基于虚拟现实的滑雪模拟器系统设计与研制

发布时间：2018-01-04 15:31

本文关键词：基于虚拟现实的滑雪模拟器系统设计与研制　出处：《北京交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着虚拟现实(VR)技术的迅速发展,在滑雪模拟器系统开发的过程中逐渐引入了虚拟现实技术。滑雪模拟器作为一种能够正确模拟滑雪动作的仿真设备,不仅能对滑雪运动员进行训练、缩短培训周期,还能以新的传播方式向民众普及和推广冬季体育运动。目前国内的滑雪模拟器大多只停留在简单的机械运动上,存在系统操作复杂、使用寿命短、用户体验差等问题。虚拟现实技术则为滑雪仿真平台提供了新的解决方案。本文针对滑雪模拟器的运动特性和实际应用的需要,对基于虚拟现实技术的滑雪模拟器系统进行了分析与研制工作,研究成果具有实际的应用价值。全文的主要研究内容如下:1.研究了滑雪模拟器设计原则以及技术指标,结合虚拟现实技术确定了滑雪模拟器总体设计方案,提出了以三自由度并联机构作为主要硬件平台的滑雪模拟器系统。该结构刚度好、易于控制且有良好的灵活性,可以实现模拟滑雪动作的功能。2.对三自由度运动平台结构进行了分析,采用空间姿态角表示方法建立了运动平台的数学模型进而推导出其运动学反解公式。通过改变三个支撑杆的长度实现了平台的的运动,仿真结果显示所设计的平台可以实现滑雪运动中的俯仰、滚动以及垂直升降的姿态。3.研究了电动缸伺服驱动系统的控制特性,对所选型号电机和传动装置建立了相对简单的数学模型,采用PID算法对其进行控制并结合三自由度平台进行仿真。仿真结果显示伺服驱动系统有良好的控制性能。4.采用模块化的思想,对滑雪模拟器平台控制系统的软件架构进行设计,包括与VR上位机的通讯接口设计,将控制系统分为电机设定模块、电机控制模块、传感器数据模块、电机状态模块、电机状态模块、运动轴实时位置模块、通讯数据模块以及数据记录模块。测试结果显示整个控制系统功能完善,具有友好的通信接口和人机交互功能。此外,为了验证滑雪模拟器系统的正确性,对重力传感器、伺服驱动系统等设备进行了标定实验,实验结果表明设备在精度以及响应速度方面均满足要求;还结合虚拟视景系统进行了系统的联调测试,测试结果显示滑雪模拟器系统滑雪体验性能良好,符合设计要求,并已成功在国家科技馆安装投入使用。
[Abstract]:With the rapid development of virtual reality (VRV) technology, the virtual reality technology has been introduced into the development of ski simulator system. Not only can we train skiers, shorten the training cycle, but also popularize and popularize winter sports to the public in a new way. At present, most of the domestic skiing simulators only stay on the simple mechanical movement. The operation of the system is complicated and the service life is short. Virtual reality technology provides a new solution for the ski simulation platform. This paper aims at the motion characteristics of ski simulator and the needs of practical application. This paper analyzes and develops the ski simulator system based on virtual reality technology. The research results have practical application value. The main research contents are as follows: 1. The design principle and technical index of ski simulator are studied, and the overall design scheme of ski simulator is determined with virtual reality technology. A skiing simulator system with three degrees of freedom parallel mechanism as the main hardware platform is proposed, which has good stiffness, easy control and good flexibility. It can realize the function of simulating ski movement. 2. The structure of three-degree-of-freedom motion platform is analyzed. The mathematical model of the motion platform is established by using the spatial attitude angle representation method and the inverse kinematics solution formula is derived. The motion of the platform is realized by changing the length of the three supporting rods. Simulation results show that the designed platform can achieve the pitching, rolling and vertical lifting attitude. 3. The control characteristics of electric cylinder servo drive system are studied. A relatively simple mathematical model is established for the selected type of motor and transmission device. The PID algorithm is used to control the system and the simulation results show that the servo drive system has good control performance. 4. The idea of modularization is adopted. The software architecture of the platform control system of ski simulator is designed, including the design of communication interface with VR PC. The control system is divided into motor setting module, motor control module and sensor data module. Motor state module, motor state module, moving shaft real-time position module, communication data module and data recording module. The test results show that the whole control system function is perfect. In addition, in order to verify the correctness of the ski simulator system, calibration experiments on gravity sensor, servo drive system and other equipment are carried out. The experimental results show that the accuracy and response speed of the equipment meet the requirements. The test results show that the ski simulator system has good performance and meets the design requirements, and has been successfully installed in the National Science and Technology Museum.
【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;G863.1

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