Small motion platform for mapping vehicle, ship or aircraft attitude in driving simulation software

Abstract

The application relates to the technical field of virtual reality, and discloses a small motion platform capable of mapping the postures of vehicles, ships and aircrafts in driving simulation software, which comprises a data input and analysis module, a posture mapping and path optimization module, an electric cylinder stroke calculation and control module and a dynamic vibration and physical coupling module. The data input and analysis module is used for receiving and analyzing the posture data output by the driving simulation software; the posture mapping and path optimization module is used for generating a target posture based on the posture data and optimizing the path from an initial posture to the target posture; the electric cylinder stroke calculation and control module is used for calculating the target stroke of each electric cylinder of the small motion platform and controlling the electric cylinder to perform corresponding motion; and the dynamic vibration and physical coupling module is used for superimposing a vibration signal according to the target posture so as to simulate the vibration and coupling of a road surface or a flight environment. Through posture mapping optimization, dynamic vibration coupling, electric cylinder closed-loop control and small design, the application realizes a multi-degree-of-freedom motion platform effect of high-precision dynamic response, realistic vibration simulation and adaptation to a family scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of virtual reality technology, specifically to a small motion platform that can map the attitude of vehicles, ships and aircraft in driving simulation software. BACKGROUND

[0002] With the rapid development of virtual reality (VR) technology and the widespread popularity of driving simulators, people's demand for immersive experiences has gradually increased. In driving simulation, flight simulation and ship control scenarios, real-time attitude adjustment and dynamic vibration simulation through motion platforms can provide users with more realistic operation feedback and physical perception. This not only improves the user's operation experience, but also can be applied to professional driving training, virtual entertainment and scientific research experiments, etc.

[0003] In the prior art, motion platforms are mostly designed with multiple degrees of freedom, combining electric cylinders and control algorithms to achieve dynamic attitude adjustment. These platforms perform well in large-scale scenarios, especially in the attitude adjustment process, providing a certain degree of smooth path optimization to ensure the stability of the platform in dynamic changes. In addition, some technologies increase simple vibration simulation functions, such as specific frequency vibration signals, to enhance the immersion of the device in specific scenarios. These platforms mainly target professional applications and have achieved good results in driving training, commercial entertainment or scientific research experiments, and have certain practicality.

[0004] However, the existing technology has many shortcomings in many aspects, which limit its further popularization and optimization of application; first, the attitude adjustment method of the existing motion platform often fails to achieve high-precision path optimization, especially in complex dynamic change scenarios, the smoothness of attitude adjustment is insufficient, resulting in inconsistent user experience; second, the vibration simulation effect is single and cannot be dynamically adjusted in frequency or amplitude according to environmental characteristics, the vibration signal lacks physical coupling with attitude adjustment, resulting in unrealistic scene restoration; in addition, the control accuracy and dynamic response speed of the electric cylinder stroke are low, and stroke deviation problems are prone to occur due to the lack of real-time feedback; finally, large equipment design is commonly used in the existing technology, which is suitable for professional scenarios, but for home use, such platforms have the problems of too large size, complex installation and high cost, and poor dynamic linkage with peripherals such as steering wheels or flight sticks. SUMMARY

[0005] In view of the shortcomings of the prior art, the present application provides a small motion platform that can map the attitude of vehicles, ships and aircraft in driving simulation software, solving the problems of inaccurate attitude adjustment, unrealistic vibration simulation, lack of feedback in electric cylinder control and difficulty in adapting to home environment in the prior art.

[0006] To achieve the above object, the application is implemented by the following technical solutions: a small motion platform capable of mapping the attitude of vehicles, ships and aircraft in driving simulation software, comprising:

[0007] A data input and analysis module for receiving and analyzing attitude data output by the driving simulation software;

[0008] An attitude mapping and path optimization module for generating a target attitude based on the attitude data and optimizing the path from the initial attitude to the target attitude;

[0009] An electric cylinder stroke calculation and control module for calculating the target stroke of each electric cylinder of the small motion platform and controlling the electric cylinder to perform corresponding motion;

[0010] A dynamic vibration and physical coupling module for superimposing a vibration signal according to the target attitude to simulate the vibration and coupling of the road surface or flight environment;

[0011] A platform execution and monitoring module for driving the platform to perform motion according to the target attitude and monitoring the platform state in real time to correct the action deviation.

[0012] Preferably, the data input and analysis module comprises:

[0013] A receiving unit for receiving Euler angle attitude data, acceleration data and vibration parameters output by the driving simulation software through an Ethernet interface;

[0014] A data formatting unit for formatting the received data to generate attitude description data;

[0015] A data output unit for transmitting the attitude description data to the attitude mapping and path optimization module.

