Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Thit k h thng m phng li xe BMP1 Design a full-mission BMP1 simulator

Nguyn Cng nh, Cao Hu Tnh Hc vin K thut qun s e-Mail: dinhnc@mta.edu.vn, caohuutinh@yahoo.com Tm tt
Cc thit b hun luyn da trn cng ngh m phng mang li hiu qu thit thc so vi hun luyn trn thit b thc. Bi bo ny trnh by ni dung nghin cu thit k mt thit b m phng hun luyn li xe BMP1. Thit b m phng li c xy dng bao gm h thng tnh ton m phng ng lc hc xe thi gian thc, h thng m phng hiu ng m thanh v hnh nh 3 chiu, h thng to dao ng sn xe, v h thng gim st thng tin, nh gi kt qu hun luyn. Cc chc nng m phng ca thit b c thit k ci t trn thit b phn cng thng dng nhm lm gim gi thnh v tng kh nng ng dng trong thc t. H thng to dao ng 3 bc t do s dng ng c in xoay chiu 3 pha c iu khin bng bin tn m bo c tc p ng nhanh v tit kim nng lng. H thng gim st thng tin gip gio vin quan st c kt qu ca ngi li v t ng nh gi chm im thao tc li. Thit b m phng sau khi ch to p ng c yu cu hun luyn thc t. mi trng, gim thiu cc nguy c mt an ton v khng lm nh hng n cc hot ng bnh thng ca i sng x hi. Nhng nm gn y, cc h thng m phng li ni chung v m phng li xe thit gip ni ring c cc nc nghin cu v a vo ng dng rng ri trong thc tin [4]. nc ta, t cch y gn 20 nm, m phng li xe thit gip c t ra nghin cu [1]. Tuy nhin, kt qu thu c vn cha c nh mong mun. Hn ch ca cc thit b ny l tnh khng st thc ca h thng tnh ton m phng ng lc hc xe. H thng tnh ton hin th khung cnh li cng cha st thc t lm nh hng n k nng quan st ng li ca ngi hc. c bit, cc thit b m phng ny cha c tch hp h thng to dao ng sn xe. Nhng hn ch ny lm cho phn ln thit b m phng li ch to trong nc khng th a vo ng dng trong thc t. Khc phc cc nhc im nu trn, cc tc gi thit k mt h thng m phng li xe BMP1 vi y tnh nng nhm p ng nhu cu hun luyn thc t. Phn c kh bao gm khoang cabin tp li v khung gi h thng to dao ng. Phn in in t v iu khin thc hin o lng tn hiu t cc cm bin tn hiu iu khin li, iu khin ng h v cc n bo trn cabin, iu khin ng c in xoay chiu ca h thng to dao ng. Phn cng ngh thng tin gm chng trnh phn mm gim st bi tp ca gio vin, chng trnh tnh ton hin th hnh nh 3D v m thanh, chng trnh tnh ton ng lc hc xe.

Abstract
Training systems based on simulation technology proved the effectiveness compared to the real systems. This paper introduces the design of a fullmission BMP1 simulator. This simulator includes mathematically realtime dynamics, 3D display, sound effect, 3-DOF motion platform and self evaluations. The simulator is designed compatibly to low cost hardware devices. The 3-DOF motion platform uses 3-phase AC motors controled by inverters. It satisfies highly response rate and energy saving. Evaluation systems help instructors observe the training results and automatically score. The simulator satisfies training requirements.

Thit k h thng
2.1 M hnh cu trc h thng S thit k chc nng ca h thng m phng li c m t trn hnh H. 1. H thng m phng li c tch hp t cc thnh phn thuc lnh vc chuyn mn: cng ngh thng tin, c kh, in in t v iu khin. H thng hot ng nh sau: Ngi li quan st hnh nh m phng 3 chiu ca bi li v s dng cc thit b m phng lp t trn khoang li thc hin thao tc khi ng ng c, khi xe v li xe. Tn hiu t cc cm bin trn khoang li c chuyn v my tnh tnh ton ng lc hc xe v kim sot trnh t thao tc ca ngi li. Chng trnh m phng s th hin s thay i hnh nh, m thanh, thng s trn ng h hin th v iu khin thit b to dao ng sn xe tng ng vi thao tc ca ngi li v trng thi ca xe trn a hnh.

