtained simulation results for the wheeled armored vehicle to terminal 102. Furthermore, in some embodiments, the construction method of the wheeled armored vehicle dynamics simulation platform can also be implemented independently by server 104 or terminal 102. For example, terminal 102 can directly construct a dynamic model based on the wheeled armored vehicle parameters, or server 104 can obtain the wheeled armored vehicle parameters from the data storage system and construct a dynamic model 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 a dynamics simulation platform for wheeled armored vehicles 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 1 Taking server 104 as an example, the explanation includes the following steps 201 to 202. Wherein:

[0031] Step 201: Construct a dynamic model of the wheeled armored vehicle based on the Lagrange 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.

[0032] Step 202: Iteratively simulate and solve the dynamic model of the wheeled armored vehicle to obtain the simulation results of the wheeled armored vehicle.

[0033] Implementing steps 201 to 202 improves the refinement of the dynamic model construction of wheeled armored vehicles, provides support for the research of wheeled armored vehicles in complex environments, and also provides a reference for the development of subsequent control algorithms.

[0034] In another exemplary embodiment of this application, the modeling process of step 201 described above is as follows:

[0035] The multi-degree-of-freedom model inputs are steering wheel angle and wheel torque. Tire rotation is driven by wheel torque and longitudinal ground force. The tire model module inputs wheel rotational angular velocity and wheel center velocity, and outputs tire force and torque. The vertical motion of unsprung mass is generated by tire vertical force and suspension force. The motion of the vehicle body is generated by the combined action of longitudinal and lateral tire forces, aerodynamic forces, and suspension forces. The input and output interfaces of each submodule of the vehicle dynamics model are shown in REF _Ref147260801 \h \ MERGEFORMAT Figure 4 As shown.

[0036] To improve computational efficiency, a vehicle dynamics model supporting vectorized computation is established using vectorized programming methods. REF _Ref147260801 \h \ MERGEFORMAT Figure 4 It is a whole vehicle dynamics model architecture, including the interaction between the body, suspension, unsprung mass and tire model. Figure 4 The driver model in this context refers to the inputs to the vehicle model, including tire torque and steering angle.

[0037] A multi-degree-of-freedom vehicle model is used to represent the dynamic behavior of a simplified vehicle composed of multiple rigid components. The vehicle body has movement in the longitudinal, lateral, and vertical directions, as well as rotation about the x, y, and z axes. The eight tires have eight rotational degrees of freedom, and due to the suspension system, they also have eight vertical degrees of freedom. Furthermore, the 8×8 wheeled armored vehicle has a turret structure, divided into a turret platform and a gun barrel. The turret has a rotational degree of freedom about the Z-axis of the vehicle body, and the gun barrel has a rotational degree of freedom about the Y-axis of its hinge point with the turret platform.

[0038] During the modeling process, using Represents the geodetic coordinate system. The vehicle coordinate system, with its multi-degree-of-freedom generalized coordinates, is represented by the following vector equation:

[0039] (1);

[0040] In the formula: Generalized coordinates representing the vehicle model; The position vector representing the center of mass of the vehicle body; These are the displacements of the centroid along the x, y, and z directions of the global coordinate system, constituting the absolute displacement of the centroid along the global coordinate system. This indicates the angle of rotation of the vehicle's center of gravity. These 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. This represents the sequence of angular velocities generated by the rotational motion of the eight tires on both sides. Indicates the angular velocity of the tire rotation; This represents the vertical displacement sequence of the eight tires on both sides. Indicates the vertical displacement of the tires; 8 tires are distinguished by subscripts, subscripts... This represents the right tire of the axle. This represents the left tire of the axle. This represents the right tire of the second axle. This represents the left tire of the second axle. This represents the right tire of the three-axle system. This represents the left tire of the three-axle system. This represents the right tire of the four-axle system. This represents the left tire of the four-axle system; The degrees of freedom of the turret and the gun barrel are represented by the rotation angles of the turret around the Z-axis of the vehicle body. The rotation angle of the gun barrel about the Y-axis of the gun turret hinge. .

