岸边集装箱起重机仿真训练器数学建模与教员控制台设计
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摘要
岸边集装箱起重机仿真训练器是以训练为主要目的的集虚拟现实技术、计算机仿真技术、通讯技术于一体的高科技产品。目前，国内尚没有成型产品和成功经验可以借鉴，从2000年开始，上海海运学院开始了集装箱起重机仿真训练器的研制开发工作，本文在以前研究工作的基础上，在仿真训练器中数学建模与实现、教员控制台、以及系统模块间通讯等几方面作了一些有益的探索和尝试，具体如下：
1．仿真训练器的数学模型是本文的重点。由于岸边集装箱起重机是一个实时的人机交互操纵系统，在操作过程中随着驱动电机的启动、调速和制动，其运行状态在发生不断的变化。随着起重机大车、小车及起升机构的加速和减速，由钢丝绳连接的吊重的运动状态表现为一个复杂的空间运动。本文在分析驱动电机启动和调速特性的基础上，建立起重机系统的运动学和动力学模型，根据电机传动理论列出了大车、小车及起升机构的传动方程式，并利用基尔(Gill)公式和米尔尼—哈明预测—校正系统，解出这些方程，以实现在虚拟环境中，集装箱起重机的实时运动控制。
2．吊具的碰撞检测和着箱判断是集装箱起重机仿真训练器中的又一难点，集装箱起重机的高速化对碰撞检测和着箱判断的实时性提出了很高的要求，同时吊具模型的复杂性与集装箱起重机装卸过程的特点也增加了碰撞检测与着箱判断的难度。本文在分析岸边集装箱起重机吊具的工作过程和碰撞模型在仿真系统中的特点和要求的基础上，采用了简化、高效的碰撞线检测方法解决了碰撞检测问题，并通过建立集装箱、仓盖板、集卡的数据库，成功实现了吊具的着箱判断功能。
3．集装箱起重机仿真训练器是以训练为主要目的，在学员的学习操作过程中，教员控制台起着非常关键的引导和控制作用。本文在分析教员控制台的要求基础上，设计实现了教员控制台的主要功能，并介绍了教员控制台同其它程序模块间的相互关系。
4．集装箱起重机仿真训练器是由多个程序模块组成的，各个模块之间必须有效通讯并保证实时的数据交换，才能保证整个系统的正确运行。本文根据教员控制台和评分系统的功能需要，确定了需要交换的数据，并在Visual C++环境下，采用UDP协议、内存映射文件和多媒体时钟的方法实现主机间和进程间的高速实时数据交换。
Container Crane Training Simulator is the high-tech production, integrating virtual reality technology, computer simulation technology and communication technology. It is developed to train the operator. There is no domestic successful product and experience for us to use for reference at present. Shanghai maritime university started to develop Container Crane Training Simulator in two-thousand. On the basis of research work which had been finished before, this paper makes a lot of exploration and tries in several jobs of Training Simulator such as realization of mathematics model, the instructor system and communication between the different modules. The details list as below:
1. The mathematics model of training simulator is a key in this paper. Because the Container Crane Training Simulator is a real-time ergonomic mutual system. Its state is changed all through the operation process with the speed changing of motor. The spreader is linked to the crane through the rope, and its motion state is changed complicated in three-dimension with the accelerating and decelerating of trolley, hoist and gantry. On the basis of the motor driving principle, the paper establishes kinematics and dynamics model of crane and lists the driving equation. These equations are calculated by using Gill formula, Milne and Hamming forecasting and emendation system. It realizes the real-time movement control in virtual environment.
2. Collision model is an important and key part in simulating system. The high-speed of container cranes makes strict demands on the real-time collision detection and spreader landed judgment. The complexity of the spreader makes the problem more difficult. This paper analyses the movement process of spreader and the difficult point of collision mode in simulator. A simple and high efficiency method which makes use of collision lines is adopted in this paper to resolve the collision detection. Based on the database of container, it also realizes the spreader landed judgment successfully.
