Carrier inclined sinking water inflow simulation method for self-rescue training

Abstract

The invention relates to the technical field of emergency simulation training, and provides a self-rescue training carrier inclined sinking water inflow simulation method, which comprises the following steps: receiving an inclined sinking instruction, and configuring differentiated target displacement for multiple groups of execution mechanisms for driving a carrier according to the received inclined sinking instruction; generating a control signal according to the configured differentiated target displacement, and driving each group of execution mechanisms to generate asynchronous displacement motion so as to enable the carrier to incline and sink; and collecting inclination and subsidence parameters, and dynamically adjusting a control signal through a closed-loop control algorithm according to the deviation between the inclination and subsidence parameters and a target value. According to the invention, the authenticity of high-fidelity simulation and training can be improved, the accuracy and stability of motion control are improved, the reliability and safety of system operation are ensured, and the flexibility and repeatability of training are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of emergency simulation training, and particularly relates to a carrier tilting sinking water simulation method for self-rescue training. BACKGROUND

[0002] When the special operation vehicle performs a task in a complex water environment, due to the particularity of the operation environment, the vehicle faces the risk of rapid cabin water inrush caused by external impact or structural failure. The internal space of the vehicle is relatively closed, and the buoyancy reserve is limited. Once leakage occurs, the water inrush process is rapid, and the process from the start of water inrush to the loss of buoyancy usually lasts only a few minutes. In such an emergency, whether the cabin operator can complete the standardized emergency evacuation procedure within the specified time is directly related to the safety of personnel.

[0003] In actual water inrush accidents, when the water inrush point is located at the front, rear or single side of the cabin, complex tilting sinking phenomena will occur due to the asymmetry of water inrush, including front tilting, rear tilting or side tilting. These tilting states can significantly change the motion characteristics of the fluid in the cabin, the position of the air remaining area and the opening characteristics of the emergency exit, greatly increasing the complexity and operation difficulty of personnel evacuation. Therefore, carrying out special emergency training for tilting sinking conditions is of great significance to improve the response ability of personnel in real danger.

[0004] The existing emergency training facilities have the following shortcomings: first, the training device cannot reproduce the multi-dimensional and continuously changing tilting posture of the vehicle during the dynamic water inrush process. This training content is different from the actual danger, which leads to a lack of sufficient response ability of the trainees when facing real tilting sinking conditions. Second, the control accuracy and dynamic coordination performance of the existing system are insufficient. To achieve realistic tilting sinking simulation, accurate coordination control of multiple actuators is required to produce stable and physically correct motion trajectories. Traditional control systems often lack high-precision real-time feedback and advanced control strategies, making it difficult to achieve independent and accurate control of the displacement of each actuator. This leads to unstable motion of the training cabin, inaccurate posture restoration, and even motion interference or abnormal vibration, which not only affects the training effect, but also poses a safety hazard. In addition, in the mechanical structure design aspect, how to achieve flexible tilting motion of the training cabin while effectively restraining unnecessary degrees of freedom and ensuring the overall stability of the system under dynamic load is also a key problem that needs to be further improved in the existing technology.

[0005] A helicopter water-landing escape training device is disclosed in Chinese Patent Publication No. CN109637254A. By manually injecting different amounts of water into multiple flotation tanks under the seat, the center of gravity of the entire training cabin in the water can be changed. When the center of gravity and the center of buoyancy are not collinear, an overturning moment will be generated, prompting the training cabin to overturn in the water around its annular guide rail, simulating the overturning state of the helicopter after falling into the water. The biggest disadvantage of this scheme in practical application is that the movement of the training cabin completely depends on the pre-set weight of the flotation tank. Once it enters the water, the overturning process is naturally dominated by physical laws (gravity, buoyancy, water resistance), and it is impossible to accurately control the posture, angle and speed in real time and actively during the movement.

[0006] Therefore, how to provide a training method capable of accurately simulating the tilting and sinking process of a vehicle has become a technical problem to be solved, which realizes technical breakthroughs in dynamic posture restoration, multi-actuator coordinated control and system stability guarantee. SUMMARY

[0007] Therefore, in order to overcome the shortcomings of the prior art, the present application aims to provide a carrier tilting and sinking water entry simulation method for self-rescue training.

[0008] The present application provides a carrier tilting and sinking water entry simulation method for self-rescue training, which comprises: Step S1: receiving a tilting and sinking instruction, and configuring a differentiated target displacement amount for a plurality of groups of actuating mechanisms for driving the carrier according to the received tilting and sinking instruction; Step S2: generating a control signal according to the configured differentiated target displacement amount, and driving each group of actuating mechanisms to produce a non-synchronous displacement movement to make the carrier tilt and sink; Step S3: collecting tilting and sinking parameters, and dynamically adjusting the control signal according to the deviation of the tilting and sinking parameters from the target value through a closed-loop control algorithm.