[0016] Preferably, the attitude mapping and path optimization module comprises:

[0017] An attitude conversion unit for calculating the target attitude from the received Euler angle data through a rotation matrix;

[0018] A path optimization unit for calculating the optimal path from the initial attitude to the target attitude based on Lie group theory, the path optimization comprising:

[0019] Calculating the rotation axis and angular velocity through logarithmic mapping;

[0020] Generating an interpolated path from the initial attitude to the target attitude based on time parameters.

[0021] Preferably, the electric cylinder stroke calculation and control module comprises:

[0022] An angular point coordinate calculation unit for generating the target coordinates of the four angular points of the platform according to the target attitude;

[0023] a stroke calculation unit configured to extract a Z-axis displacement of the target coordinate and calculate a target stroke of the electric cylinder;

[0024] a stroke control unit configured to drive the electric cylinder to extend or retract according to the target stroke.

[0025] Preferably, the stroke calculation unit adjusts the target stroke of the electric cylinder according to a scaling coefficient, which is determined by calculating the scaling coefficient according to the maximum Z-axis displacement value of the target posture and the stroke range of the electric cylinder, so as to ensure that all target strokes of the electric cylinder are within the mechanical stroke range.

[0026] Preferably, the dynamic vibration and physical coupling module comprises:

[0027] a vibration generation unit configured to generate a dynamic vibration signal according to vibration parameters;

[0028] a vibration superposition unit configured to superimpose the dynamic vibration signal to the target stroke of the electric cylinder;

[0029] a dynamic adjustment unit configured to adjust the amplitude and frequency of the vibration signal in real time according to the acceleration data output by the driving simulation software.

[0030] Preferably, the platform execution and monitoring module comprises:

[0031] an execution unit configured to receive the target stroke of the electric cylinder and drive the electric cylinder to extend or retract;

[0032] a sensor monitoring unit configured to monitor the deviation between the actual stroke and the target stroke of the electric cylinder;

[0033] a correction unit configured to adjust the action of the electric cylinder to correct the posture based on the deviation value.

[0034] Preferably, the correction unit comprises:

[0035] a deviation calculation unit configured to calculate the error value between the target stroke and the actual stroke;

[0036] a PID control unit configured to adjust the speed and position of the electric cylinder in real time according to the error value.

[0037] Preferably, the electric cylinder is a linear electric cylinder, which has a magnetic encoder for detecting the displacement of the electric cylinder and is connected to the stroke control unit through UART communication.

[0038] Preferably, the small motion platform is suitable for receiving peripheral devices synchronized with the driving simulation software, including a steering wheel or a flight stick, which is fixed on the platform through a physical support and works with the dynamic vibration module to simulate the motion feeling of the user.

[0039] The application provides a small motion platform capable of mapping the attitude of a vehicle, a ship or an aircraft in driving simulation software.

[0040] 1、The application adopts attitude mapping and path optimization technology based on rotation matrix, and realizes high precision and smoothness of attitude adjustment in combination with Lie group theory. Compared with the traditional Euler angle interpolation method, the problems of redundant path and dynamic response lag are avoided, and the efficiency and stability of platform attitude adjustment are improved.

[0041] 2、The application realizes high restoration of complex vibration scenes through the physical coupling technology of dynamic vibration signals and platform attitude adjustment. By adjusting the vibration amplitude and frequency in real time and superimposing them into the platform action, the problems of single vibration effect and poor synchronization are solved.

[0042] 3、The application uses a linear electric cylinder with a magnetic encoder, and realizes precise stroke adjustment and dynamic correction in combination with PID closed-loop control. Unlike the existing technology which only relies on open-loop control, this scheme monitors the electric cylinder state in real time and feeds back correction, effectively solving the problems of stroke error accumulation and platform attitude deviation.

[0043] 4、The small motion platform designed by the application realizes immersive experience of users in a home scene through cooperation with a steering wheel or a flight joystick. Compared with traditional large platforms, the application reduces device cost and space requirement, and improves installation and adaptation flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a system structure diagram of the application;

[0045] Figure 2 is a module architecture diagram of the application;

[0046] Figure 3 is a module architecture diagram of the application;

[0047] Figure 4 is a module architecture diagram of the application;

[0048] Figure 5 is a module architecture diagram of the application;

[0049] Figure 6 is a module architecture diagram of the application;

[0050] Figure 7 is a front view of the device of the application;

[0051] Figure 8 is a back view of the device of the application. DETAILED DESCRIPTION

[0052] With reference to the drawings of the present application in the specification, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0053] Please refer to the drawings of the present application in the specification, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application. Figure 1 -Appendix Figure 8 The embodiment of the present application provides a small motion platform for mapping the attitude of vehicles, ships and aircraft in driving simulation software, comprising:

[0054] A data input and analysis module is used for receiving and analyzing the attitude data output by the driving simulation software.

[0055] The main function of the data input and analysis module is to receive the real-time data stream provided by the driving simulation software, including attitude information (such as Euler angles or quaternions), acceleration data and vibration parameters, and to analyze and format them, providing accurate data support for the attitude mapping and path optimization module. This module is the starting point for dynamic adjustment and environment simulation of the motion platform, and directly affects the accuracy and response speed of attitude mapping.