3. The simulator is developed to train the operator. During the training period, the instruct system plays an important role. Based on the analysis of requirement of the instructor system, this paper designs the main function of it. And the
relationship between the instructor system and the other modules is also introduced in this paper.
4. The simulator is made up of several program modules. It is required to communicate and exchange the data between the different modules. According to requirement of instruct and evaluation system, the paper determines the data to exchange. And using the UDP protocol, memory file mapping and multimedia clock, it realizes the high-speed real-time data exchange between the different computers and process in the Visual C++ software development environment.
1．仿真训练器的数学模型是本文的重点。由于岸边集装箱起重机是一个实时的人机交互操纵系统，在操作过程中随着驱动电机的启动、调速和制动，其运行状态在发生不断的变化。随着起重机大车、小车及起升机构的加速和减速，由钢丝绳连接的吊重的运动状态表现为一个复杂的空间运动。本文在分析驱动电机启动和调速特性的基础上，建立起重机系统的运动学和动力学模型，根据电机传动理论列出了大车、小车及起升机构的传动方程式，并利用基尔(Gill)公式和米尔尼—哈明预测—校正系统，解出这些方程，以实现在虚拟环境中，集装箱起重机的实时运动控制。
2．吊具的碰撞检测和着箱判断是集装箱起重机仿真训练器中的又一难点，集装箱起重机的高速化对碰撞检测和着箱判断的实时性提出了很高的要求，同时吊具模型的复杂性与集装箱起重机装卸过程的特点也增加了碰撞检测与着箱判断的难度。本文在分析岸边集装箱起重机吊具的工作过程和碰撞模型在仿真系统中的特点和要求的基础上，采用了简化、高效的碰撞线检测方法解决了碰撞检测问题，并通过建立集装箱、仓盖板、集卡的数据库，成功实现了吊具的着箱判断功能。
3．集装箱起重机仿真训练器是以训练为主要目的，在学员的学习操作过程中，教员控制台起着非常关键的引导和控制作用。本文在分析教员控制台的要求基础上，设计实现了教员控制台的主要功能，并介绍了教员控制台同其它程序模块间的相互关系。
4．集装箱起重机仿真训练器是由多个程序模块组成的，各个模块之间必须有效通讯并保证实时的数据交换，才能保证整个系统的正确运行。本文根据教员控制台和评分系统的功能需要，确定了需要交换的数据，并在Visual C++环境下，采用UDP协议、内存映射文件和多媒体时钟的方法实现主机间和进程间的高速实时数据交换。
Container Crane Training Simulator is the high-tech production, integrating virtual reality technology, computer simulation technology and communication technology. It is developed to train the operator. There is no domestic successful product and experience for us to use for reference at present. Shanghai maritime university started to develop Container Crane Training Simulator in two-thousand. On the basis of research work which had been finished before, this paper makes a lot of exploration and tries in several jobs of Training Simulator such as realization of mathematics model, the instructor system and communication between the different modules. The details list as below:
1. The mathematics model of training simulator is a key in this paper. Because the Container Crane Training Simulator is a real-time ergonomic mutual system. Its state is changed all through the operation process with the speed changing of motor. The spreader is linked to the crane through the rope, and its motion state is changed complicated in three-dimension with the accelerating and decelerating of trolley, hoist and gantry. On the basis of the motor driving principle, the paper establishes kinematics and dynamics model of crane and lists the driving equation. These equations are calculated by using Gill formula, Milne and Hamming forecasting and emendation system. It realizes the real-time movement control in virtual environment.
2. Collision model is an important and key part in simulating system. The high-speed of container cranes makes strict demands on the real-time collision detection and spreader landed judgment. The complexity of the spreader makes the problem more difficult. This paper analyses the movement process of spreader and the difficult point of collision mode in simulator. A simple and high efficiency method which makes use of collision lines is adopted in this paper to resolve the collision detection. Based on the database of container, it also realizes the spreader landed judgment successfully.