[0041] exist The eight tire centers in the plane are located in the vehicle coordinate system. coordinate , for:

[0042] (2);

[0043] In the formula: This represents the longitudinal distance between the four axles of the vehicle and its center of gravity. Indicates the wheelbase of the four axles. , All distances are in the vehicle coordinate system, with subscripts... Indicates an axis. Indicates two axes. Indicates three axes, This indicates a four-axis configuration. The position of the turret's center of gravity in the vehicle coordinate system is the distance relative to the vehicle's center of gravity along the positive Z-axis of the vehicle coordinate system. The length of the gun barrel is Assuming the center of mass of the gun barrel is located at Place.

[0044] Unsprung mass, i.e., the relative vertical position of the tire in the vehicle coordinate system. It can be determined by its absolute coordinates, roll angle, pitch angle, and its position in the vehicle coordinate system. Coordinate representation, specifically as follows:

[0045] (3);

[0046] in, Let x be the x-coordinate of the tire in the vehicle coordinate system. Let be the ordinate of the tire in the vehicle coordinate system.

[0047] From equation (3), the vertical velocity of the unsprung mass in the vehicle coordinate system can be expressed as follows:

[0048] (4);

[0049] In the formula, It represents the vertical velocity of the unsprung mass in the vehicle coordinate system, which is the derivative of the tire's relative vertical position in the vehicle coordinate system. These are the derivatives of the tire's rolling angle and pitch angle, respectively.

[0050] The relative positions of the turret and gun barrel in the vehicle coordinate system are represented as follows:

[0051] (5);

[0052] in, These represent the x-axis, y-axis, and z-axis coordinates of the turret in the vehicle coordinate system, respectively. Let x, y, and z represent the x, y, and z coordinates of the gun barrel's center of mass in the vehicle's coordinate system, respectively. The 22-DOF dynamic equations of the vehicle, derived based on Lagrange dynamics, are shown below:

[0053] (6);

[0054] In the formula: This indicates the kinetic energy of a wheeled armored vehicle system. This represents the generalized force acting on the sprung mass. This represents the generalized force acting on unsprung mass. This refers to the generalized force acting on the fortress. A generalized coordinate system representing the car body, i.e., the sprung mass; A generalized coordinate system representing the eight tires, i.e., the unsprung mass, including tire rotation angle and vertical position; The generalized coordinates of the turret include the turret angle and the gun barrel angle.

[0055] When calculating the kinetic energy of the sprung mass, the kinetic energy of the tires and the turret's lateral and longitudinal movements is considered, as shown in the following formula:

[0056] (7);

[0057] In the formula: , These are the components of the generalized velocity of the vehicle body and the velocity of the unsprung mass in the vehicle body coordinate system, respectively. , These are the mass matrices of the vehicle body and the unsprung mass when calculating the lateral and longitudinal kinetic energies, respectively.

[0058] There is a coordinate transformation between the vehicle coordinate system and the geodetic coordinate system, and the transformation matrix is:

[0059] (8);

[0060] From the above formula, we can obtain the vehicle speed. In the vehicle coordinate system:

[0061] (9);

[0062] The lateral and longitudinal velocities of the eight wheels in the vehicle coordinate system can be determined by their relative positions in the vehicle coordinate system. The vehicle speed is expressed as follows:

[0063] (10);

[0064] Through coordinate transformation and matrix calculation, the kinetic energy of the sprung mass can be expressed as:

[0065] (11);

[0066] In the formula, For intermediate parameters, .

[0067] The kinetic energy of the unsprung mass consists of the rotation and vertical motion of the tire, as shown in the following equation:

[0068] (12);

[0069] In the formula: , These are the vertical velocity and rotational angular velocity of the eight unsprung tires, respectively. , These are the mass matrix and moment of inertia matrix used to calculate the vertical kinetic energy from the unsprung mass, respectively. Based on the matrix calculation, equation (12) can be transformed into the form of generalized coordinates and a generalized mass matrix:

[0070] (13);

[0071] (14);

[0072] In the formula, This indicates the mass of the eight tires. This represents the moment of inertia of the eight tires.

[0073] Turret system kinetic energy It consists of the rotational kinetic energy of the turret and the rotational kinetic energy of the gun barrel, as shown in the following formula:

[0074] (15);

[0075] In the formula, For the turret rotation speed, For the barrel rotation speed, Let be the moment of inertia of the turret about its central Z-axis. Let be the moment of inertia of the gun barrel about the Y-axis at the hinge.

