通用型运动体可视化仿真平台及月球车轮地交互可视化仿真设计与实现
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摘要
为了更好地分析和设计运动体控制系统,利用VC++与Vega相结合的方法开发出适用于不同类型运动体的通用型三维可视化仿真平台。平台具有无关节部件运动体、有关节部件运动体以及多体系统等多种类型运动体可视化仿真的功能,并分别对非实时和实时情况下的数据关联及驱动技术进行了研究,结合MATLAB函数库,实现了MAT文件和M文件两种仿真驱动方式。给出了直升机仿真实例,验证了该平台的有效性及先进性。
精确的轮地交互是实现月球车可视化仿真的关键。通过Creator建立了月球车仿真模型,利用Vega可视化仿真平台的碰撞检测技术实现了月球车轮地交互以及逆运动学求解,并对相交矢量设置、关节控制等关键技术进行了探讨,文中首次定义“辐条轮”碰撞检测体,用来实时检测并设置车轮与地面的关系。月球车上下坡实验结果及分析,证明了该方法在轮地交互可视化仿真中的有效性。
论文分析了系统实现过程中的关键技术。利用仿真数据,实现了三维运动效果模拟,并实现了Vega视景仿真中的视点围绕角色对象进行旋转、拉近/远以及视点脱离角色对象在场景中按视线方向自由漫游功能,利用OpenGL与Vega混合编程技术,实现运动体运行轨道的显示、输出参数的显示等功能。系统为复杂控制理论的研究提供了一种便捷的辅助工具。
In order to analyze and design vehicle control system, a virtual reality simulation platform suitable for different types of vehicles is developed using VC++ and Vega. The platform has the function of visual simulation for vehicles with no joint, multi-joint vehicles and multi-body systems. The observer in Vega can revolve round the player and zoom in/out. Non-real-time and real-time data association and drive technology has been studied respectively, and by using MATLAB library, MAT file and M file simulation-driven approaches are achieved. The helicopter simulation example validate the effectiveness and the advantage of the platform.
A lunar rover 3D model is created by using Multigen Creator. Using Vega as the visual simulation platform, wheel-terrain interaction and inverse kinematics solution of lunar rover is realized. The key technologies such as collision detection, intersection vector setting, and joint control are discussed. The experimental results and analysis of lunar rover uphill and downhill show the effectiveness of the method in the visual simulation of wheel-terrain interaction.
This paper analyzes key technologies of the system. Using simulation data, 3D effect of motion was completed. The viewpoint can rotate around the player, get closer/far from the player and it can roaming freely in any direction by line of sight. Using OpenGL and Vega hybrid programming technology, the functions of the player’s moving orbit display and output parameter display were finished. The system provides a convenient auxiliary tool for the research of complex control theories.
精确的轮地交互是实现月球车可视化仿真的关键。通过Creator建立了月球车仿真模型,利用Vega可视化仿真平台的碰撞检测技术实现了月球车轮地交互以及逆运动学求解,并对相交矢量设置、关节控制等关键技术进行了探讨,文中首次定义“辐条轮”碰撞检测体,用来实时检测并设置车轮与地面的关系。月球车上下坡实验结果及分析,证明了该方法在轮地交互可视化仿真中的有效性。
论文分析了系统实现过程中的关键技术。利用仿真数据,实现了三维运动效果模拟,并实现了Vega视景仿真中的视点围绕角色对象进行旋转、拉近/远以及视点脱离角色对象在场景中按视线方向自由漫游功能,利用OpenGL与Vega混合编程技术,实现运动体运行轨道的显示、输出参数的显示等功能。系统为复杂控制理论的研究提供了一种便捷的辅助工具。
In order to analyze and design vehicle control system, a virtual reality simulation platform suitable for different types of vehicles is developed using VC++ and Vega. The platform has the function of visual simulation for vehicles with no joint, multi-joint vehicles and multi-body systems. The observer in Vega can revolve round the player and zoom in/out. Non-real-time and real-time data association and drive technology has been studied respectively, and by using MATLAB library, MAT file and M file simulation-driven approaches are achieved. The helicopter simulation example validate the effectiveness and the advantage of the platform.
A lunar rover 3D model is created by using Multigen Creator. Using Vega as the visual simulation platform, wheel-terrain interaction and inverse kinematics solution of lunar rover is realized. The key technologies such as collision detection, intersection vector setting, and joint control are discussed. The experimental results and analysis of lunar rover uphill and downhill show the effectiveness of the method in the visual simulation of wheel-terrain interaction.
