交互式履带起重机模拟器系统关键技术研究  

Rearch on Key Technologies of Interactive Crawler Crane Simulator

作　　者：张鑫[1] 徐子力[1] 罗兴剑 赵娟[1] 

机构地区：[1]上海大学机电工程及自动化学院,上海200072 [2]上海三一重机有限公司,上海201200

出　　处：《计算机仿真》2012年第11期386-390,共5页Computer Simulation

摘　　要：关于起重机仿真系统优化设计问题,在现有履带起重机系统的研究基础之上,建立了起重机系统的运动学/动力学简化模型。对机构的运动和受力状态,视景系统要求利用OSG图形系统进行实时渲染,生成具有真实感的虚拟环境,利用机电控制技术将各子系统可靠集成,建立起整个模拟器系统,实现了起重机的交互式操作的仿真环境,应用Matlab RTW进行建模与实时仿真分析,为工程机械领域提供了一种新的操作培训方法。通过仿真证明了实时仿真模型的正确性以及模拟器系统的可用性。This paper introduced a crawler crane simulator system. The simplified kinematics/dynamics model was established based on the research on the current crane system. Matlab RTW was used to complete the modelling and real-time simulation and get the motion and stress state of the mechanism. According to the simulation result, the scene system carried out the real-time rendering and created the virtual environment utilizing rendering engine OSG. The sub-systems were integrated using electro/mechanical control technology . Thus the crane simulator system was established and interactive simulation wais realized. This system offers a new training method in the heavy machinery field. Experiment shows the correctness of the simulation model and the usability of the simulator system.

关 键 词：履带起重机 模拟器 运动学 实时仿真 

分 类 号：TP337[自动化与计算机技术—计算机系统结构] TP391.9[自动化与计算机技术—计算机科学与技术]