[0009] Optionally, in the carrier tilting and sinking water entry simulation method for self-rescue training of the present application, the tilting and sinking instruction comprises a target tilting angle and a sinking speed, and the tilting and sinking instruction is used to simulate the longitudinal inclination working condition caused by water entering the front of the carrier, the tail inclination working condition caused by water entering the rear of the carrier, and the lateral inclination working condition caused by water entering the left or right side of the carrier.

[0010] Optionally, in the carrier tilting and sinking water entry simulation method for self-rescue training of the present application, a kinematic model is established between the carrier and the actuating mechanisms, and the target displacement amount required by each group of actuating mechanisms to achieve the corresponding tilting posture is calculated according to the target tilting angle.

[0011] Optionally, in the self-rescue training carrier tilting sinking into water simulation method, in step S1, according to the geometric size of the carrier, the installation position of the actuator and the motion constraint of the connecting mechanism, a kinematics model describing the mapping relationship between the carrier posture and the displacement amount of each actuator is constructed.

[0012] Optionally, in the self-rescue training carrier tilting sinking into water simulation method, in step S1, the target inclination angle is taken as the input of the kinematics model, and by solving the kinematics equation, the spatial coordinate changes of each connecting point of the carrier at the corresponding inclination posture are obtained, and the spatial coordinate changes are converted into the linear displacement amount required by each actuator along its motion axis.

[0013] Optionally, in the self-rescue training carrier tilting sinking into water simulation method, in step S2, the control signal is converted into independent hydraulic control instructions, and by adjusting the valve core opening degree and direction of the proportional reversing valve in each hydraulic circuit, the hydraulic oil flow and flow direction entering each actuator are controlled, so that the actuators connected to different positions of the simulation cabin produce displacement difference according to the preset relationship.

[0014] Optionally, in the self-rescue training carrier tilting sinking into water simulation method, in step S2, during the hydraulic control process, a pressure self-adaptive variable pump is used as the hydraulic power source, and when pressure fluctuations caused by uneven load of each actuator are detected, the displacement of the self-adaptive variable pump is adjusted to maintain the pressure stability of the hydraulic circuit.

[0015] Optionally, in the self-rescue training carrier tilting sinking into water simulation method, in step S2, during the tilting sinking process of the carrier, the carrier is connected through an asymmetric connecting mechanism.

[0016] Optionally, in the self-rescue training carrier tilting sinking into water simulation method, a joint bearing connection with multi-degree-of-freedom deflection ability is arranged on one side of the carrier, and a shaft sleeve connection with single-degree-of-freedom swing is arranged on the other side of the carrier.

[0017] Optionally, in the self-rescue training carrier tilting sinking into water simulation method, step S3 further comprises: when the carrier reaches the target inclination angle, the actuators are controlled to maintain the current position, or the actuators are controlled to move so that the carrier restores to the horizontal initial posture at a predetermined speed.

[0018] The self-rescue training carrier tilting sinking into water simulation method has the following beneficial technical effects: 1. Improve the authenticity of high-fidelity simulation and training Through precise motion simulation, the vehicle's various tilting and sinking conditions caused by front, rear or side water ingress are accurately reproduced, such as longitudinal inclination, tail inclination and roll. Through the precise control of the actuator by PLC control, multi-dimensional and dynamic continuous attitude changes are realized, the unstable motion state of the vehicle in the real danger is highly restored, the authenticity and coverage of the training scene are improved, and the passengers can obtain immersive training experience close to actual combat.

[0019] 2. Improve the accuracy and stability of motion control The closed-loop control strategy based on PID algorithm is adopted to accurately control the lifting speed and stroke of each actuator, effectively eliminate steady-state error, suppress overshoot and oscillation, ensure the smooth, accurate and stable motion of the carrier in various inclined attitudes, and avoid motion jamming or jitter phenomenon caused by inaccurate control.

[0020] 3. Ensure the reliability and safety of system operation The carrier is connected by asymmetric connection, which not only ensures the flexibility required for complex tilting motion of the carrier, but also effectively restricts the unwanted degrees of freedom, prevents the uncontrollable swing of the carrier, and uses an equal pressure variable pump, which can automatically adjust the output flow when the load change causes pressure fluctuation, maintain the stability of the system pressure, and ensure the smoothness of the power output.