[0076] The vertical forces acting on the sprung mass (vehicle body) include vehicle weight, suspension forces, and vertical air resistance. The longitudinal forces include the lateral forces generated between the tires and the ground, the longitudinal forces, and the components of air resistance in the global coordinate system. The lateral forces include the components of the lateral and longitudinal forces acting on the tires from the ground. The triaxial torques include the torques of the above forces about the center of mass, the tire self-centering torque, the air resistance torque, and the reaction torques on the drive tires and turret system.

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

[0078] (16);

[0079] The longitudinal slip ratio at the tire-ground contact point is calculated using the following formula:

[0080] (17);

[0081] In the formula: For tire slip ratio, The angular velocity of the tire rotation. The effective radius of the wheel, , The longitudinal and transverse velocities at the wheel center are respectively, and the calculation method is shown in the following formula:

[0082] (18);

[0083] In the formula: , The lateral and longitudinal velocities of the tires in the vehicle's coordinate system. Tire swerve angle, tire slip angle The calculation method is as follows:

[0084] (19);

[0085] Another calculation method is:

[0086] (20);

[0087] The tire magic formula is used to calculate the tire's longitudinal force, lateral force, self-aligning torque, rolling resistance torque, and yaw resistance torque.

[0088] The longitudinal force at the tire-ground contact point can be described by the magic formula as follows:

[0089] (twenty one);

[0090] The lateral force at the tire-ground contact point can be described using the magic formula as follows:

[0091] (twenty two);

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

[0093] (twenty three);

[0094] The calculation method for tire rolling resistance torque is as follows:

[0095] (twenty four);

[0096] The tire return torque is calculated as follows:

[0097] (25);

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

[0099] Suspension forces consist of spring forces and damping forces. When the stiffness and damping ratio are constant, the suspension forces can be expressed as:

[0100] (26);

[0101] In the formula, For suspension force, This is the suspension stiffness coefficient. For suspension deformation, This is the suspension damping coefficient. This represents the suspension deformation speed.

[0102] The calculation of air resistance begins with calculating the air resistance sideslip angle. Assuming the air is still and the wind speed is 0, the air resistance sideslip angle is the same as the vehicle's center of gravity sideslip angle. The calculation method is as follows:

[0103] (27);

[0104] in, The sideslip angle is the angle of air resistance. The longitudinal velocity of the vehicle body, The lateral velocity of the vehicle body. This refers to the vehicle's yaw angle.

[0105] Then, based on the air drag sideslip angle, the air drag coefficient is calculated using linear interpolation and cubic spline interpolation methods:

[0106] (28);

[0107] Calculate the air drag factor :

[0108] (29);

[0109] in, This refers to air density.

[0110] In summary, substituting the above results into the following formula, we can calculate the air resistance:

[0111] (30);

[0112] In the formula: The vehicle's frontal area. Calculate the length for vehicle air resistance.

[0113] Based on the above calculations of tire forces and suspension model, the generalized force matrix of the sprung mass is shown in the following equation:

[0114] (31);

[0115] Among them, Input the tire steering angle. For tire torque input, For the driving torque of the gun barrel, This is the driving torque for the turret.

[0116] The forces acting on the unsprung mass include suspension forces, vertical forces from the ground, and the tire's own weight; the torques include driving torque and tire rolling resistance torque. Its generalized force matrix is ​​represented as:

[0117] (32);

[0118] in, Input the tire steering angle. For tire torque input, This is the acceleration due to gravity.

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

[0120] (33);

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

[0122] (34);

[0123] Based on Lagrange mechanics and d'Alembert's principle, the generalized equation of motion for the sprung mass (i.e., the equation of motion for the vehicle body) is established. The specific expression of the sprung mass dynamic model is as follows:

[0124] (35);

[0125] in, Indicates time, This indicates the kinetic energy of a wheeled armored vehicle system. The first derivative representing the generalized coordinates of the sprung mass. For intermediate parameters, The second derivative of the generalized coordinates representing the sprung mass of the vehicle body. for The first derivative, The transpose of the first derivative of the generalized coordinates of the car body, i.e., the sprung mass. It represents the generalized force acting on the sprung mass.

