The Dynamic Simulation Of The Simulation Training System Of Dockside Container Crane Base On Operating Worktable

The dynamic simulation is the key to the Simulation Training System of Dockside Container Crane and the base of realizing movement of each model. A dynamic model is created by analyzing force of the crane in the 3D space. Then differential equations are created based on the dynamic model. The system controls the movement of the model by solving parameters of the differential equations. The driving force is given in the differential equations, so it directly impacts the result. This thesis focuses on the reaction of user's operation in the system and the driving characteristic of dynamic simulation and perfects dynamic simulation at the three parts: acquisition data of the worktable and processing data of the worktable and simulation of output characteristic of electromotor.Data acquisition of the worktable must have real-time characteristic. The double CPU of the computer and the multithread method are the basis of software and hardware for the real-time characteristic. After investigating theory, practicing and comparing traits of manifold methods, this thesis chooses a predominant multi-thread method for the system which realizes the real-time characteristic furthest.The worktable is an input equipment of the system for simulating the operation of dockside container crane, and the data of the worktable simulates frequency. Because the data of the worktable is out-of-order, it cannot be used directly by the system, it needs to be processed firstly. From vector to graphics and matrix, a method of processing data is founded by gradually analyzing, which decompose a complex matrix to two special matrixes. Because of the exactitude of the polynomial interpolating in the interpolation node, the data of the worktable corresponds with target data, and this thesis accomplishes the processing of data.The purpose of acquiring and processing the data of the worktable is to generate data of control VVVF—frequency. Computing the torque-speed characteristic of VVVF is the essence of dynamics simulation. This thesis designs a method of solving applied expression, which uses technical parameters of electromotor rather than constructive parameters, and uses the torque-speed characteristic under rated condition and the load torque after frequency conversion. The curve fitting of torque-speed characteristic can make the external movement of the model realistic in the system.