[0056] Generally, the driving simulation software will send real-time data packets through Ethernet or other communication methods (such as WiFi or USB), including Euler angle attitude information, acceleration vector data and vibration environment parameters. In order to ensure that these data can be efficiently and accurately transmitted and used for subsequent calculations, this module is specially designed with a multi-layer processing mechanism, including data reception, analysis, formatting and output.

[0057] In one possible implementation, the module includes the following units: a receiving unit, an analysis unit and a data output unit.

[0058] The receiving unit is used to obtain the real-time data stream provided by the driving simulation software from the outside. Specifically, this unit receives data packets through Ethernet protocol, and the data content mainly includes:

[0059] Attitude information, such as Euler angles (φ, θ, ψ) or quaternions (q0, q1, q2, q3).

[0060] Acceleration information, including components a x , a y , a z along the X, Y, Z axes, used to describe the linear motion of the platform.

[0061] Vibration parameters, such as vibration frequency f and vibration amplitude A, used to simulate the dynamic characteristics of the environment.

[0062] As an option, the receiving unit can support the UDP protocol to ensure low latency of data transmission. At the same time, in order to improve compatibility, the TCP protocol can also be selected to ensure data integrity in the case of high data traffic. In some embodiments, the receiving unit can also receive data through Bluetooth or WiFi for scenarios requiring wireless connection in a home environment.

[0063] The role of the parsing unit is to decompose and parse the received data packet and extract the valid data therein. Generally, the data packet will contain information in multiple formats, so the parsing unit needs to design corresponding parsing logic for different data types.

[0064] In a possible implementation, when the data is provided in the form of Euler angles, the parsing unit extracts and stores φ, θ, ψ in the attitude information respectively. These parameters respectively represent the roll angle (Roll) around the X axis, the pitch angle (Pitch) around the Y axis, and the yaw angle (Yaw) around the Z axis. In this implementation, the Euler angles are directly passed to the attitude mapping module for generating the rotation matrix of the target attitude.

[0065] If the data is provided in the form of quaternions, the parsing unit needs to convert it into Euler angles through the following formula:

[0066]

[0067] θ = arcsin(2(q0q2-q3q1)),

[0068]

[0069] wherein q0, q1, q2, q3 are components of the quaternion; φ is the roll angle, θ is the pitch angle, and ψ is the yaw angle; q0: real part of the quaternion; q1, q2, q3: imaginary part of the quaternion; φ: roll angle, representing the rotation of the platform around the X axis; θ: pitch angle, representing the rotation of the platform around the Y axis; ψ: yaw angle, representing the rotation of the platform around the Z axis.

[0070] When extracting the acceleration data, the parsing unit directly parses a x , a y , a z into numerical components, representing the linear acceleration of the platform along the X, Y, and Z axes, respectively, for subsequent calculation by the dynamic vibration module. In addition, the parsing unit extracts the frequency f and amplitude A from the vibration parameters to provide input for the vibration generation unit.

[0071] The data output unit is used to pass the parsed data to the attitude mapping and path optimization module in a standardized format. Specifically, the unit sends the following data to the subsequent module:

[0072] Attitude data, including Euler angles φ, θ, ψ or rotation matrix.

[0073] Acceleration vector (a x , a y , a z ).

[0074] Vibration parameters f, A.

[0075] In one possible implementation, the data output unit formats the attitude data to generate a rotation matrix:

[0076] R = R z (ψ) · R y (θ) · R x (φ),

[0077] wherein R x (φ) is a matrix of rotation around the X-axis; R y (θ) is a matrix of rotation around the Y-axis; and R z (ψ) is a matrix of rotation around the Z-axis.

[0078] The calculation formula of each rotation matrix is as follows:

[0079]

[0080] In some embodiments, in order to improve the real-time performance of data transmission, the analysis module can increase the data redundancy detection function. For example, the data packet integrity is verified by a checksum to ensure that the analyzed data does not contain transmission errors. In another possible implementation, the data input and analysis module can combine a machine learning model to predict and compensate for data packets with transmission anomalies, thereby reducing system delays caused by data loss.

[0081] Through the above specific embodiments, the data input and analysis module can efficiently analyze the data stream of the driving simulation software and output in a standardized form, providing accurate input support for the attitude mapping module and subsequent calculations.

[0082] The attitude mapping and path optimization module is configured to generate a target attitude based on the attitude data and optimize a path from an initial attitude to the target attitude.

[0083] The main function of the attitude mapping and path optimization module is to complete the rotation description of the target attitude and the path optimization based on the attitude information provided by the data input and analysis module. This module ensures the accuracy of the platform's attitude adjustment and the rationality of the electric cylinder stroke calculation through the generation of rotation matrices, coordinate transformation of attitude points, and path smoothing optimization. At the same time, it provides efficient input data for subsequent modules (such as the electric cylinder stroke calculation and dynamic vibration control module).

