虚拟现实环境下载人机动装置仿真系统  

SIMULATION SYSTEM FOR MANNED MANEUVERING UNIT IN VIRTUAL REALITY ENVIRONMENT

作　　者：程剑[1] 范秀敏[1] 严隽琪[1] 黄卫东 洪鑫 

机构地区：[1]上海交通大学机械与动力学院,上海200030 [2]上海航天动力机械研究所,上海200233

出　　处：《机械工程学报》2006年第2期161-167,共7页Journal of Mechanical Engineering

基　　金：上海市科学技术委员会重大项目基金(015111097)上海市优秀青年科研基金资助项目

摘　　要：系统地介绍了载人机动装置(MMU,Manned maneuvering unit)的虚拟现实仿真环境,建立了MMU动力学／运动学模型、推力系统模型。根据航天员太空行走的特点,建立了航天员多体模型,利用位姿跟踪设备记录操作者的肢体运动信息,并将该信息正确地映射为虚拟环境下航天员的肢体运动。所得到的运动信息实时参与航天员动力学／运动学计算,更加真实地反映出航天员太空行走过程。从虚拟样机控制系统的快速设计和仿真的目的出发, 建立了虚拟现实环境下MMU的分布式仿真系统。控制系统的设计和仿真在MATLAB/Simulink环境下完成,利用网络通信手段实现控制系统与MMU仿真主程序之间的协同仿真。A brief introduction of a virtual reality simulation system for manned maneuvering unit （MMU） is presented, MMU＇s dynamics/kinematics module and thruster system module are formulated. Astronaut＇s multi-body model is established according to characteristics of spacewalking. With the using of FOB （flock of bird： a motion tracking system）, the system records operator＇s limbs motion, maps the record information to astronaut＇s limbs motion and introduces it to the computation of dynamics/kinematics model, Thus, actual astronaut spacewalking can be simulated more vividly in this system, The entire system is created with a distributed framework for the purpose of MMU control system＇s fast design and simulation, The design and simulation of control system arc finished in the environment of MATLAB/Simulink with the control system isolated from other modules of the MMU virtual prototype system, The co-simulation between control module and the service program of MMU is accomplished making use of network technologies.

关 键 词：虚拟现实 载人机动装置 分布式仿真 位姿跟踪 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]