CN116911145B - Coastal railway driving safety integrated simulation method and system under multi-factor effect - Google Patents
Coastal railway driving safety integrated simulation method and system under multi-factor effect Download PDFInfo
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Abstract
The invention discloses a coastal railway driving safety integrated simulation method and system under the action of multiple factors. The method comprises the steps of extracting, processing and integrating single-factor finite element simulation data, constructing a coastal railway driving simulation scene in a virtual reality environment from the aspects of coastal environment, trains, line tracks and train traction calculation, integrating the result of coastal soft soil roadbed settlement into the influence on the coastal railway line tracks, integrating the seaside crosswind analysis result into the influence on the trains and the running traction thereof, and finally realizing coastal railway driving safety integrated simulation and visualization under the influence of multiple factors in the virtual environment. According to the invention, the coastal railway driving safety integrated simulation VR model is obtained under the multi-factor effect, so that a user can conveniently and intuitively learn the control and the three-dimensional model of the coastal railway train driving safety under the multi-factor effect, and effective theoretical knowledge is applied to a visual space in an actual scene, thereby being beneficial to the association of the user on knowledge and application.
Description
Technical Field
The invention relates to the technical field of computer simulation, in particular to a coastal railway driving safety integrated simulation method under the action of multiple factors.
Background
The virtual reality technology (VR) aims to build a virtual world very similar to reality and three-dimensional, so that users can feel realistic in the virtual world, and the functions in the field of game scenes or engineering are increasingly improved.
In the prior art of train driving control engineering study, students are difficult to intuitively and conveniently know and learn the safety of trains driving at high speed under special environmental factors due to the limitation of physical conditions and practical conditions, virtual reality technology and the factors affecting the safety of coastal railway train driving are organically combined together, and the influences of the factors affecting the safety of trains driving under the combined action of the environmental factors are expressed in virtual reality, so that the influence is more similar to the problem that the virtual reality technology needs to be studied on the safety of coastal railway driving, and therefore, an integrated simulation system and method for coastal railway driving safety under the visual and efficient multi-factor action are required to be developed.
Disclosure of Invention
The invention provides an integrated simulation method for the driving safety of a coastal railway under the action of multiple factors, which improves the understanding and grasping level of relevant knowledge and virtual reality visualization of the influence of a user on the driving safety of the coastal railway train.
In order to achieve the above purpose, one of the technical schemes of the invention is to provide an integrated simulation method for coastal railway driving safety under the action of multiple factors, which comprises the following steps:
finite element simulation analysis of railway running under the single factor action of the coastal railway track is carried out, and influence data of the aerodynamic force of the train under the condition of soft soil roadbed on the coastal railway track on the running safety of the coastal railway is obtained; extracting, processing and integrating single-factor finite element simulation data, constructing a coastal railway driving simulation scene in a virtual reality environment from coastal environment, trains, line tracks and train traction calculation, integrating the settlement result of coastal soft soil roadbed into the influence on the coastal railway line tracks, integrating the seaside crosswind analysis result into the influence on the trains and the running traction thereof, and finally realizing coastal railway driving safety integrated simulation and visualization under the influence of multiple factors in the virtual environment.
Preferably, the method for simulating the settlement effect of the coastal soft soil roadbed re-builds the railway track on the corresponding settlement road section in the coastal train operation simulation scene, and simulates the influence of the soft soil roadbed settlement on the coastal railway line; the influence of track sedimentation on autonomous operation of the train is simulated by adding additional resistance caused by small gradient formed by track sedimentation in traction calculation.
Preferably, the simulation method of the seaside crosswind effect realizes the simulation of aerodynamic force generated by the seaside crosswind in the virtual environment on the train operation influence by writing and mounting scripts to apply overturning moment changing along with the speed of the train in the coastal train operation scene and increasing the train operation direction resistance changing along with the speed of the train in the traction calculation of the train operation.
Preferably, the coastal soft soil roadbed settlement simulation method specifically comprises the following steps: obtaining corresponding sedimentation values according to different underground water levels and the number of circulating loads of the train; designing a settlement road section and a non-settlement road section in the coastal railway line, and determining the number, the position and the length of the settlement road sections; determining a track sedimentation value of each sedimentation road section, determining a vertical displacement value of the track of the road section according to the value, and setting the vertical displacement value of the non-sedimentation road section unchanged; according to the design of a settlement section in a railway line, in a built coastal railway driving scene, respectively building the coastal railway line according to the positions and vertical displacement values of the settlement section and a non-settlement section; in order to simulate a continuous and smooth track connection mode between sedimentation road sections in actual conditions, smooth processing is carried out on road section connection parts with differences in vertical displacement in a virtual scene, so that larger vertical drop is avoided; the track irregularity generated by the vertical displacement difference of the connecting parts of each road section is manifested as the instability of the train operation process in the Jing Yun process, the gradient generated by the track irregularity can cause additional resistance for obstructing the train operation so as to influence the total resistance of the train, and the influence of the railway track settlement on the train can be manifested through the running speed change of the train under different settlement values.
