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.
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