Ch vit tt
2D 3D DOF 2 chiu (2 Dimention) 3 chiu (3 Dimention) Bc t do (Degree Of Freedom)

t vn
Cc thit b m phng phc v hun luyn mang li hiu qu thit thc. Hun luyn trn cc thit b m phng so vi hun luyn trn thit b thc c u im ni bt l tit kim chi ph u t trang thit b v kinh ph bo tr, bo dng. S dng thit b m phng trong hun luyn cn gip gim thiu nhim

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Khoang li m phng y cc thit b iu khin li. Cc cm c kh v thit b trn khoang li m phng ging thit b tht v hnh dng, kch thc, v tr lp rp, hnh trnh dch chuyn v lc tc ng khi thao tc. Thit b to dao ng 3 bc t do c iu khin theo cc thng s ng hc dao ng ca sn xe trn a hnh s 3D. Chng trnh phn mm ca h thng c tch hp gm chng trnh to tnh hung, gim st bi tp ca gio vin v chng trnh m phng 3D, trong chng trnh m phng 3D c tch hp cc m un chc nng m phng hnh nh bi li, m phng hiu ng m thanh, tnh ton ng
Gim st bi tp trn bn 2D Tnh ton hin th hnh nh m phng 3D

lc hc, vo/ra tn hiu v iu khin h dao ng. Vic truyn thng trong h thng c thc hin trn giao thc mng TCP/IP. Hnh H. 2 m t biu thi gian ng b h thng. m bo tc hin th hnh nh khng nh hn 24 hnh/giy, khong thi gian ca mt chu k tnh ton ca ton b h thng phi m bo T = tk+1 tk 41,67ms. m bo chnh xc tnh ton ng lc hc v va chm ca xe vi cc i tng vt cn trn bi li th chu k tnh ton ng lc hc xe phi m bo khng ln hn 20ms.

D liu bi li Tnh ton ng lc hc m thanh

c tn hiu iu khin li iu khin ng h, n bo

iu khin h dao ng H. 1 B m c tn hiu iu khin li X l 3D, tnh va chm Tnh ng lc hc iu khin h dao ng X l thng tin trn chng trnh 2D tk H. 2 tk+1 Biu thi gian ng b h thng B m S cu trc h thng B m c tn hiu iu khin li X l 3D, tnh va chm Tnh ng lc hc iu khin h dao ng X l thng tin trn chng trnh 2D tk+2 B m B m

2.2 Tnh ton ng lc hc xe Tnh ton ng lc hc l thnh phn quan trng nht trong cc h thng m phng ni chung, th hin phn ng ca h thng m phng c st vi thit b thc hay khng. ng lc hc xe BMP1 c m t bng h cc phng trnh vi phn phc tp [2]. H phng trnh c lc bt mt s iu kin n gin ha vic tnh ton v vn bo m xc thc trong mt phm vi chp nhn c. Cc thnh phn c tnh ton bao gm cc c cu truyn lc (ng c, ly hp, hp s, c cu quay vng, gim tc cnh), tnh ton

ng lc hc chuyn ng thng, tnh ton ng lc hc quay vng, tnh ton h treo. Mt s phng php tch phn thi gian thc c tm hiu gii h phng trnh ny nh Euler v Adams. m bo tc v sai s tnh ton, phng php Adams c chn s dng [6]. M un tnh ton ng lc hc c ci t trn mt tin trnh ring vi bc tnh l 1ms. Chu trnh tnh ton ng lc hc xe c m t trn hnh H. 3. Cc tham s a hnh tc ng vo ng lc hc xe bao gm gc dc, h s bm ca a hnh, h s cn

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chuyn ng, va chm ca xe vi vt cn. Tham s u ra ca tnh ton ng lc hc l gia tc, vn tc, v tr v hng ca xe. Tham s dao ng ca m hnh sn xe trn a hnh cng c tnh ton phc v cho hin th khung nhn ca ngi li v iu khin h dao ng. Qu trnh th nghim c tin hnh vi mt s iu kin a hnh khc nhau v mt s iu kin li khc nhau. Kt qu tnh ton phn nh st vi ng lc hc xe tht.
Tnh ton ng lc hc Thao tc ca ngi li M hnh xe ng h tc vng quay ng c m thanh ng c Tnh ton ng c Vt cn a hnh Cy, nh

tnh ton hin th 3D c thit k ci t trn my tnh c cu hnh thng dng. Tc hin th nh trung bnh t c l 60 hnh/giy. D liu m hnh cng c phn chia thnh cc i tng c b mt li c nh (a hnh, cy, cu vt bng, ho chng tng) v cc i tng mm (cc loi cc bo, bin bo). Khi xe va chm vi cc i tng mm s gy gy hoc thay i hnh dng.
Ton cnh

Ga

Cc bo, bin bo, c H. 4

Cu, ho

M hnh t chc d liu m hnh 3D

Tnh ton ly hp

Ly hp

Tnh ton hp s

S truyn

Qu trnh m hnh ho a hnh v vic qun l to khng gian ca i tng c thc hin nh s dng cc thut ton hnh hc tnh ton kt hp cc cu trc hnh hc c bn. lm tng tnh ging thc ca ng dng, b mt li a hnh c ph bi nh chp t mt bi li thc t bng k thut texture mapping. Trn hnh H. 5 l b mt a hnh sau khi thc hin k thut texture mapping v a thm mt s i tng khc.