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

[0127] (36);

[0128] in, Indicates time, This indicates the kinetic energy of a wheeled armored vehicle system. The first derivative of the generalized coordinate representing the unsprung mass of a wheeled armored vehicle. For intermediate parameters, The second derivative of the generalized coordinate representing the unsprung mass of a wheeled armored vehicle. for The first derivative, It represents the generalized force acting on unsprung mass.

[0129] The generalized equations of motion (i.e., the turret dynamics equations), or the expressions for the turret system dynamics model, are as follows:

[0130] (37);

[0131] in, Indicates time, This indicates the kinetic energy of a wheeled armored vehicle system. The first derivative representing the generalized coordinates of the turret. For intermediate parameters, The second derivative of the generalized coordinate representing the unsprung mass of a wheeled armored vehicle. A generalized coordinate system representing the car body, i.e., the sprung mass. For intermediate parameters, It refers to the generalized force exerted on the fort.

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

[0133] Step 202 above 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 the simulation results 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, specifically including:

[0135] Obtain the hull parameters and dynamic model parameters of the wheeled armored vehicle; the hull parameters include the mass, moment of inertia, and structural parameters of the wheeled armored vehicle; the dynamic model parameters include the air resistance calculation factor, tire structure parameters, and turret geometry parameters.

[0136] Based on the initial values ​​of the state variables of the wheeled armored vehicle and the dynamic model of the wheeled armored vehicle, calculate the state variables at the next moment; the state variables include the generalized coordinates and velocity of the wheeled armored vehicle.

[0137] Replace the initial value of the state quantity of the wheeled armored vehicle with the state quantity of the next moment, and return to the step "Calculate the state quantity of the next moment based on 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 results of the wheeled armored vehicle.

[0138] Based on the vehicle dynamics model formula derived in the above steps, appropriate software (such as Matlab, Visual Studio, etc.) is selected to develop the relevant code. The solution and calculation steps are attached. Figure 5As shown, firstly, the vehicle body parameters, such as mass, moment of inertia, and mechanism parameters, are determined for the simulated vehicle. Then, the parameters of each sub-module, such as air resistance calculation factor, tire structure parameters, turret geometric parameters, and magic formula constants, are determined. The initial values ​​of each state of the vehicle, generalized coordinates, velocity, and initial values ​​of intermediate variables are input. Based on the current vehicle state, the external forces and torques on each part are calculated through the suspension, air resistance, tire, and other sub-modules. The results of all external forces and torques are combined and substituted into the vehicle body dynamics equation, tire dynamics equation, and turret dynamics equation to obtain the generalized acceleration of each state quantity. At the same time, the differential equation of the intermediate quantity is obtained through the tire sub-model. The generalized acceleration and differential equation are integrated to obtain all state quantities at the next moment, which are used as initial values ​​for the next step of model solution. The model solution adopts the fourth-order Runge-Kutta integration method, as shown in equation (38).

[0139] (38);

[0140] in, This is the dynamic equation derived above. For the current moment, For the integration step size, This is the current state variable. For the current input quantity, For intermediate calculation variables, Let be the state quantity at the next moment after integration.

[0141] The above steps yield high-precision dynamic model simulation code for wheeled armored vehicles. The same wheeled armored vehicle model is then built in software such as ADAMS and Recurdyn. The calculation results of the simulation code are compared with those of the commercial software to verify the correctness of the built model.

[0142] The code for the above steps is optimized iteratively with the goal of improving computational efficiency and solution accuracy. The specific process is as follows:

[0143] To improve computational efficiency, the code for the dynamic model developed in the above steps will be optimized iteratively, mainly considering the following aspects:

[0144] (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) in order to improve computational efficiency and computational accuracy.

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

[0146] (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.

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

[0148] The code obtained above was combined with Unreal Engine to build a dynamics simulation platform for wheeled armored vehicles. The specific process is as follows:

[0149] A basic model of a wheeled 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 wheeled armored vehicle model was assembled and constructed.

[0150] The optimized dynamics simulation code obtained in the above steps is combined with the wheeled 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.

[0151] 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 wheeled armored vehicle dynamics simulation platform.

