虚拟环境中履带式车辆运动仿真  

Simulation of Tracked Vehicle in Virtual Environment

作　　者：孙伟[1] 张琦[1] 孙丰[2] 孙劭文[1] 

机构地区：[1]解放军理工大学工程兵工程学院,江苏南京210007 [2]中国卫星海上测控部,江苏江阴214431

出　　处：《计算机仿真》2008年第8期258-262,共5页Computer Simulation

摘　　要：为了对虚拟环境中履带车辆进行建模,满足虚拟现实系统沉浸感和实时性要求,研究了基于ODE(多体动力学仿真库)的履带式车辆多体动力学模型和仿真方法。将模型应用于虚拟现实系统,对履带车辆运动、翻越垂直墙、壕沟等障碍进行实时仿真。结果表明该模型能较好地表现虚拟环境中履带式车辆运动的动态过程,以及履带、负重轮等行走系统部件的相对运动。提出的模型及仿真方法能较好地应用于虚拟战场、装备模拟训练系统等虚拟环境,具有一定的应用价值。In order to model tracked vehicle in virtual environment for meeting the immersion and reahime requirements, the model and simulation method of tracked vehicle based on ODE（ Open Dynamic Engine） are studied. The model is applied to virtual reality system to simulate the motion of tracked vehicle when crossing verticle abstacle and entrencher in reahime. The results turn out that the model can well represent the dynamic process of the moving tracked vehicle in virtual environtment, and the relative motion of each part of walking system, such as tracks and wheels. The model and simulation method can well applied to＇ virtual environments like virtual battle field and equip - ment training simulation

关 键 词：虚拟环境 履带式车辆 运动仿真 多体动力学仿真库 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]