六自由度汽车驾驶运动模拟器设计

百度文库-让每个人平等地提升自我1摘要汽车驾驶模拟器是一种用于汽车产品开发、“人—车—环境”交通特性研究或驾驶培训的重要工具。近年来，由于具有安全性高、再现性好、可开发性强、成本低等显著特点，研究开发驾驶模拟器已经成为国内外一个重要发展方向。本文在查阅国内外大量资料的基础上，结合老师的研究课题主要对六自由度汽车驾驶模拟器液压系统部分进行设计。六自由度汽车运动模拟器采用液压伺服阀控制液压缸来驱动模拟平台的运动，以实现汽车驾驶模拟器运动姿态模拟。本文主要进行机械机构的设计、液压伺服系统设计、液压泵站设计和液压缸的设计等。通过模拟器的机构设计和驱动液压伺服系统设计，结合电气系统能够实现汽车在不同运行状态的模拟，当驾驶员坐在驾驶舱系统的座椅上进行模拟驾驶时，完全能够感受到实际汽车驾驶的各种体感，为实车训练驾驶提供了可替代的模拟平台；本设计也为今后的进一步研究及其在娱乐模拟器、动感电影等产业的实际推广和应用方面奠定了基础。关键词：汽车驾驶模拟器六自由度运动平台液压伺服系统运动姿态控制百度文库-让每个人平等地提升自我2AbstractTheAutomobile-drivingianimportanttoolwhichusedforthedevelopmentofautomobileproductandthestudyofthetransportationcharacteristicsof“man-car-environment”orthedrivertraining.Inrecentyears,thestudyoftheautomobile-drivingsimulatorusedfordevelopmenthasbecomeanimportantdevelopmentdirectionintheworldbecauseofthenotablecharacteristicsofhighsafety,wellreappearanceofscene,easytodevelopandlowcost.Thisarticleisbasedonsearchingthelargequantityofinformationaboutathomeandabroad,andcombineswiththeteacher’sresearchtaskwhichmainlydesignsthepartof6-dofdrivingSimulatorofhydraulicsystem.The6-dofmotionsimulatoradoptsvalvesofhydraulicservotocontrolactuatortodrivethemovementofdrivingsimulationplatform,andtoachievethemovementposturesimulationoftheautomobiledrivingsimulator.Thisarticleismainlyaboutthedesigningofmachine,thesystemofhydraulicservo,hydraulicpumpstation,andactuatorandsoon.Accordingtothedesigningofagenciesofsimulatorandhydraulicservosystem,itcancombinestheelectricalsystemwhichcanbringouttheimitationofcarsindifferentmovementconditions,whenthedriversimulatingdriveontheseatofcockpitsystem,youcanfeelthefeelingofdrivingatruecar,anditalsoofferthesimulatorplatformwhichcanbereplacedfortruedrivingtraining.Atthesametime,thisdesigningisalsoestablishesforthefurtherresearchesandthepracticeextensionanduse.Keywords:Driving-automobilesimulator,6-dofofmotionplatform,thesystemofhydraulicservo,thecontrolofcampaignattitude百度文库-让每个人平等地提升自我1目录1绪论..................................................................................................................................1引言.................................................................................................................................1国内外发展现状.............................................................................................................21.2.1国内外研究和发展概述...............................................................................21.2.2驾驶模拟器的应用和发展...........................................................................3课题任务.........................................................................................................................5论文的主要研究内容.....................................................................................................52运动学及力学分析..........................................................................................................6六自由度运动模拟器机构位置反解.............................................................................62.1.1坐标系的建立...............................................................................................62.1.2广义坐标定义...............................................................................................62.1.3坐标变换矩阵...............................................................................................72.1.4液压缸铰支点坐标的确定...........................................................................82.1.5位置反解.....................................................................................................10六自由度运动模拟器机构位置正解...........................................................................11静力学分析...................................................................................................................113机械及液压部分设计....................................................................................................12运动模拟平台的设计...................................................................................................123.1.1液压缸内壁D活塞杆直径d的计算........................................................123.1.2液压缸壁厚和外径的计算.........................................................................143.1.3缸盖壁厚的确定.........................................................................................143.1.3液压缸工作行程的确定.............................................................................153.1.4缸体长度的确定.........................................................................................153.1.5液压系统的计算.........................................................................................15液压泵站.......................................................................................................................17铰链的设计...................................................................................................................18执行机构单元组成.......................................................................................................21电液伺服控制单元与液压系统...................................................................................22反馈单元.............................................................................................