Tnh ton c cu quay vng

Tay li Phanh

Truyn ng cnh

D liu a hnh

Bnh sao ch ng H. 5 Hnh nh khung nhn ca li xe

Tnh ton gia tc, vn tc, v tr, hng, h treo

H thng m thanh m phng m thanh ng c ng b vi cc tham s tnh ton ng c ca chng trnh tnh ton ng lc hc khi xe tng, gim tc. D liu m thanh ng c c iu khin thay i v tn s v bin . 2.4 H thng to dao ng Trn thc t, dao ng ca sn xe khi xe chuyn ng trn a hnh l 6 bc t do. Cn c vo yu cu ca thit b m phng v chi ph tng ng, nhm ti la chn thit k h to dao ng 3 bc t vi cc chiu dch chuyn l gc dc, gc nghing bn v dch chuyn thng ng. Thnh phn chnh ca h dao ng l 3 ng c xoay chiu c gn trong mt gi c kh vng chc. B iu khin PID c s dng m bo chnh xc v tc p ng.

H. 3

Chu trnh tnh ton ng lc hc xe

2.3 H thng hin th v m thanh Hnh nh v m thanh ca thit b m phng tc ng trc tip vo cm gic ca ngi li. y l hai thng tin quan trng ngi li phn on tnh hung v a ra quyt nh iu khin xe tp li. D liu m hnh 3D ca h thng hin th c t chc theo phn lp (xem hnh H. 4). D liu ny c kt hp vi k thut x l theo mc chi tit ca khung nhn lm tng tc hin th. Chng trnh

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trnh nguy him cho ngi s dng, h to dao ng c kim sot cc trng thi c nguy c gy mt an ton v t ng dng hot ng. S iu khin h dao ng c trnh by trn hnh H. 6.
B iu khin PID Bin tn ng c Gi dao ng

Tt ngun

Kim sot nguy him

H. 6

S iu khin h dao ng

Kt lun
M hnh y ca thit b m phng li xe BMP1 c nghin cu thit k. Da trn thit k ny, nhm ti ch to thit b m phng tp li xe v a vo p dng th nghim, p ng yu cu hun luyn. Mt s ch tiu cht lng chnh ca thit b tp li nh tc hin th hnh nh, mc st thc ca m hnh ng lc lc hc so vi xe tht u p ng yu cu. H to dao ng c tc p ng nhanh, m bo s ng b gia hnh nh a hnh 3D vi trng thi v tr ca khoang li c kh. Kt qu nghin cu trn khng nh tnh ng n trong cch tip cn v gii quyt vn thuc lnh vc thit b tp li m phng. Kt qu nghin cu s tip tc c b sung, m rng cho thit k cc thit b m phng li khc v nng cao hn na cht lng cc thit b tp li phc v hun luyn b i.

PGS. TSKH Nguyn Cng nh sinh nm 1963, nhn bng Tin s chuyn ngnh "iu khin trong cc h thng k thut" nm 1991 ti Vin hn lm khoa hc Udbekixtan (Lin X c), bng TSKH chuyn ngnh "Phn tch h thng v iu khin t ng" nm 1995 ti H Tng hp k thut Taskent (Lin X c) v nhn PGS chuyn ngnh T ng ha nm 2002. PGS Nguyn Cng nh tham gia ging dy ti Hc vin K thut Qun s t nm 1986 v hin nay l Ph Gim c Hc vin KTQS. Cc hng nghin cu chnh l: iu khin ri rc da trn graph ng, iu khin thch nghi cc h thng phi tuyn, x l v nhn dng nh i tng, k thut m phng v xy dng cc thit b m phng phc v KTXH v ANQP. ThS Cao Hu Tnh sinh nm 1976, tt nghip Hc vin KTQS chuyn ngnh Tn la phng khng nm 2000, nhn bng Thc s ngnh T ng ho v iu khin t xa ti Hc vin KTQS nm 2003. ThS Cao Hu Tnh cng tc ti Hc vin KTQS t nm 2000, hin nay ang l NCS chuyn ngnh iu khin cc thit b bay. Cc hng nghin cu chnh l iu khin cc thit b bay, k thut m phng v xy dng cc thit b m phng phc v KTXH v ANQP.

Ti liu tham kho

[1] Nguyn Cng nh v tp th tc gi: Bo co khoa hc tng kt ti nghin cu cp B Quc phng Nghin cu thit k, ch to cabin tp li xe BMP-1. B Quc phng, 2007 Nguyn Vn Tn; L Trung Dng: L thuyt xe tng. Hc vin KTQS, 1992 V Vn Trung: Kt cu v tnh ton xe tng Tp 4: H thng treo. Hc vin KTQS, 2004. Andy R.W. Huang; Chihsiuh Cheng: A low-cost driving simulator for full vehicle dynamics simulation. IEEE Transaction on Vehicular Technology, Vol.52, No.1, Jenuary 2003 Edward J. Haug: Virtual proving grounds emerging vehicle development tools. The University of Iowa, 2001 Woon-Sung Lee; Jung-Ha Kim; Jun-Hee Cho: A driving simulator as a virtual reality tool. IEEE International Conference On Robotics And Automation, 1998

[2] [3] [4]

[5]

[6]

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