[0021] 4. Realize the flexibility and repeatability of training According to the training needs, different inclination angles, sinking speeds and motion trajectories can be flexibly set, all actions are controlled by PLC program, the uncertainty of human operation is excluded, each training can be carried out under the preset and consistent conditions, the standardization and standardization of training courses can be easily organized and implemented, and special training can be carried out for different difficulty levels of danger, so as to systematically improve the emergency response ability and operation proficiency of passengers. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0023] Figure 1 For the step flow example of a self-rescue training carrier tilting and sinking water simulation method according to the embodiment of the present application. DETAILED DESCRIPTION

[0024] The embodiments of the present application will be described in detail below with reference to the drawings.

[0025] It should be noted that the following embodiments and features in the embodiments can be combined with each other in the case of no conflict; and all other embodiments obtained by those skilled in the art based on the embodiments in the present disclosure without creative labor shall fall within the scope of protection of the present disclosure.

[0026] It should be noted that various aspects of the embodiments described below are within the scope of the appended claims. As will be apparent, the aspects described herein can be implemented in various ways, and that any particular structure is merely an example. Based on this disclosure, one skilled in the art will appreciate that one aspect described herein can be implemented independently of any other aspects and that two or more of these aspects can be combined in any suitable manner. For example, an apparatus can be implemented or a method can be practiced using any number of the aspects set forth herein. In addition, such an apparatus can be implemented or such a method can be practiced using other structure and / or functionality in addition to or other than one or more of the aspects set forth herein.

[0027] Figure 1 A step flowchart of a carrier tilting and sinking into water simulation method for self-rescue training according to an embodiment of the present application is shown. As shown in Figure 1 The carrier tilting and sinking into water simulation method for self-rescue training of the present embodiment includes the following steps: Step S1: Receive a tilting and sinking instruction, and configure a differentiated target displacement amount for each group of actuating mechanisms driving the carrier according to the received tilting and sinking instruction.

[0028] In the present embodiment, the tilting and sinking instruction includes a target tilting angle and a sinking speed. For example, in actual application, the target tilting angle is set to ±17°, and the target sinking speed is set to the range of 0.2-150 mm / s. The tilting and sinking instruction is used to simulate the longitudinal inclination working condition caused by water entering the front of the carrier, the tail inclination working condition caused by water entering the rear of the carrier, and the transverse inclination working condition caused by water entering the left or right side of the carrier.

[0029] As an optional example, the present embodiment establishes a kinematics model between the carrier and the actuating mechanisms, calculates the target displacement amount required by each group of actuating mechanisms to achieve the corresponding tilting posture according to the target tilting angle. According to the geometric size of the carrier, the installation position of the actuating mechanisms, and the motion constraint of the connecting mechanisms, a kinematics model describing the mapping relationship between the posture of the carrier and the displacement amount of each actuating mechanism is constructed. The target tilting angle is taken as the input of the kinematics model, and by solving the kinematics equation, the spatial coordinate changes of each connecting point of the carrier in the corresponding tilting posture are obtained, and the spatial coordinate changes are converted into the linear displacement amount required by each actuating mechanism along its motion axis.

[0030] Step S2: According to the configured differential target displacement, generate control signals to drive each group of actuators to produce non-synchronous displacement movement to tilt and sink the carrier.

[0031] In this embodiment, the control signals are converted into independent hydraulic control instructions. By adjusting the spool opening degree and direction of the proportional directional valve in each hydraulic circuit, the flow and direction of hydraulic oil entering each actuator are controlled, so that the actuators connected to different positions of the simulation cabin produce displacement difference according to the preset relationship.

[0032] As an optional example, in this embodiment, during the hydraulic control process, a pressure self-adaptive variable pump is used as the hydraulic power source. When pressure fluctuations caused by uneven load of each actuator are detected, the displacement of the self-adaptive variable pump is adjusted to maintain the stability of the hydraulic circuit pressure.

[0033] It should be noted that in the process of tilting and sinking the carrier, the carrier is connected by an asymmetric connecting mechanism. A joint bearing connection with multi-degree-of-freedom deflection ability is provided on one side of the carrier, and a single-degree-of-freedom swing shaft sleeve connection is provided on the other side of the carrier. For example, during simulation training, the asymmetric connection design is used between the working boom and the carrier. The joint bearing is used on one side to realize multi-degree-of-freedom deflection, and the core shaft copper sleeve is used on the other side to limit radial swing. Mechanical positioning blocks are provided on the outside of the boom, which not only ensures the flexibility required for the carrier to realize complex tilting motion, but also effectively restricts the unwanted degrees of freedom, preventing the carrier from swinging out of control.

