Proprioceptive Simulation Study And Smulation In Train Driving Simulator

During the fast development of the high-speed railway and urban mass transit of our country, the locoman's training technique need to improve further, and it is very significant to develop the Full-Function Train Simulator with Proprioceptive Simulation system. This thesis studies the Proprioceptive Simulation system of the simulator, and puts emphasis on studying the mechanism theory, kinematics theory and proprioceptive simulation theory of the six degree of freedom (6DOF) platform which supports the simulator. With those studying, this thesis designs control algorithms which is suitable for the real-time control system, and provides well reference and simulation tool for developing six degree of freedom platform independently.Firstly, the forward position and inverse position model of this platform is built based on analyzing the vector relation between the top platform and the bottom platform of the six degree of freedom platform. Secondly, based on the "Influence of coefficient" method, the kinematics model of the platform is presented. Thirdly, based on the proprioceptive theory according to the body, the proprioceptive simulation algorithms is presented by using the classical filter algorithms, and the linear systematic simulation model is built by the linear theory. On the basis of mathematics models built by the MATLAB, this thesis designs real-time control algorithm by C ++ program language. Firstly, the real-time forward algorithm is designed by Newton-Raphson iterative method. Secondly, the kinematics calculation algorithm is designed by matrix calculation module. The real-time proprioceptive simulation filter algorithm is designed by discrete systematic iterative method on the basis of the linear systematic simulation model. Finally, this thesis adopts Object Oriented method to develop proprioceptive simulation soft for the train simulator. The soft provides a good man-computer interface for simulating the train's running. The simulation result shows how the six degree of freedom platform simulating the movement state and motion proprioceptive information when the train running, andproves the exactness of the relevant real-time control algorithms.