基于并联机构的驾驶模拟器设计及交互控制

Driving Simulator Design and Interactive Control Based on Parallel Mechanism

针对传统汽车驾驶模拟器价格昂贵难于普及的现状,研究了一种基于并联机构的三自由度汽车驾驶模拟器。对驾驶模拟器的运动平台机构进行了逆解分析,设计了运动和人机交互控制程序。使用Adams进行运动学和动力学的仿真,对比正逆解仿真数据得出驾驶模拟器的运动特性和动力性能,验证了逆解分析的正确性和平台运动的安全性。利用Visual Studio2013和OpenGL图形工具包设计了三个自由度的模拟驾驶实景软件,用户可在三维沉浸立体显示环境下模拟真实驾驶行为,完成对模拟器的人机交互实时控制。进行了物理样机试验,试验结果表明驾驶模拟器能够实时模拟汽车的各种运动,以较低的成本获得了较逼真的驾驶体验。

A three-degree-of-freedom driving simulator based on parallel mechanism was studied aiming at the current situation that the traditional car driving simulator is expensive and difficult to popularize.In order to design the motion and human-computer interaction control program,carrying out the reverse solution analysis of the motion platform mechanism of the driving simulator.Adams is used to obtain the kinematics and dynamics simulations,the kinematics and dynamic performance of the driving simulator were obtained by comparing the simulation data of the forward and reverse solutions,the correctness of reverse solution analysis and the safety of platform movement was verified.Using Visual Studio 2013 and OpenGL graphics toolkit to design three degrees of freedom simulation driving real-time software,user can simulate the real driving behavior in the 3D immersive stereo display environment,and complete the real-time control of the human-computer interaction of the simulator.Carrying out physical prototype tests,the test results show that the driving simulator can simulate various sports of the car in real time and obtain a more realistic driving experience at a lower cost.