[0084] Generally, the attitude data received from the driving simulation software includes Euler angles or quaternions. In this module, the attitude information is first converted into a rotation matrix through mathematical transformation. Subsequently, the target positions of the platform corner points are calculated according to the attitude transformation, and the key parameters are extracted to provide the basis for the calculation of the electric cylinder stroke. In addition, through the path optimization algorithm, the problem of redundant path or dynamic response unevenness that may occur in the process of attitude adjustment is solved.

[0085] In a possible implementation, the module includes the following units: a rotation matrix generation unit, a coordinate transformation unit, and a path optimization unit.

[0086] The rotation matrix generation unit is configured to convert the attitude data (Euler angles or quaternions) into a rotation matrix that describes the target attitude.

[0087] Alternatively, when the attitude data is provided in the form of quaternions, the rotation matrix generation unit can directly generate the target rotation matrix according to the conversion formula of quaternions and rotation matrices without the intermediate Euler angle representation.

[0088] In some embodiments, to improve the calculation efficiency of the rotation matrix generation, the matrix calculation can be completed in combination with hardware acceleration (such as FPGA or GPU acceleration), which is particularly suitable for scenarios with high real-time requirements.

[0089] The function of the coordinate transformation unit is to calculate the coordinate positions of the platform corner points under the target attitude based on the generated rotation matrix.

[0090] Generally, the initial corner point coordinates of the platform are defined as:

[0091] P1 = (-L / 2, W / 2, 0), P2 = (L / 2, W / 2, 0),

[0092] P3 = (-L / 2, -W / 2, 0), P4 = (L / 2, -W / 2, 0),

[0093] wherein L is the length of the platform, and W is the width of the platform.

[0094] In a possible implementation, the unit calculates the corner point coordinates under the target attitude through the following formula:

[0095] P i ′ = R·P i ,

[0096] wherein P i is the initial corner point coordinates, P i ′ is the corner point coordinates under the target attitude, and R is the rotation matrix of the target attitude.

[0097] The calculated Pi ′ The coordinates will be passed to the electric cylinder stroke calculation module to determine the target stroke of the electric cylinder.

[0098] The function of the path optimization unit is to optimize the rotation path of the platform from the initial pose to the target pose, avoiding the problems of redundant path or dynamic response in the pose adjustment process.

[0099] Specifically, the unit describes the rotation path based on Lie group SO(3) and Lie algebra so(3), and realizes optimization through the following steps:

[0100] First, calculate the rotation velocity matrix from the initial pose R0 to the target pose R t :

[0101]

[0102] Where: represents the rotation axis and angular velocity information; R t dynamic vibration and physical coupling module; R0: rotation matrix of the initial pose; rotation transformation matrix from the initial pose to the target pose; log: matrix logarithm operation.

[0103] Then, generate a time interpolation path:

[0104]

[0105] Where: R(t): rotation matrix in the interpolation path, representing the rotation state at time t; R0: initial rotation matrix, representing the current pose of the platform; rotation velocity matrix, describing the rotation axis and rotation velocity from the initial pose to the target pose; exp: matrix exponential operation, converting the rotation velocity matrix into a rotation matrix, which is an element of the SO(3) group; t: time interpolation parameter, taking values in the range [0, 1]. When t=0, R(t)=R0; when t=1, R(t)=R t .

[0106] In some embodiments, the path optimization unit can also further optimize the smoothness of the path in combination with the variational method. Specifically, define an objective function:

[0107]

[0108] Where: J is the energy function of the path, representing the smoothness of the path; is the rotation velocity; is the rotation acceleration; α is the acceleration smoothing coefficient, used to balance the weights of path velocity and acceleration.

[0109] By minimizing J, the optimal rotation path can be obtained, further improving the dynamic response effect of platform attitude adjustment.

[0110] In some complex scenarios, such as driving simulation software requiring high-frequency attitude adjustment, this module can add a prediction function. By modeling historical attitude data, the target attitude at the next moment is predicted to reduce the impact of system delay on response speed.

[0111] Through the above specific embodiments, this module not only realizes the mapping of the target attitude of the platform, but also significantly improves the smoothness of the path and the dynamic response efficiency, providing reliable input support for subsequent electric cylinder stroke calculation and platform execution.

[0112] The electric cylinder stroke calculation and control module is used to calculate the target stroke of each electric cylinder of the small motion platform and control the electric cylinder to perform corresponding motion;

[0113] The electric cylinder stroke calculation and control module is responsible for receiving target attitude data from the attitude mapping and path optimization module, and calculating the target stroke length of each electric cylinder according to the change of the platform corner point coordinates, and then driving the electric cylinder to complete the corresponding extension and contraction action through accurate control algorithm. Through stroke calculation and control, this module ensures that the platform can reach the target attitude specified by the driving simulation software in real time and accurately.