[0152] The overall process of the embodiment is as follows Figure 3 As shown, a dynamic model of the wheeled vehicle is first built based on Lagrange dynamics theory. This model consists of three dynamic components: sprung mass, unsprung mass, and the turret system. Then, based on this model, relevant computational code is developed to solve the differential equations governing the motion of the wheeled armored vehicle, achieving preliminary simulation calculations. The model is then compared with existing commercial software to verify its correctness. After the code is developed, it is optimized and iterated to improve its efficiency and accuracy. Finally, a corresponding platform is built in Unreal Engine and associated with the developed code to construct a complete distributed drive wheeled armored vehicle dynamics simulation platform.

[0153] This application first uses Lagrange dynamics to perform high-precision, vectorized modeling of wheeled armored vehicles. Then, code is developed based on the model. Subsequently, the computational efficiency of the code is optimized through methods such as sparse matrix operations, parallel computing, data-driven approaches, and efficient computational algorithm development. Finally, the model is visualized using Unreal Engine, ultimately constructing a refined dynamics simulation platform for wheeled armored vehicles.

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

[0155] 1. In the dynamic modeling of wheeled armored vehicles, the influence of the lateral and longitudinal motion of the tires on the dynamic characteristics of the vehicle body is emphasized, resulting in high model accuracy.

[0156] 2. The model is constructed using the Lagrange dynamics method, and the three-dimensional rotation in space is considered in the coordinate transformation, which enables the analysis of the complex motion process of wheeled armored vehicles in three-dimensional space, and the model has high applicability.

[0157] 3. 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.

[0158] 4. The code has been iteratively optimized and vectorized modeling has been applied to balance the computational efficiency and accuracy of the code, achieving higher computational efficiency while ensuring computational accuracy.

[0159] 5. By linking the code with Unreal Engine, it has a better visual interface and human-computer interaction interface, making it more user-friendly and convenient.

[0160] This application also provides an application scenario in which the above-described method for constructing a wheeled armored vehicle dynamics simulation platform is applied. 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 stage and a dynamics model construction link; the wheeled armored vehicle parameters enter the dynamics model construction link from the parameter acquisition stage 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 the dynamics model for wheeled armored vehicle parameters, a dynamics model of the wheeled armored vehicle can be constructed based on the Lagrange 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, this application also provides a wheeled armored vehicle dynamics simulation platform for implementing the above-mentioned method for constructing a wheeled armored vehicle dynamics simulation platform. The solution provided by this wheeled armored vehicle dynamics simulation platform is similar to the solution described in the above method. Therefore, the specific limitations of one or more wheeled armored vehicle dynamics simulation platform embodiments provided below can be found in the limitations of the construction method of the wheeled armored vehicle dynamics simulation platform described above, and will not be repeated here.

[0162] In one exemplary embodiment, such as Figure 6 As shown, a dynamics simulation platform for wheeled armored vehicles is provided, comprising:

[0163] The wheeled armored vehicle dynamics model construction module T1 is used to: construct a dynamics model of a wheeled armored vehicle based on the Lagrange 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] Simulation module T2 is used to: perform iterative simulation and solution of the dynamic model of the wheeled armored vehicle to obtain the simulation results of the wheeled armored vehicle.

[0165] 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 7 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 data for constructing a dynamic model of a wheeled armored vehicle. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for constructing a dynamic simulation platform for a wheeled armored vehicle.

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

[0167] 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.

[0168] 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.

[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, 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.

[0170] 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. When executed, the computer program 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).

[0171] 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, distributed databases based on blockchain. The processors involved in the embodiments provided in this application may be, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc.

[0172] 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.

