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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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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.
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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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
Cu, ho
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.
Tay li Phanh
Truyn ng cnh
D liu a hnh
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
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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Tt ngun
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.
[5]
[6]
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