[0114] Generally, the work of this module mainly includes two stages. The first stage is to calculate the spatial coordinates of the platform corner points through the target attitude data, and to extract the key Z-axis displacement as input. The second stage is to complete the stroke calculation and real-time control combined with the geometric characteristics of the platform and the stroke range of the electric cylinder. To ensure accuracy and reliability, this module also integrates a scaling mechanism and a closed-loop control mechanism to meet the needs of large-angle adjustment and dynamic response.

[0115] In this embodiment, the specific implementation of the electric cylinder stroke calculation and control module is as follows:

[0116] In one possible implementation, the module includes the following units: corner point coordinate calculation unit, stroke calculation unit, and stroke control unit.

[0117] The corner point coordinate calculation unit is used to receive target rotation matrix data and calculate the three-dimensional spatial coordinates of each corner point of the platform under the target attitude.

[0118] Generally, the initial corner point coordinates of the platform are represented by length L and width W, and the initial Z-axis coordinate is 0. The coordinates of the target corner point are determined by the product of the target rotation matrix and the initial corner point.

[0119] Input rotation matrix R and initial corner point coordinates P i , obtain target corner point Pi ′ ; extract target corner point P i ′ Z coordinate component z of P i ′ .

[0120] In a possible implementation, to improve the real-time performance of the calculation, the corner point coordinate calculation unit pre-stores the initial geometric coordinates of the platform in an optimized manner, and quickly generates P i ′ This implementation is particularly suitable for the platform attitude control that needs high-frequency dynamic adjustment in complex driving scenarios.

[0121] The stroke calculation unit is used to convert the Z coordinate component of the target corner point into the stroke change of the electric cylinder, and adjust it in combination with the proportional scaling coefficient S.

[0122] Generally, the target electric cylinder stroke change is proportional to the Z coordinate displacement of the corner point. In order to adapt to the geometric characteristics of different platforms and the physical stroke range of the electric cylinder, the proportional scaling coefficient S is used for adjustment.

[0123] In this embodiment, the core formula for calculating the target stroke change is:

[0124] ΔL i =S·z i ′ ,

[0125] Wherein: ΔL i is the change of the electric cylinder stroke; S is the proportional scaling coefficient, and the calculation method is based on the maximum Z displacement of the platform corner point and the maximum stroke of the electric cylinder, z i ′ is the Z axis coordinate of the corner point under the target attitude;

[0126] The calculation of the proportional scaling coefficient S is related to the geometric characteristics of the platform and the physical stroke range of the electric cylinder. Specifically, S can be determined according to the following formula:

[0127]

[0128] Wherein: L max is the maximum stroke of the electric cylinder (for example, 3 cm); Z max is the maximum Z axis displacement of the corner point of the platform at the maximum inclination angle.

[0129] In some embodiments, the stroke calculation unit can also perform nonlinear correction on the stroke change of each electric cylinder according to the attitude adjustment requirements of the platform. For example, when the adjustment amplitude of the platform attitude is small, the proportional scaling coefficient S is appropriately increased to enhance the dynamic response of the platform.

[0130] Finally, the target stroke L of each electric cylinder i The target stroke L can be calculated by the following formula:

[0131] L i = L0+ΔL i ,

[0132] Wherein: L i is the target stroke of the electric cylinder; L0 is the initial length of the electric cylinder, representing the stroke midpoint of the platform in the un-inclined state; ΔL i is the stroke change amount.

[0133] The role of the stroke control unit is to drive the electric cylinder to perform the extension and retraction action according to the target stroke L i , and to achieve precise control through real-time feedback.

[0134] Specifically, the unit sends the target stroke to the electric cylinder drive circuit through a control signal. The magnetic encoder inside the electric cylinder detects the actual stroke of the electric cylinder in real time and feeds back the detection result to the control unit. To ensure the accuracy of the electric cylinder action, the stroke control unit adopts a closed-loop control mechanism, such as PID control. The core formula of PID control is as follows:

[0135]

[0136] Wherein: u(t) is the control signal; e(t) is the error between the target stroke and the actual stroke; is the rate of change of the error; ∫e(t)dt is the cumulative error; K p , K d , K i are the proportional, derivative and integral gain coefficients, respectively.

[0137] In one possible implementation, the stroke control unit also includes a safety protection mechanism. When it is detected that the target stroke of the electric cylinder exceeds the physical range or an abnormality occurs during the movement of the electric cylinder, the mechanism triggers a protection instruction to stop the electric cylinder action to avoid damage.

[0138] To further improve the control accuracy, in some embodiments, the stroke control unit can combine the model predictive control (MPC) technology to optimize the path planning of the electric cylinder drive by predicting the dynamic changes of the platform attitude adjustment in real time. In addition, to improve the response speed of the electric cylinder, high-performance drive chips can be used and the current control algorithm can be optimized, so that the electric cylinder can still maintain high dynamic response in large-scale attitude adjustment.