3. The simulator is developed to train the operator. During the training period, the instruct system plays an important role. Based on the analysis of requirement of the instructor system, this paper designs the main function of it. And the
relationship between the instructor system and the other modules is also introduced in this paper.
4. The simulator is made up of several program modules. It is required to communicate and exchange the data between the different modules. According to requirement of instruct and evaluation system, the paper determines the data to exchange. And using the UDP protocol, memory file mapping and multimedia clock, it realizes the high-speed real-time data exchange between the different computers and process in the Visual C++ software development environment.
引文
1、余洲生编．港口装卸机械．第二版．北京：人民交通出版社，1993
2、许建国主编．拖动与调速系统．武汉：武汉测绘科技大学出版社，1998
3、邓星钟，周祖德．机电传动控制．武汉：华中理工大学出版社，1993
4、吴重光主编．仿真技术．北京：化学工业出版社，2000
5、蒋国仁主编．岸边集装箱起重机．武汉：湖北科技出版社，2001
6、陈戌源主编．集装箱码头业务管理．大连：大连海事大学出版社，1998
7、Flight Simulator Design and Performance Data Requirement. IATA. 3rd, Edition, 1990
8、Osman Balci. Guidelines for successful simulation studies. Proceedings of the 1990 Winter Simulation Conference, ed. Osman balci, Randall P. Sadowski, Richard E. Nance, 25-32
9、Bo Hu Li, etc. System Simulation Science andTechnology in China. 1st Joint Conference of International Software. Asim 96, 10. Symposium Simulationstechnik, 1996
10、Jerry Banks. Output Analysis Capabilities of Simulation Software. Simulation. 1996(1): 23-30
11、Donald Hearn, M. Pauline Baker. 计算机图形学(，蔡士杰，吴春镕，孙正兴等译)．北京：电子工业出版社，1998
12、蔡颖，薛庆，徐弘山编著．CAD／CAM原理与应用．北京：机械工业出版社，2001
13、黄承安主编．Visual C++.NET经典开发案例．北京：中国铁道出版社，2003
14、齐舒创作室编著．Visual C++6.0开发技巧及实例剖系．北京：清华大学出版社，2000
15、王华，叶爱亮．Visual C++6.0编程实例与技巧．北京：机械工业出版社，1999
16、汪翔，袁辉．Visual C++实践与提高-网络编程篇．北京：中国铁道出版社，2001
17、Cohen J, collision detection for moving polyhedral. IEEE Trans on Pattern Analysis and Machine Intelligence, Mar. 1986, 8(2): 209-209
18、Taosong He, Kaufman A. Collision detection for volumetric object. IEEE Visualization 97, 1997
19、张质文，虞和谦，王金诺，包起帆主编．起重机设计手册．北京：中国铁道出版社，1998
20、哈尔滨工业大学理论力学教研组编．理论力学．第二版．北京：高等教育出版社，1997
21、同济大学计算数学教研室编．数值分析基础．上海：同济大学出版社，1998
22、胡寿松主编．自动控制原理．第3版．北京：国防工业出版社，2001
23、石教英主编．虚拟现实基础及使用算法．北京：科学出版社，2002
24、Andrew S．Tanenbaum著．计算机网络(，熊贵喜，王小虎译)．第3版．北京：清华大学出版社，2000
25、钱学清．起重机电子控摇系统的研究：【学位论文】．上海：上海交通大学，1999
26、冯草．分别驱动桥式类起重机的偏斜运行研究及侧向力计算：【学位论文】．上海：上海海运学院，1990