Preferably, the simulation method of the side wind action at sea specifically comprises the steps of calculating the additional action of aerodynamic resistance of a train in the advancing direction of the side wind on the train traction calculation, calculating the speed considering the aerodynamic resistance action through resultant force, wherein gradient and curve resistance are only generated on a road section with gradient and curve, basic resistance and side wind air resistance change along with speed values, and calculating the train speed after the side wind aerodynamic action, so that the simulation of the influence of the aerodynamic resistance on the train operation in a virtual scene is realized; in the coastal train operation simulation scene, the overturning moment is applied to the train body by writing and mounting scripts on the train body, the moment is calculated according to the frame rate, the applied moment changes along with the change of the speed of each frame, and the simulation of the action of the overturning moment on the train is realized.
Preferably, the visualization comprises train running state data, train running safety analysis and train running safety visualization, wherein the train running state data comprises data for displaying maximum side wind aerodynamic moment and track settlement condition of a train, the train running safety analysis comprises coastal railway line design curves and ramp sections, the train running is also subjected to side force caused by sea side wind, and when the train passes through the curves and the ramp sections at a higher speed, derailment instability occurs; the train operation safety visualization visually shows the influence of the combined action of multiple factors on the train operation by observing the operation safety of the train in a scene and the state data of the train operation.
The second technical scheme of the invention is to provide a coastal railway driving safety integrated simulation system under the action of multiple factors, which comprises a system data module, a scene building module and an interaction module, wherein the system data module comprises a coastal soft soil roadbed settlement simulation module and a coastal side wind train aerodynamic simulation module, and the action data of each factor is obtained through finite element simulation and then is processed, so that the finite element simulation result can be visualized in a virtual environment; the scene construction module constructs a coastal train operation simulation virtual scene for simulating the multi-factor action by a method for simulating each factor, and realizes integrated simulation and visualization of coastal train operation safety under the multi-factor action; the interaction module is used for man-machine interaction and display of coastal train running states and data.
Preferably, the coastal soft soil roadbed settlement simulation module establishes a settlement simulation model of the coastal railway track under the condition of soft soil roadbed by using ABAQUS software, obtains a settlement value of the track when a certain groundwater level and train circulation times, derives the settlement data and processes the settlement data, and builds the coastal railway track in the virtual scene according to the processed data.
Preferably, the train aerodynamic force simulation module establishes an aerodynamic force simulation model of the train under the crosswind condition by utilizing ANSYS Fluent, acquires the change data of the train advancing direction resistance and the overturning moment along with the speed of the train under different wind speeds, derives the aerodynamic effect data, and establishes a speed-resistance and speed-moment relation according to the data, so that the train aerodynamic force simulation model can be integrated in a virtual reality environment.
Preferably, the scene building module is realized based on a Unity 3D virtual reality engine and comprises a coastal Environment building module, a train and track simulation module, a coastal railway line building module and a train operation traction calculation module, wherein the coastal Environment building module builds coastal terrains of a scene by utilizing Gaia Environment, builds a sea water body flowing effect, increases the immersion experience of the scene, simulates the running of the train at sea, the train and track simulation module builds coastal tracks and train models, respectively adds different attributes for the coastal tracks and the train models, enables the coastal tracks and the train models to interact with each other, adds moment generated by the action of coastal side wind on the train, simulates the influence of the coastal side wind on the running of the train, builds a coastal railway line according to a designed line graph, builds a sedimentation value sedimentation section of the coastal railway track on a roadbed according to gradient, curve and length data, simulates the influence of the factor on the railway track, writes and mounts a traction calculation script on the scene, enables the train to be guided to the coastal railway track according to the built line data, and generates additional gradient calculation factors which have small influence on the running resistance of the running of the autonomous side wind on the running track.
Preferably, the interactive module is realized for hardware equipment based on a Unity 3D virtual reality engine, and comprises an interactive interface building module, an interface function realization module and an HTC device interactive module, wherein the interactive interface building module utilizes UGUI plug-in components to design and build corresponding interactive interfaces according to system interactive requirements in a virtual reality environment, and the interface function realization module is designed for writing and mounting scripts for different controls according to the functions of the interactive interfaces to realize functions of interface jump, data selection and the like; the HTC device interaction module is matched with an HTC device environment, a scene roaming function is set to be matched with a head-mounted display of the HTC device for use, and an interaction function of a handle and an interface control is set, so that a handle ray can trigger a corresponding script event.
