Research On Simulated Driving System For Armored Vehicles With Virtual Reality

"Simulated Driving System for Armored Vehicles with Virtual Reality"is a kind of simulated driving&training system for armored vehicles which was researched and developed based upon the combination of virtual reality technology and motion simulator technology. Its main function is to train the armored forces in order to improve the quality and efficiency for driving training. At present, the training method of the whole course with true vehicles is still widely in use among our national armored forces. This method has many disadvantages. For example, it will consume more fuel, occupy large area of field and will need more full time directors. It needs so many armored vehicles and so much money for the maintenance. Further more, it may make pollutions such as large noise and exhaust gas due to wrong operation. It may even make the soldiers lost their lives due to unpredictable factors. Though a few armies have been equipped with simulation training systems which were developed in early days, the quality of the pictures are so poor and the upgrading of the systems are so difficult due to the poor conditions for developing at that time. The development of virtual reality technology can offer the brand-new solutions for these questions. In recent years, virtual reality technology is applied in driving&training systems for vehicles in many research institutions domestic and international, in order to improve their performance. In order to improve the quality and efficiency for driving training of the armored forces, we researched and developed the simulated driving&training system for armored vehicles based on virtual reality technology and 3-DOF motion simulator of mechanical electronic engineering lab. Three kinds of technologies that aims at realizing the simulated driving system for armored vehicles with virtual reality were discussed systematically in the thesis, including virtual reality technology, motion simulator technology and vision simulation technology. And the Dynamic Equation of armored vehicles was analyzed and established. Then we researched and established the simulated driving system for armored vehicles with virtual reality based upon the motion simulator of 3-DOF, which is driven by the hydraulic power system. So can we realize the real-time feedback of the information such as vision and motion. The main contents of my paper is depicted as following: 1. A brief introduction for all the parts of the simulated driving system for armored vehicles with virtual reality was made. We divided the whole system into two main parts according to the function: the motion simulating system and the virtual vision system. The motion simulating system is consist of the main body of 3-RPS motion simulator, the electronic and hydraulic servo controlling system and the closed loop controlling system for position. The virtual vision system is consist of the creating system for virtual vision and the display system for virtual vision. 2. A Study on the 3-DOF motion simulator of mechanical electronic engineering lab was made. Based on the 3-RPS motion simulator, we established the fixed coordinate system on the fixed platform and the moving coordinate system on the moving platform, using the method of coordinate transforming. Then we established the matrix for coordinate transforming and deduced the conversed equation for the motion simulator. Finally, we analyzed the electronic and hydraulic servo controlling system and established its mathematical model. 3. The Dynamic Equation of the tracking armored vehicle was researched and established. We analyzed and researched on the operating modes during driving of the armored car regarding the whole body as one rigid body, such as starting, accelerating, driving directly, changing direction. Then we established the mathematical models of these operating modes, which can be applied to the vision system. Thus it can afford the mathematical foundation for the...