27、李延伟．臂架类起重机结构在旋转过程中的动力响应：【学位论文】．上海：上海海运学院，1988
28、王重华，梁岗，梁承姬．集装箱起重机仿真训练器．系统仿真学报，2002，14(7)：904～906
29、郝晋兵，王重华．岸边集装箱桥吊仿真训练器及其数学模型．上海物流工程学会2003论文集．上海：上海市机械工业学会物流工程学会，2003．10～14
30、王重华，郝晋兵，梁岗，梁承姬．集装箱桥吊仿真训练系统中碰撞模型的建立与实现．上海海运学院学报，2003，24(2)：142～145
31、Hnriksen, James O. The Integrated Simulation Envionment(Simulation Software of the 1990s). Operations Reaearch. 1983, 31(6): 1053-1073
32、Oren T.I. Directions of the Future of Modeling and simulation: A Normative View. Syst. Anal. Model. Simul. 1984, 1(4): 293-305
33、Celliere F E. Simulation Software: Today and Tomorrow. Simulation in Engineering Science, IMACS. 1983
34、Gang Liang, Chonghua Wang, Weijian Mi, Youfang Huang. Development of Training Simulators. Engineering design conference, 2002
35、王少梅，王海平，起重机仿真训练器的研制与应用．港口装卸，1999，(4)：1～3
36、王志强，洪嘉振，杨辉．碰撞检测问题综述．软件学报，1999，5(10)：545～ 551
37、魏迎梅，王涌，吴泉源，石教英，沙基昌，手术仿真中碰撞检测研究．计算机
研究与发展，2002，1(39)：114～119
38、Shannon, R.E. Intelligent Simulation Environments. Proceedings SCSC, 1986
39. Stephen R. Ellis. What are virtual environments?. Computer Graphics and Applications, 1994, 14(1)
40、Karen Carr, Rupert England. Simulated and Virtual Realities(Elements of Perception). Basingstoke: Burgess Science Press, 1995
41、曹俊武，郭齐胜，李斌，车辆碰撞检测的一种简化数学模型．计算机仿真，2000，6(17)：13～15
42、谢薇，郭齐胜，郑长伟，马亚龙，基于OpenGVS的视景仿真的关键技术研究．计算机仿真，2001，11(18)：26～28
43、魏迎梅，吴泉源，石教英，虚拟环境中的碰撞检测方法．计算机工程与科学，2001，2(23)：44～47
44、张宇，马丽红，余英林，空间模型碰撞检测的向量符号分析方法与实现．中国图象图形学报，1998，12(3)：481～484
45、王兆其，赵泌平，面向对象碰撞检测方法及其在分布式虚拟环境中的应用．计算机学报，1998，11(21)：990～994
46、范昭炜，万华根，高曙明，基于图象的快速碰撞检测算法．计算机辅助设计与图形学学报，2002，9(14)：805～809
47、Howe R M. Computer consideration for Real Time Simulation, NASA Technical Report, CR-2877, 1977
2、许建国主编．拖动与调速系统．武汉：武汉测绘科技大学出版社，1998
3、邓星钟，周祖德．机电传动控制．武汉：华中理工大学出版社，1993
4、吴重光主编．仿真技术．北京：化学工业出版社，2000
5、蒋国仁主编．岸边集装箱起重机．武汉：湖北科技出版社，2001
6、陈戌源主编．集装箱码头业务管理．大连：大连海事大学出版社，1998
7、Flight Simulator Design and Performance Data Requirement. IATA. 3rd, Edition, 1990
8、Osman Balci. Guidelines for successful simulation studies. Proceedings of the 1990 Winter Simulation Conference, ed. Osman balci, Randall P. Sadowski, Richard E. Nance, 25-32
9、Bo Hu Li, etc. System Simulation Science andTechnology in China. 1st Joint Conference of International Software. Asim 96, 10. Symposium Simulationstechnik, 1996
10、Jerry Banks. Output Analysis Capabilities of Simulation Software. Simulation. 1996(1): 23-30
11、Donald Hearn, M. Pauline Baker. 计算机图形学(，蔡士杰，吴春镕，孙正兴等译)．北京：电子工业出版社，1998