This paper analyzes key technologies of the system. Using simulation data, 3D effect of motion was completed. The viewpoint can rotate around the player, get closer/far from the player and it can roaming freely in any direction by line of sight. Using OpenGL and Vega hybrid programming technology, the functions of the player’s moving orbit display and output parameter display were finished. The system provides a convenient auxiliary tool for the research of complex control theories.
引文
Ballin M C.Validation of a real time engineering simulation of the UH-60A helicopter[R]. NASA-TM-88360, 1987.
Chang Y, Tan D L, Wang H G, et al. Kinematics analysis of a six-wheeled mobile robot[C] //IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2006: 4169-4174.
Hayati S, Volpe R, Backes P, et al. The Rocky 7 rover: A Mars sciencecraft prototype[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1997: 2458-2464.
McDermott G J, Tarokh M. A General Approach to Kinematics Modeling of All-Terrain Rovers[C] //IEEE International Conference on Systems, Man and Cybernetics, Waikoloa, HI, USA, 2005:2019-2024
Nguyen L A, Bualat M, Edwards L J, et al. Virtual reality interfaces for visualization and control of remote vehicles[J]. Autonomous Robots, 2001, 11(1): 59-68.
Straub F K, Sangha K B, Panda B. Advanced finite element modeling of rotor blade aeroelasticity [J].Journal of the American Helicopter Society, 1994, 39(2):56-68.
Tarokh M, McDermott G J,Hayati S and Hung J. Kinematic modeling of a high mobility Mars rover[C]// Proc, 1997, IEEE International Conference on Robotics & Automation, 1999: 992-998
Tarokh M, McDermott G J. Kinematics modeling and analyses of articulated rovers[J]. IEEE Transactions on Robotics, 2005, 21(4): 539-553.
崔玮.直升机飞控系统三维动画仿真平台设计与实现[D].中国科学技术大学硕士学位论文,2009,5.
代丽红.OpenGL在Vega开发环境中的应用研究[J].计算机应用与软件,2005,22(7):64-66.
龚卓蓉,朱衡君等.LynX图形界面[M].北京:国防工业出版社,2002a,1.
龚卓蓉.Vega程序设计[M].北京:国防工业出版社,2002b
花迩蒙.直升机全包线飞行控制器的设计和三维动画仿真平台[D].中国科学技术大学硕士学位论文,2006,5.
和永智,刘伟军,周船,等.轮式移动机器人与地形交互运动仿真研究[J].机器人,2007,29(5):498-504.
居鹤华,曹亮,崔平远.基于模糊逻辑的月球车逆运动学求解方法[J].宇航学报,2006,27(4):643-647.
刘霁,王越超,周船,等.月球机器人仿真中一种消除轮地交互误差的方法[J].系统仿真学报,2008,20(14):3733-3737,3741.
李亚臣,罗永锋,黎远忠,胡健.基于Vega Prime的弹箭视景仿真[J].弹箭与制导学报,2007,27(4):222-225.
李震,李积德,王庆.舰船三维运动视景仿真系统的设计[J].哈尔滨工程大学报,2003,24(1):9-13.
李佳,闫清东.某军用地面移动机器人视景仿真系统的研究[J].计算机仿真,2005,22(7):122-124.
康凤举,华翔,李宏宏,张博,苏曼,可视化仿真技术发展综述[J],系统仿真学报,2009,21(17):5310-5313
宋志明.水下航行器视景仿真系统的研究[J].系统仿真学报,2002,14(6):761-764.
王乘,周均清,李利军.Creator可视化仿真建模技术[M].武汉:华中科技大学出版社,2005a.
王乘,李利军,周均清,等.Vega实时三维视景仿真技术[M].武汉:华中科技大学出版社,2005b.
王佐伟,梁斌,吴宏鑫.六轮月球探测车运动学建模与分析[J].宇航学报,2003,24(5):456-462.
王晓东,毕开波.基于Creator的飞行视景三维模型数据库优化技术[J].系统仿真学报,2007, 19(12):2716-2719.
熊昀.直升机机动飞行科目仿真[D].南京航空航天大学硕士学位论文,2001,7.
徐鹤.基于Multigen Creator/Vega Prime无人机三维视景仿真系统的设计与实现[D].南京航空航天大学硕士学位论文,2008,1.