[0139] Through the above specific embodiments, the electric cylinder stroke calculation and control module realizes accurate conversion from attitude data to electric cylinder action, providing efficient technical support for attitude adjustment of the motion platform.

[0140] Dynamic vibration and physical coupling module, used to superimpose vibration signals according to target attitude to simulate road or flight environment vibration and coupling;

[0141] The dynamic vibration and physical coupling module generates vibration simulation signals by receiving acceleration data and vibration parameters, combining with the attitude adjustment information provided by the electric cylinder stroke calculation and control module, and superimposes them into the control signal of the electric cylinder, so as to realize the accurate reproduction of different scene vibration effects. The purpose is to further enhance the authenticity of the vibration environment on the basis of ensuring the overall attitude synchronization of the platform, and provide users with richer motion experience.

[0142] Generally, this module mainly relies on real-time acceleration data (such as road impact data or environmental disturbance parameters provided by driving simulation software) and vibration characteristic parameters (such as vibration frequency and amplitude). Through dynamic calculation and optimization of these data, this module can generate multi-dimensional vibration signals, which work together with the attitude adjustment of the platform, so as to realize the physical coupling of vibration and attitude.

[0143] In one possible implementation, the module includes the following units: vibration signal generation unit, signal superposition unit and dynamic physical coupling unit.

[0144] The vibration signal generation unit is used to receive externally provided vibration parameters (such as vibration frequency and vibration amplitude) and acceleration data, and generate simulation vibration signals.

[0145] Specifically, the core formula of the vibration signal is:

[0146] z v (t)=A·sin(2πft+φ0),

[0147] Where: z v (t) is the vibration displacement signal at time t; A is the vibration amplitude, provided by the external vibration parameter; f is the vibration frequency, also input externally; φ0 is the initial phase, which determines the starting state of the vibration signal.

[0148] In this embodiment, the vibration signal generation unit can adjust A and f according to the dynamic scene provided by the driving simulation software. For example, when simulating a vehicle passing through a bumpy road section, A and f will be assigned higher values; while simulating a flat road, these values will be reduced. In addition, the vibration signal generation unit can also realize complex vibration effects by superimposing multiple sine waves. For example:

[0149]

[0150] Where: z v (t) is the vibration displacement signal; A i is the amplitude of the vibration signal, the maximum displacement amplitude of the i-th sine wave vibration; fi : frequency of vibration signal, frequency of i-th sinusoidal vibration; t: time variable; φ i : initial phase of vibration signal, starting position of i-th sinusoidal vibration; n: number of superimposed vibration components.

[0151] Generally, the target stroke of each electric cylinder can be expressed as:

[0152] L i = L0+ ΔL i +z v (t),

[0153] wherein: L i is the target stroke length of the electric cylinder; L0is the initial length of the electric cylinder; ΔL i is the stroke change amount of the electric cylinder, provided by the attitude adjustment module; z v (t) is the vibration signal, dynamically superimposed into the stroke control.

[0154] As an option, the signal superposition unit can also adjust the amplitude or phase of z v (t) according to the position and current state of different electric cylinders, to ensure the spatial consistency of the vibration signal. For example, when simulating the vibration effect of a road slope, the electric cylinders near the edge of the slope will obtain a larger z v (t) value, while the electric cylinders in the central area will maintain a smaller vibration amplitude.

[0155] In some embodiments, the signal superposition unit can also eliminate high-frequency noise in the vibration signal through a filtering mechanism, to avoid excessive response or mechanical fatigue of the electric cylinder during rapid vibration.

[0156] The dynamic physical coupling unit is responsible for dynamically fusing the vibration signal with the attitude adjustment signal of the platform in the spatial dimension, realizing the physical coupling of vibration and attitude.

[0157] Specifically, based on the acceleration data provided by the driving simulation software, the unit adjusts the spatial distribution of the vibration signal in real time. For example:

[0158] When the platform attitude adjustment amplitude is large (such as the pitch angle exceeding a certain threshold), the dynamic physical coupling unit will increase the longitudinal component of the vibration signal;

[0159] When the platform yaw angle is large, the lateral component of the vibration signal will be appropriately enhanced.

[0160] The dynamic physical coupling unit also maps the vibration signal through a coupling function. Taking vibration coupling in a three-dimensional space as an example:

[0161] z v ′ (t) = M·zv (t),

[0162] wherein: z v ′ (t) is the coupled vibration signal; M is a dynamic coupling matrix, the element value of which is dynamically determined by acceleration data and attitude angle.

[0163] As an implementation manner, the element value of the dynamic coupling matrix M can be calculated by the following method:

[0164] M ij = k · |a i · R ij |,

[0165] wherein: M ij is a matrix element; k is a coupling coefficient; a i is an acceleration component (a x , a y , a z ); R ij is an element value of an attitude rotation matrix.

[0166] The output signal of the dynamic physical coupling unit will be directly transmitted to the stroke control module for driving the electric cylinder to complete the vibration simulation.

