摘要
针对驾驶仿真系统开发过程中车辆动力学建模复杂的问题,提出了一套以Carsim动力学仿真软件为核心的驾驶仿真系统开发方案,主要包括操纵平台、动力学联合仿真环境和运动模拟平台。利用传感器搭建操纵平台来获取驾驶员的控制指令;利用Carsim和LabVIEW搭建车辆动力学模型和仿真驾驶环境;利用Washout算法和六自由度运动平台模拟车辆的运动状态。通过实验测试开发的仿真驾驶系统,发现在Carsim软件中搭建的车辆动力学模型的输出响应可以很好地跟随控制信号且延迟低于10ms,Washout算法可将仿真模型输出的加速度和角速度转换成六自由度平台的位移和转角,验证了方案的有效性。
In order to solve the complex problem of modeling vehicle dynamics,a set of development schemes of a driving simulation system based on Carsim is proposed,which mainly includes control platform,dynamics joint simulation environment and motion simulation platform.The control platform was built using sensors to obtain the driver’s control instructions,the vehicle dynamics model and the driving simulation environment were built using Carsim and LabVIEW,and the vehicle’s motion state was simulated using Washout algorithm and 6-DOF motion simulation platform.Through the experiment to test the developed simulation driving system,it is found that the output responses of the vehicle dynamics model built in the Carsim can follow the control signals well and the delay is less than 10 ms.The washout algorithm can convert the acceleration and angular velocity output from the simulation model into the displacements and angles of the 6-DOF motion simulation platform,which verifies the effectiveness of the scheme.
作者
吉豪
李曙光
杨亚茹
王颖
JI Hao;LI Shu-guang;YANG Ya-ru;WANG Ying(School of Mechanical Engineering,Sichuan University,Chengdu Sichuan 610065,China;School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu Sichuan 611731,China)
出处
《计算机仿真》
北大核心
2021年第10期160-164,208,共6页
Computer Simulation
基金
四川省科技厅计划资助项目(2019YG0412)
成都市科技局技术创新研发项目(2018-YF05-01426-GX)。
关键词
开发
驾驶仿真系统
仿真模型
Development
Driving simulator system
Simulation model