杨平利,王建国,高有行,宣春.卫星运行视景仿真中的姿态控制研究[J],系统仿真学报,2006,18(1):217-220.
杨高波,亓波.精通MATLAB 7.0混合编程[M].北京:电子工业出版社,2006
Chang Y, Tan D L, Wang H G, et al. Kinematics analysis of a six-wheeled mobile robot[C] //IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2006: 4169-4174.
Hayati S, Volpe R, Backes P, et al. The Rocky 7 rover: A Mars sciencecraft prototype[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1997: 2458-2464.
McDermott G J, Tarokh M. A General Approach to Kinematics Modeling of All-Terrain Rovers[C] //IEEE International Conference on Systems, Man and Cybernetics, Waikoloa, HI, USA, 2005:2019-2024
Nguyen L A, Bualat M, Edwards L J, et al. Virtual reality interfaces for visualization and control of remote vehicles[J]. Autonomous Robots, 2001, 11(1): 59-68.
Straub F K, Sangha K B, Panda B. Advanced finite element modeling of rotor blade aeroelasticity [J].Journal of the American Helicopter Society, 1994, 39(2):56-68.
Tarokh M, McDermott G J,Hayati S and Hung J. Kinematic modeling of a high mobility Mars rover[C]// Proc, 1997, IEEE International Conference on Robotics & Automation, 1999: 992-998
Tarokh M, McDermott G J. Kinematics modeling and analyses of articulated rovers[J]. IEEE Transactions on Robotics, 2005, 21(4): 539-553.
崔玮.直升机飞控系统三维动画仿真平台设计与实现[D].中国科学技术大学硕士学位论文,2009,5.
代丽红.OpenGL在Vega开发环境中的应用研究[J].计算机应用与软件,2005,22(7):64-66.
龚卓蓉,朱衡君等.LynX图形界面[M].北京:国防工业出版社,2002a,1.
龚卓蓉.Vega程序设计[M].北京:国防工业出版社,2002b
花迩蒙.直升机全包线飞行控制器的设计和三维动画仿真平台[D].中国科学技术大学硕士学位论文,2006,5.
和永智,刘伟军,周船,等.轮式移动机器人与地形交互运动仿真研究[J].机器人,2007,29(5):498-504.
居鹤华,曹亮,崔平远.基于模糊逻辑的月球车逆运动学求解方法[J].宇航学报,2006,27(4):643-647.
刘霁,王越超,周船,等.月球机器人仿真中一种消除轮地交互误差的方法[J].系统仿真学报,2008,20(14):3733-3737,3741.
李亚臣,罗永锋,黎远忠,胡健.基于Vega Prime的弹箭视景仿真[J].弹箭与制导学报,2007,27(4):222-225.
李震,李积德,王庆.舰船三维运动视景仿真系统的设计[J].哈尔滨工程大学报,2003,24(1):9-13.
李佳,闫清东.某军用地面移动机器人视景仿真系统的研究[J].计算机仿真,2005,22(7):122-124.
康凤举,华翔,李宏宏,张博,苏曼,可视化仿真技术发展综述[J],系统仿真学报,2009,21(17):5310-5313
宋志明.水下航行器视景仿真系统的研究[J].系统仿真学报,2002,14(6):761-764.
王乘,周均清,李利军.Creator可视化仿真建模技术[M].武汉:华中科技大学出版社,2005a.
王乘,李利军,周均清,等.Vega实时三维视景仿真技术[M].武汉:华中科技大学出版社,2005b.
王佐伟,梁斌,吴宏鑫.六轮月球探测车运动学建模与分析[J].宇航学报,2003,24(5):456-462.
王晓东,毕开波.基于Creator的飞行视景三维模型数据库优化技术[J].系统仿真学报,2007, 19(12):2716-2719.
熊昀.直升机机动飞行科目仿真[D].南京航空航天大学硕士学位论文,2001,7.
徐鹤.基于Multigen Creator/Vega Prime无人机三维视景仿真系统的设计与实现[D].南京航空航天大学硕士学位论文,2008,1.
杨平利,王建国,高有行,宣春.卫星运行视景仿真中的姿态控制研究[J],系统仿真学报,2006,18(1):217-220.
杨高波,亓波.精通MATLAB 7.0混合编程[M].北京:电子工业出版社,2006
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