[0167] In some special scenarios, such as complex vibration frequency or multi-dimensional acceleration superposition, this module can combine a machine learning model to predict and optimize the vibration signal. For example, by using historical data and current input, the vibration amplitude and frequency change at the next moment are predicted, so as to adjust the signal generation parameters in advance, and further reduce the response delay.

[0168] Through the above specific embodiments, the dynamic vibration and physical coupling module realizes a high degree of restoration of the vibration scene of the driving simulation software, and through the synergistic effect of physical coupling and attitude adjustment, the accuracy and authenticity of the overall dynamic response of the platform are improved.

[0169] The platform execution and monitoring module is used to drive the platform to perform motion according to the target attitude, and to monitor the platform state in real time to correct the action deviation;

[0170] The platform execution and monitoring module is the final execution part of the attitude adjustment and dynamic vibration effect in the present application, and is also a key module to ensure the stability and accuracy of the motion platform. Its main function is to receive the target stroke signal and dynamic vibration signal provided by the electric cylinder stroke calculation and control module, and drive the platform to complete the corresponding action. At the same time, by monitoring the execution state of the platform in real time, this module can identify the action deviation and correct it by using a closed-loop control mechanism, so as to ensure that the platform attitude and the target state are kept in synchronization.

[0171] Generally, this module needs to work with the cylinder stroke calculation and dynamic vibration module to ensure that the dynamic posture of the platform is highly consistent with the vibration effect. To achieve this goal, this module also integrates sensor monitoring functions, which can collect key data (such as the actual stroke of the cylinder, the vibration response) in real time during the execution of the platform, and compare them with the target data, and complete dynamic correction through the error feedback control mechanism.

[0172] In one possible implementation, the module includes the following units: an execution unit, a monitoring unit, and a correction unit.

[0173] The execution unit is responsible for receiving the target stroke signal L i and the dynamic vibration signal z v (t), driving the cylinder to complete posture adjustment and vibration simulation.

[0174] Generally, the target stroke signal is provided by the cylinder stroke calculation module, and the dynamic vibration signal is generated by the dynamic vibration and physical coupling module. The execution unit generates the driving instruction of the cylinder by superimposing the two signals, which is used to control the extension and retraction action of the cylinder.

[0175] As an option, the execution unit can input the target stroke and vibration signal as the basic stroke and dynamic correction component, respectively. For example, the final driving signal L final，i of each cylinder can be represented as:

[0176] L final，i =L i +z v (t),

[0177] wherein: L final，i : the final stroke signal of the cylinder; L i : the target stroke of the cylinder calculated by the posture adjustment; z v (t): the dynamic vibration signal used to superimpose the target stroke.

[0178] In some embodiments, to adapt to different application scenarios, the execution unit can amplify or reduce the frequency and amplitude of the vibration signal. For example, in the case of low load, the amplitude A of the dynamic vibration signal z v (t) can be adjusted by a scaling factor to enhance the vibration effect.

[0179] The monitoring unit collects the execution status of the platform through real-time sensors, including the actual stroke of each cylinder, the overall posture of the platform, and the dynamic vibration response.

[0180] Specifically, the monitoring unit is equipped with the following types of sensors:

[0181] Magnetic encoder: used to detect the real-time stroke length of each electric cylinder, the collected data will be the basis for dynamic feedback.

[0182] Inertial measurement unit (IMU): used to detect the actual attitude of the platform, including pitch angle (Pitch), roll angle (Roll) and yaw angle (Yaw).

[0183] Accelerometer: used to monitor the dynamic response characteristics of the platform, recording the acceleration components of each axis during vibration simulation.

[0184] In one possible implementation, the monitoring unit transmits the collected data to the correction unit through high-speed UART communication for dynamic error analysis and feedback control.

[0185] In general, the sampling frequency of the monitoring unit needs to be consistent with the dynamic adjustment frequency of the electric cylinder to ensure the real-time nature of the feedback data. As an option, high-precision sampling chips (such as 16-bit ADC converters) can be used for digital processing of sensor data to improve monitoring accuracy.

[0186] The correction unit adjusts the execution state of the electric cylinder in real time according to the feedback data provided by the monitoring unit through a closed-loop control mechanism, ensuring the accuracy of the platform's actions.

[0187] Specifically, the correction unit calculates the error value e(t) between the target stroke and the actual stroke, and generates a control signal u(t) based on the error value.

[0188] As an option, the correction unit can also introduce an adaptive control algorithm. For example, when the electric cylinder action deviates significantly, the correction unit can dynamically adjust the gain parameters K p , K d and K i to adapt to different dynamic characteristic requirements.

[0189] In some embodiments, the correction unit can perform multi-dimensional correction in combination with the overall attitude and dynamic vibration data of the platform. For example, when the pitch angle θ of the platform exceeds the safety threshold, the correction unit can preferentially adjust the action of the electric cylinder in the corresponding direction to reduce the inclination amplitude of the platform.

