The Research On Several Key Techniques Of Motion Simulation For Container Crane Training Simulator

One of the most applied fields for system simulation technology is definitely all kinds of training simulator system.The characteristic of simulator technology is that single or group participants are placed into simulation system to form a close-loop system and get the experience of being trained The individuals become aware of the environment through eyes, ears, nose, tongue and body.Modern simulator emphatically develops image simulation.sound simulation,motion simulation and touch simulation.This paper just aims to perfect the function of motion simulation for our existing Container Crane Training Simulator."Because the paper is a pilot study for singe degree of freedom motion simulation.the purpose of this form of motion simulation is just to simulate the operator chair's vibration in single direction.Generally.the prompting signals are actual vibration signals collected from the crane spot.such as the signal in the condition of trolley's forward traveling when braked.Then we set up an a-c servo control system.ultilize the computer's function of high-accuracy counting,timing and judgement.choose applicable control project and appropriate control strategy.and realize the response's approximate track to the prompting signals.The paper is mainly involved in the following jobs:1 .Select the industrial control products made by Parker and Advantech to set up an integrated a-c servo system.use PCI-1720 card,PCL-836 card and resolver.design the system's interface circuits.put forward the anti-jamming measure in hardware.and thus form integrated I/O channel of servo-motor computer control system;2.Considering the demand for control system and possibility to be realized(mainly about the performance of PCL-836 card),we put forward single loop servo control project and the method to measure the revolving speed by revolver——M method(pulse number method);3.Establish approximate transfer function of controlled object.use MATLAB to simulate control system by integration separation PID control,compare the control effect with that by normal PID control.and confirm the PID parameters of control system;4.In programming.we use multimedia timer of Windows OS and PCL-836 card to perform the function of collecting feedback signal,PID calculating and outputting control voltage signal.etc during the interval of timing time;5.Input standard function signals.such as free little damped curve,sine curve.square curve and some actual vibration signals into this control system, considering each strongpoint of VC++ and MATLAB use VC++ calling MATLAB to analyze responsing signals;The application of this system improves the functions of our existing training simulator. The paper also laids a foundation for extending this system to multi degree of freedom. Moreover.in future we can set links between this system and the computer vision to make the operator's chair vibrate in different state according to the different working condition occurring in the computer vision.