基于VR与3RPS机构的滑雪模拟器的设计与实现

发布时间：2018-03-31 12:48

本文选题：滑雪　切入点：虚拟现实　出处：《北京交通大学》2017年硕士论文

【摘要】：北京-张家口冬奥会的临近使滑雪运动在中国迅速升温,滑雪运动高费用、高风险等特点阻碍了其在中国的普及。滑雪模拟器作为一种替代方案,可以解决上述问题。但已有的滑雪模拟器模拟效果不真实,与滑雪者感官的交互较为单一,无法产生令滑雪者身临其境的感受。因此本文提出了一种3RPS机器人和虚拟现实技术结合的全新滑雪模拟器方案,可以模拟滑雪者俯仰、偏转,速降三个维度的运动,满足滑雪者模拟真实滑雪的需要。本文的工作除虚拟现实场景的实现均由作者独立完成,其内容主要分为三部分:第一,借助四元数、方向余弦矩阵等数学方法,分析、建模并实现了滑雪模拟器的控制系统,解决了滑雪者重心空间与滑雪台驱动空间的相互映射问题;第二,通过构造传递函数使运动曲线平滑化及Z变换、δ变换使信号离散化,实现了滑雪模拟器信号预处理系统,解决了过程中输入信号不连续与滑雪台运动行程空间有限的问题;第三,通过对常用协议的优选实现和对ADS通信原理的分析,实现了滑雪模拟器的通信系统,解决了滑雪模拟器子系统间的相互通信问题。本文的验证过程主要分为两部分:子系统单元测试和系统集成测试。本文在对子系统进行单元测试的过程中,通过正反解算法互为逆运算的性质验证了控制系统的正确性;通过滑雪台信号预处理系统的输入、输出信号的对比,验证了其有效性;通过对滑雪模拟器通信系统抓包测试,验证了其实时性;通过对虚拟现实生成系统的前后场景对比,验证了滑雪者视角和场景运动的方向一致性。最后,本文对滑雪模拟器的协调性进行整体验证。经验证,可以满足滑雪者模拟真实滑雪的需要。
[Abstract]:Beijing-the proximity of the Zhangjiakou Winter Olympics has led to a rapid rise in skiing in China, with high costs and high risks hampering its popularity in China. Can solve the above problem. But the simulation effect of the existing ski simulator is not real, and the interaction with the skier's senses is relatively simple. Therefore, this paper proposes a new skiing simulator scheme combining 3RPS robot and virtual reality technology, which can simulate the skier's motion in three dimensions: pitching, deflection and speed down. The work of this paper, except the realization of virtual reality scene, is accomplished by the author independently. The content is divided into three parts: first, with the help of quaternion, direction cosine matrix and other mathematical methods, analysis, The control system of ski simulator is modeled and realized, which solves the mapping problem between the center of gravity space of skier and the driving space of ski table. Secondly, the motion curve is smoothed and Z transformed by constructing transfer function, and the signal is discretized by 未 transformation. The signal preprocessing system of ski simulator is implemented, which solves the problems of the discontinuity of input signal and the limited travel space of ski table. Thirdly, through the optimization of common protocols and the analysis of ADS communication principle, The communication system of ski simulator is realized. The verification process of this paper is divided into two parts: subsystem unit test and system integration test. The correctness of the control system is verified by the properties of the forward and inverse algorithms. The validity of the control system is verified by comparing the input and output signals of the ski platform signal preprocessing system. Through the contrast of the scene before and after the virtual reality generation system, it verifies the consistency of the skier's angle of view and the direction of scene motion. Finally, this paper verifies the coordination of the ski simulator as a whole. It can meet the needs of skiers to simulate real skiing.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.9;TP242;TS952.6

【参考文献】