12、蔡颖，薛庆，徐弘山编著．CAD／CAM原理与应用．北京：机械工业出版社，2001
13、黄承安主编．Visual C++.NET经典开发案例．北京：中国铁道出版社，2003
14、齐舒创作室编著．Visual C++6.0开发技巧及实例剖系．北京：清华大学出版社，2000
15、王华，叶爱亮．Visual C++6.0编程实例与技巧．北京：机械工业出版社，1999
16、汪翔，袁辉．Visual C++实践与提高-网络编程篇．北京：中国铁道出版社，2001
17、Cohen J, collision detection for moving polyhedral. IEEE Trans on Pattern Analysis and Machine Intelligence, Mar. 1986, 8(2): 209-209
18、Taosong He, Kaufman A. Collision detection for volumetric object. IEEE Visualization 97, 1997
19、张质文，虞和谦，王金诺，包起帆主编．起重机设计手册．北京：中国铁道出版社，1998
20、哈尔滨工业大学理论力学教研组编．理论力学．第二版．北京：高等教育出版社，1997
21、同济大学计算数学教研室编．数值分析基础．上海：同济大学出版社，1998
22、胡寿松主编．自动控制原理．第3版．北京：国防工业出版社，2001
23、石教英主编．虚拟现实基础及使用算法．北京：科学出版社，2002
24、Andrew S．Tanenbaum著．计算机网络(，熊贵喜，王小虎译)．第3版．北京：清华大学出版社，2000
25、钱学清．起重机电子控摇系统的研究：【学位论文】．上海：上海交通大学，1999
26、冯草．分别驱动桥式类起重机的偏斜运行研究及侧向力计算：【学位论文】．上海：上海海运学院，1990
27、李延伟．臂架类起重机结构在旋转过程中的动力响应：【学位论文】．上海：上海海运学院，1988
28、王重华，梁岗，梁承姬．集装箱起重机仿真训练器．系统仿真学报，2002，14(7)：904～906
29、郝晋兵，王重华．岸边集装箱桥吊仿真训练器及其数学模型．上海物流工程学会2003论文集．上海：上海市机械工业学会物流工程学会，2003．10～14
30、王重华，郝晋兵，梁岗，梁承姬．集装箱桥吊仿真训练系统中碰撞模型的建立与实现．上海海运学院学报，2003，24(2)：142～145
31、Hnriksen, James O. The Integrated Simulation Envionment(Simulation Software of the 1990s). Operations Reaearch. 1983, 31(6): 1053-1073
32、Oren T.I. Directions of the Future of Modeling and simulation: A Normative View. Syst. Anal. Model. Simul. 1984, 1(4): 293-305
33、Celliere F E. Simulation Software: Today and Tomorrow. Simulation in Engineering Science, IMACS. 1983
34、Gang Liang, Chonghua Wang, Weijian Mi, Youfang Huang. Development of Training Simulators. Engineering design conference, 2002
35、王少梅，王海平，起重机仿真训练器的研制与应用．港口装卸，1999，(4)：1～3
36、王志强，洪嘉振，杨辉．碰撞检测问题综述．软件学报，1999，5(10)：545～ 551
37、魏迎梅，王涌，吴泉源，石教英，沙基昌，手术仿真中碰撞检测研究．计算机
研究与发展，2002，1(39)：114～119
38、Shannon, R.E. Intelligent Simulation Environments. Proceedings SCSC, 1986
39. Stephen R. Ellis. What are virtual environments?. Computer Graphics and Applications, 1994, 14(1)
40、Karen Carr, Rupert England. Simulated and Virtual Realities(Elements of Perception). Basingstoke: Burgess Science Press, 1995
41、曹俊武，郭齐胜，李斌，车辆碰撞检测的一种简化数学模型．计算机仿真，2000，6(17)：13～15
42、谢薇，郭齐胜，郑长伟，马亚龙，基于OpenGVS的视景仿真的关键技术研究．计算机仿真，2001，11(18)：26～28
43、魏迎梅，吴泉源，石教英，虚拟环境中的碰撞检测方法．计算机工程与科学，2001，2(23)：44～47
44、张宇，马丽红，余英林，空间模型碰撞检测的向量符号分析方法与实现．中国图象图形学报，1998，12(3)：481～484
45、王兆其，赵泌平，面向对象碰撞检测方法及其在分布式虚拟环境中的应用．计算机学报，1998，11(21)：990～994
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