[0190] To enhance the reliability of the module, in some embodiments, the platform execution and monitoring module can also introduce a safety protection mechanism. For example, when the monitoring unit detects that the target stroke of the electric cylinder exceeds the physical range, the correction unit will immediately trigger a protection command to stop all electric cylinder actions. At the same time, through a fast reset signal, the electric cylinder is restored to a safe state.

[0191] In addition, in the high-frequency response scenario of the vibration simulation, the monitoring unit can eliminate the high-frequency noise in the vibration signal through a filtering algorithm, thereby improving the stability of the feedback data.

[0192] Through the above specific embodiments, the platform execution and monitoring module can ensure accurate execution of attitude adjustment and vibration simulation, while improving the stability and reliability of platform operation through real-time monitoring and correction mechanisms.

[0193] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A small motion platform for mapping the attitude of a vehicle, ship or aircraft in a driving simulation software, characterized in that, The application relates to a driving simulation platform, comprising: a data input and analysis module for receiving and analyzing attitude data output by driving simulation software; an attitude mapping and path optimization module for generating a target attitude based on the attitude data and optimizing a path from an initial attitude to the target attitude; an electric cylinder stroke calculation and control module for calculating target strokes of electric cylinders of a small motion platform and controlling the electric cylinders to perform corresponding motions; a dynamic vibration and physical coupling module for superimposing a vibration signal on the target attitude to simulate road surface or flight environment vibration and coupling; a platform execution and monitoring module for driving the platform to perform motions according to the target attitude and monitoring platform states in real time to correct motion deviations; 2. The vehicle / aircraft attitude miniature motion platform in the map- ping driving simulation software according to claim 1, characterized in that, the attitude mapping and path optimization module comprises an attitude conversion unit for calculating a target attitude from received Euler angle data through a rotation matrix and a path optimization unit for calculating an optimal path from an initial attitude to the target attitude based on Lie group theory, wherein the path optimization comprises calculating a rotation axis and an angular velocity through logarithmic mapping and generating an interpolation path from the initial attitude to the target attitude based on a time parameter; 3. The vehicle-aircraft attitude miniature motion platform in the map- ping driving simulation software according to claim 1, characterized in that, the dynamic vibration and physical coupling module comprises a vibration generation unit for generating a dynamic vibration signal according to vibration parameters, a vibration superposition unit for superimposing the dynamic vibration signal on the electric cylinder target stroke and a dynamic adjustment unit for adjusting amplitudes and frequencies of the vibration signal in real time according to acceleration data output by the driving simulation software.

4. The vehicle-aircraft attitude miniature motion platform in the map- ping driving simulation software according to claim 3, characterized in that, the data input and analysis module comprises a receiving unit for receiving Euler angle attitude data, acceleration data and vibration parameters output by the driving simulation software through an Ethernet interface, a data formatting unit for formatting the received data to generate attitude description data and a data output unit for transmitting the attitude description data to the attitude mapping and path optimization module.

5. The software-mappable, compact motion platform for vehicle, aircraft, or spacecraft attitude simulation of claim 1, wherein, the electric cylinder stroke calculation and control module comprises an angular point coordinate calculation unit for generating target coordinates of four angular points of the platform according to the target attitude, a stroke calculation unit for extracting Z-axis displacement of the target coordinates to calculate electric cylinder target strokes and a stroke control unit for driving the electric cylinders to extend and retract according to the target strokes.

6. The MMP for in-software vehicle-aircraft-ship-flight attitude simulation of claim 5, wherein, the stroke calculation unit adjusts the electric cylinder target strokes according to a proportional scaling coefficient, and the proportional scaling coefficient is determined by the following method: the proportional scaling coefficient is calculated according to the electric cylinder stroke range and the maximum Z-axis displacement value of the target attitude to ensure that all the electric cylinder target strokes are within the mechanical stroke range.

7. The software-mappable, compact motion platform for vehicle, aircraft, or spacecraft attitude simulation of claim 1, wherein: the platform execution and monitoring module comprises an execution unit for receiving the electric cylinder target strokes and driving the electric cylinders to extend and retract, a sensor monitoring unit for monitoring deviations between actual strokes and target strokes of the electric cylinders and a correction unit for adjusting electric cylinder actions to correct attitudes based on the deviation values. the correction unit comprises a deviation calculation unit for calculating error values between the target strokes and the actual strokes and a PID control unit for adjusting speeds and positions of the electric cylinders in real time according to the error values. the electric cylinders are linear electric cylinders provided with magnetic encoders for detecting electric cylinder displacements and connected to the stroke control unit through UART communication.

8. The software-mappable, compact motion platform for vehicle, aircraft, or spacecraft attitude simulation of claim 1, wherein, The small motion platform is suitable for receiving peripheral devices synchronized with driving simulation software, including steering wheels or flight sticks, which are fixed on the platform through physical supports and work with the dynamic vibration module to simulate the motion experience of users.

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