[0173] 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 a dynamics simulation platform for wheeled armored vehicles, characterized in that, The construction method of the wheeled armored vehicle dynamics simulation platform includes: Based on the Lagrange dynamics method, a dynamic model of a wheeled armored vehicle is constructed, specifically including: The 22-DOF dynamic equations of the vehicle are derived based on Lagrange dynamics, as shown in the following equation: ； ； In the formula: This indicates the kinetic energy of a wheeled armored vehicle system. This represents the generalized force acting on the sprung mass. This represents the generalized force acting on unsprung mass. This refers to the generalized force acting on the fortress. Generalized coordinates representing the mass on the spring; A generalized coordinate system representing unsprung mass, including tire rotation angle and vertical position; The generalized coordinates of the turret include the turret angle and the gun barrel angle; The position vector representing the center of mass of the vehicle body; These are the displacements of the centroid along the x, y, and z directions of the global coordinate system, constituting the absolute displacement of the centroid along the global coordinate system. This indicates the angle of rotation of the vehicle's center of gravity. These 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. This represents the sequence of angular velocities generated by the rotational motion of the eight tires on both sides. Indicates the angular velocity of the tire rotation; This represents the vertical displacement sequence of the eight tires on both sides. Indicates the vertical displacement of the tires; 8 tires are distinguished by subscripts, subscripts... This represents the right tire of the axle. This represents the left tire of the axle. This represents the right tire of the second axle. This represents the left tire of the second axle. This represents the right tire of the three-axle system. This represents the left tire of the three-axle system. This represents the right tire of the four-axle system. This represents the left tire of the four-axle designation; the superscript "T" indicates transposition. 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 specific expression of the sprung mass dynamic model is as follows: ； in, Indicates time, This indicates the kinetic energy of a wheeled armored vehicle system. The first derivative representing the generalized coordinates of the sprung mass. For intermediate parameters, The second derivative of the generalized coordinates representing the mass on the spring. for The first derivative, The transpose of the first derivative of the generalized coordinates representing the mass on the spring; The specific expression for the unsprung mass dynamic model is as follows: ； in, The first derivative of the generalized coordinate representing the unsprung mass of a wheeled armored vehicle. The second derivative of the generalized coordinate representing the unsprung mass of a wheeled armored vehicle; The specific expression for the turret system dynamics model is as follows: ； wherein, denotes the first derivative of the generalized coordinates of the turret, denotes the second derivative of the generalized coordinates of the unsprung mass of the wheeled armored vehicle; ； ； , are the mass matrices of the vehicle body and the sprung mass when calculating the lateral and longitudinal kinetic energy, respectively; is the relative position of the wheels in the vehicle body coordinate system; The dynamic model of the wheeled armored vehicle is iteratively simulated and solved to obtain the simulation results 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 dynamic model of the wheeled armored vehicle is iteratively simulated and solved to obtain the simulation results of the wheeled armored vehicle, specifically including: The adaptive step size Runge-Kutta method is used to iteratively simulate and solve the dynamic model of the wheeled armored vehicle, and the simulation results of the wheeled armored vehicle are obtained.

3. The method of constructing a wheeled armored vehicle dynamics simulation platform of claim 1, wherein, The dynamic model of the wheeled armored vehicle is iteratively simulated and solved to obtain the simulation results of the wheeled armored vehicle, specifically including: Obtain the vehicle body parameters and dynamic model parameters of the wheeled armored vehicle; the vehicle body parameters include the mass, moment of inertia and structural parameters of the wheeled armored vehicle; the dynamic model parameters include the air resistance calculation factor, tire structure parameters and turret geometry parameters; Based on the initial values ​​of the state variables of the wheeled armored vehicle and the dynamic model of the wheeled armored vehicle, calculate the state variables at the next moment; the state variables include the generalized coordinates and velocity of the wheeled armored vehicle. Replace the initial value of the state quantity of the wheeled armored vehicle with the state quantity of the next moment, and return to the step "Calculate the state quantity of the next moment based on 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 results of the wheeled armored vehicle.

4. The method of constructing a wheeled armored vehicle dynamics simulation platform of claim 1, wherein, The construction method of the wheeled armored vehicle dynamics simulation platform also includes: The simulation results of wheeled armored vehicles are visualized using Unreal Engine.

5. A platform for simulating dynamics of a wheeled armored vehicle constructed by a method according to claim 1, 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 the Lagrange 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 perform iterative simulation and solution of the dynamic model of the wheeled armored vehicle to obtain the simulation results of the wheeled armored vehicle.

6. 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 a wheeled armored vehicle dynamics simulation platform according to any one of claims 1-4.

7. 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 the dynamic simulation platform for wheeled armored vehicles as described in any one of claims 1-4.

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