基于虚实结合的特装车辆驾驶训练模拟系统  

Special Vehicle Driving Training Simulation System Based on Integration of Virtuality and Reality

作　　者：李向阳 汪潇 张志利 李亦豪 龙勇 Li Xiangyang;Wang Xiao;Zhang Zhili;Li Yihao;Long Yong(Rocket Force University of Engineering,Xi’an 710025,China;School of Marine Science and Technology,NPU,Xi’an 710072,China;China Aerospace System Simulation Technology Co.,Ltd(Beijing),Beijing 100195,China)

机构地区：[1]火箭军工程大学,陕西西安710025 [2]西北工业大学航海学院,陕西西安710072 [3]航天科工系统仿真科技(北京)有限公司,北京100195

出　　处：《系统仿真学报》2021年第12期2919-2934,共16页Journal of System Simulation

摘　　要：针对特装车辆驾驶训练与考核的实际需求,基于虚实结合的方式设计与开发特装车辆驾驶训练模拟系统,通过构建各类数学模型、功能模块、工作流程和控制软件,采用与实装一致的驾驶舱及其操控装置、中控仪表、驾驶座椅等,结合六自由度运动平台及其运动控制系统、多通道视景显示设备,构建沉浸式的虚实结合驾驶训练环境,为驾驶员提供"教学、训练、考核"一体化支撑平台。各类通用化、模块化设计的仿真资源,能够为同类应用开发提供可重用的技术条件。Aiming at the actual demands of special vehicle driving training,special vehicle driving training simulation system is designed and developed based on the integration of virtuality and reality mode.Through building all kinds of mathematical models,functional modules,workflows and control software,and applying the cab that same as actual equipment with manipulating device,central control instrument and driving seat,immersive driving training environment with integration of virtuality and reality is established based on 6-DoF motion platform and its control system as well as multi-channel visual display device.It can provide the integrated support platform with“educating,training and assessing”functions to drivers.All kinds of simulation resources designed with modularization and universalization may provide reusable technical conditions for the development of similar applications.

关 键 词：虚实结合 特装车辆 驾驶训练 六自由度运动平台 动力学模型 闭环控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]