[0034] Step S3: Collect the tilt and sink parameters, and dynamically adjust the control signals according to the deviation between the tilt and sink parameters and the target value through the closed-loop control algorithm.

[0035] In actual application, this embodiment adopts a closed-loop control strategy based on PID algorithm. The attitude and actuator displacement data of the simulation carrier are collected in real time by the inclination sensor and displacement sensor, and this data is fed back to the PLC. The PLC dynamically calculates and outputs control signals by executing the PID algorithm, and adjusts the opening degree of the proportional directional valve in real time, thereby accurately controlling the lifting speed and stroke of each actuator. This closed-loop control mechanism effectively eliminates steady-state error, suppresses overshoot and oscillation, ensures smooth, accurate and stable motion of the carrier in various tilting attitudes, and avoids motion jamming or shaking phenomenon caused by inaccurate control.

[0036] In this embodiment, when the carrier reaches the target tilt angle, the control of each actuator maintains the current position, or the carrier is restored to the horizontal initial attitude at a predetermined speed by controlling the motion of each actuator.

[0037] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for simulating a carrier tilting and sinking into water for self-rescue training, characterized by, The method comprises: Step S1: receiving a tilting and sinking instruction, and configuring a differentiated target displacement amount for each group of driving actuators of the carrier according to the received tilting and sinking instruction; Step S2: generating a control signal according to the configured differentiated target displacement amount, and driving each group of actuators to generate non-synchronous displacement movement to make the carrier tilt and sink; Step S3: collecting tilting and sinking parameters, and dynamically adjusting the control signal according to the deviation between the tilting and sinking parameters and the target value through a closed-loop control algorithm.

2. The carrier tilt and sink into water simulation method for self-rescue training according to claim 1, characterized in that, In step S1, the tilting and sinking instruction includes a target tilting angle and a sinking speed, and the tilting and sinking instruction is used to simulate the longitudinal inclination working condition caused by water entering the front of the carrier, the tail inclination working condition caused by water entering the rear of the carrier, and the transverse inclination working condition caused by water entering the left or right side of the carrier.

3. The self-rescue training carrier tilt-and-sink water entry simulation method of claim 1, wherein, In step S1, a kinematic model between the carrier and the actuators is established, and the target displacement amount required by each group of actuators to achieve the corresponding tilting attitude is calculated according to the target tilting angle.

4. The method of claim 3, wherein the carrier is tilted and submerged into the water. In step S1, a kinematic model describing the mapping relationship between the attitude of the carrier and the displacement amount of each actuator is constructed according to the geometric size of the carrier, the installation position of the actuator, and the movement constraint of the connecting mechanism.

5. The method of claim 3, wherein the carrier is tilted and sunk into the water. In step S1, the target tilting angle is taken as the input of the kinematic model, the spatial coordinate changes of each connecting point of the carrier when the corresponding tilting attitude is achieved are obtained by solving the kinematic equation, and the spatial coordinate changes are converted into the linear displacement amount required by each actuator along its movement axis.

6. The self-rescue training carrier tilt and sink into water simulation method of claim 1, wherein, In step S2, the control signal is converted into independent hydraulic control instructions, the valve core opening degree and direction of the proportional reversing valve in each hydraulic circuit are adjusted to control the flow and flow direction of the hydraulic oil entering each actuator, so that the actuators connected to different positions of the simulation cabin produce displacement difference according to the preset relationship.

7. The self-rescue training carrier tilt-and-sink water entry simulation method of claim 1, wherein, In step S2, during the hydraulic control process, a pressure self-adaptive variable pump is used as the hydraulic power source, and when pressure fluctuations caused by uneven load of each actuator are detected, the displacement of the self-adaptive variable pump is adjusted to maintain the pressure stability of the hydraulic circuit.

8. The self-rescue training carrier tilt and sink into water simulation method of claim 1, wherein, In step S2, during the tilting and sinking of the carrier, the carrier is connected through an asymmetric connecting mechanism.

9. The method of claim 8, wherein the carrier is tilted and submerged into the water. In step S2, a joint bearing connection with multi-degree-of-freedom deflection ability is arranged on one side of the carrier, and a shaft sleeve connection with single-degree-of-freedom swing is arranged on the other side of the carrier.

10. The self-rescue training carrier tilt-and-sink water entry simulation method of claim 1, wherein, Step S3 further comprises: when the carrier reaches the target tilting angle, the current position of each actuator is maintained, or the carrier is restored to the horizontal initial attitude at a predetermined speed by controlling the movement of each actuator.

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