交互式履带起重机模拟器系统关键技术研究

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.