Research On Key Technologies For Real-time Reproduction Of Driving Status Of Unmanned Engineering Machinery

Autonomous driving technology is an important technology for improving the intelligence and high-end level of engineering machinery.As the implementation carrier of autonomous driving technology,the immersive intelligent cockpit can improve operation efficiency,enhance safety,and increase driving comfort,with significant economic and social benefits.However,in terms of feedback of driving status,the commonly used method in intelligent cockpit is to filter the acceleration and angular velocity of the real vehicle motion through the body sensation simulation algorithm and then reproduce it on the motion platform.Research on body sensation simulation algorithms both domestically and internationally mainly focuses on fast-moving vehicles with frequent posture changes and large acceleration amplitudes such as airplanes,cars,and trains.These studies are more concerned with systems that have fixed parameter inputs and do not require realtime performance,such as driving simulators.There is little research on real-time control systems for engineering machinery with obvious vibration feedback and small acceleration amplitudes.Therefore,this thesis designs a real-time reproduction system for driving status in the intelligent cockpit of engineering machinery and improves the classic washout algorithm for application in the system.Through Simulink simulation verification,the system can effectively reproduce the motion posture of engineering machinery,and the improved algorithm in the system can improve the accuracy and realtime performance of operators’ perception of motion status compared with the classic washout algorithm.The main work of this thesis includes the following parts.1.To meet the requirements of accuracy and real-time performance in reproducing driving status,this thesis conducts a detailed analysis from three aspects: the driving status information that needs to be reproduced by the system,the transmission method of intelligent cabin information,and the reproduction form of the driving status in the intelligent cabin.Finally,based on the analysis above,a comprehensive design scheme for the system is determined.2.In response to the problem of reproducing driving status on the motion platform,we first analyzed the human perception mechanism of the external environment.Next,we specifically analyzed the principle of using human perception in the body sensation simulation algorithm to simulate states.Then we compared the pros and cons of three commonly used washout algorithms and chose the classic washout algorithm as the system’s body sensation simulation algorithm.Finally,we incorporated actual engineering motion parameters,simulated with Simulink,and analyzed the current algorithm’s deficiencies based on evaluation standards.3.In response to the shortcomings of the classical washout algorithm,the design of each step of the algorithm was based on the actual working conditions of engineering machinery.Then,improvements were made to the structure of the classical washout algorithm in two areas: unreasonable feedback force in the translation channel and tiltcoordination channel,and loss of angular velocity feedback.Finally,actual working conditions were used as input to verify the effectiveness of the algorithm improvements.4.Regarding the overall design and implementation of the platform,first,the implementation process of the motion platform system is introduced.Then,the method analysis is carried out from the platform position planning and control scheme,and the system design is carried out based on the parameters and drive devices of the execution mechanism combined with the system requirements and the engineering machinery operating conditions of this project.Subsequently,the system is dynamically simulated and reproduced through Sim Mechanics and Simulink.Finally,the improved washout algorithm is verified using the simulation system.