汽车起重机模拟作业系统关键技术的研究

发布时间：2018-03-07 11:57

本文选题：汽车起重机　切入点：多体动力学　出处：《华中科技大学》2011年硕士论文　论文类型：学位论文

【摘要】：虚拟样机技术不断发展,特别是实时动力学仿真技术的发展,为车辆的交互式实时仿真提供了一种新的手段。本文将实时动力学引入汽车起重机模拟作业系统,建立某型全路面全轮转向汽车起重机的动力学模型,研究汽车起重机驾驶和吊装模拟作业的相关技术,基于上述技术开发了汽车起重机模拟作业系统。该系统集汽车起重机动力学建模、数学建模、大规模复杂场景组织和管理、计算机动画技术、实时交互于一体。本文主要研究内容如下: 介绍虚拟样机技术和机械系统多体动力学的基本理论,以及国内外动力学技术在车辆仿真技术应用上的研究现状和发展趋势。基于多体系统动力学理论,建立某型汽车起重机子系统的动力学模型;采用层次模型的方式组织汽车起重机模型,降低仿真过程中模型转化的运算量,并增强系统的可扩展性;建立汽车起重机协同吊装的数学模型。基于八叉树建立了汽车起重机模拟作业系统所依赖的大规模复杂场景模型。基于数字高程模型,采用双线性插值算法建立了场景的地面模型,减少插值运算的次数并且满足运算精度要求;采用四元数描述实体的旋转运动;采用三维音效辅助增强场景的真实感。讨论模拟作业系统的实时控制模块,以及微分方程的求解;采用广义/狭义二阶段碰撞检测算法,对场景中的物体进行碰撞检测。基于上述技术和算法,在图形渲染引擎OGRE和物理引擎Havok的基础上,描述物理引擎求解结果驱动三维图形的实现过程,以及某型汽车起重机模拟作业系统的结构。输入设备接口和硬件抽象层接口的设计使得系统独立于不同的外部设备,多线程运算充分发挥现代计算机多处理器、多核的特点,提高系统的并行度,有效提高系统的响应能力。
[Abstract]:The development of virtual prototyping technology, especially the development of real-time dynamic simulation technology, provides a new method for interactive real-time simulation of vehicles. The dynamic model of a certain type of all-wheel steering truck crane is established, and the related technology of driving and hoisting simulation operation of automobile crane is studied. Based on the above technology, the simulation operation system of truck crane is developed. The system integrates dynamic modeling, mathematical modeling, large-scale complex scene organization and management, computer animation technology, etc. The main contents of this paper are as follows:. This paper introduces the basic theory of virtual prototyping and multi-body dynamics of mechanical system, as well as the research status and development trend of the application of dynamics technology in vehicle simulation at home and abroad, based on the theory of multi-body system dynamics. The dynamic model of a certain truck crane subsystem is established and the hierarchical model is used to organize the vehicle crane model to reduce the computational cost of the model transformation in the simulation process and to enhance the expansibility of the system. The mathematical model of collaborative hoisting of truck crane is established. Based on octree, the large-scale complex scene model which is relied on by the truck crane simulation operation system is established. Based on the digital elevation model, the ground model of the scene is established by using bilinear interpolation algorithm. Reduce the number of interpolation operations and meet the operational accuracy requirements; use quaternions to describe the rotation of the entity; use three-dimensional sound effects to enhance the reality of the scene. Discuss the real-time control module of the simulation system. The generalized / narrow two-stage collision detection algorithm is used to detect the collision of objects in the scene. Based on the above techniques and algorithms, based on the graphics rendering engine OGRE and the physical engine Havok, the realization process of the physical engine solution driven 3D graphics is described. The design of input device interface and hardware abstract layer interface makes the system independent of different external equipment. Multithreading operation gives full play to the characteristics of modern computer multi-processor and multi-core. The parallel degree of the system is improved and the response ability of the system is improved effectively.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH213.6

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