The invention discloses a coastal railway running safety integrated simulation method and system under the action of multiple factors, which are characterized in that a model of influence of each single factor on train running in a virtual environment is obtained by acquiring a large amount of related data such as track settlement, aerodynamic force and the like in the coastal environment, coastal railway running safety under the action of multiple factors is integrated and simulated, a specific scheme is designed according to the simulation data of each factor and the characteristics of an integrated simulation tool, different modules designed in the scheme are respectively used for realizing the method, the influence of each factor on train running in the coastal environment is simulated in the virtual environment, and finally, the integrated simulation of the multiple factors on coastal railway running safety is realized, so that a user can conveniently and intuitively learn control and three-dimensional model of safe running of the coastal railway train under the action of multiple factors. The effective theoretical knowledge is further applied to the visual space in the actual scene, so that the association of the user to the knowledge and the application is facilitated, and the learning, training and practice demands of engineering design and analysis users can be met.
Drawings
FIG. 1 is a flow chart of an integrated simulation method for coastal railway driving safety under the action of multiple factors.
FIG. 2 is a block diagram of an integrated simulation system for coastal railway driving safety under the action of multiple factors.
Fig. 3 is a flow of calculation of the train traction travel time step speed.
FIG. 4 is a flow chart of the total resistance calculation for a train operation taking into account multiple factors.
FIG. 5 is a system interactive interface design.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are within the protection scope of the present invention.
Referring to fig. 1, simulation analysis of each single factor is performed first, and simulation and analysis are performed on settlement of a coastal railway track under a soft soil roadbed condition and aerodynamic action of a train under a crosswind condition respectively, so as to obtain influence result data of the coastal railway track on different aspects and degrees of coastal railway running; and then carrying out coastal railway driving safety integrated simulation under the multi-factor effect: constructing a coastal railway driving simulation scene from coastal environment, trains, line tracks and train traction calculation in a virtual reality environment, integrating the result of coastal soft soil roadbed settlement into the influence on the coastal railway line tracks, integrating the seaside crosswind analysis result into the influence on the trains and the running traction thereof, and finally integrating the influence, thereby realizing coastal railway driving safety integrated simulation and visualization under the action of multiple factors in the virtual environment.
The integrated simulation of multiple factors is realized in a virtual environment, the running safety condition of the train can be intuitively obtained by constructing a virtual coastal railway running scene, applying the actions of the factors to different objects in the scene respectively and finally running the scene.
The method of the embodiment specifically comprises the following steps: step 1, coastal railway driving simulation, namely, constructing a scene comprising coastal terrains, trains and railway tracks in a virtual reality environment, carrying out traction calculation on the trains in the scene, and providing objects and interfaces for subsequent factor action simulation, wherein the coastal railway driving simulation comprises coastal railway driving scene construction, data processing of coastal soft soil roadbed settlement simulation, aerodynamic data processing of trains under side wind and train traction calculation simulation along the railway; step 2, performing integrated simulation of the settlement effect of the coastal soft soil roadbed, based on the built coastal railway driving scene, considering the influence of the settlement of the soft soil roadbed on coastal railway lines, and considering the two aspects of the settlement-caused railway track settlement and the influence of the settlement-caused railway track settlement on train operation traction calculation when the simulation is performed in a virtual environment, wherein the integrated simulation of the settlement effect of the coastal soft soil roadbed comprises the simulation of the settlement of the railway track and the simulation of the influence of the settlement of the railway track on train operation traction calculation; step 3, the integrated simulation of the action of the seaside crosswind on the train is carried out, wherein the action of the seaside crosswind on the train can generate overturning moment on the train, air can generate resistance for preventing the train from advancing when the train moves forwards, the influence of the seaside crosswind on the train is considered from the overturning moment generated by the crosswind and the resistance of the train in the advancing direction, the moment is applied to the train based on the built coastal train operation scene, the air resistance under the condition of the crosswind is increased in the traction calculation, the simulation of the influence of the seaside crosswind on the train is realized, and the integrated simulation of the action of the seaside crosswind also comprises the simulation of the influence of the air resistance under the crosswind on the train traction calculation; and 4, carrying out integrated simulation on the driving safety of the coastal railway under the action of multiple factors, and realizing the driving simulation scene based on the constructed virtual coastal railway. The method comprises the steps of simulating the action of each factor on the operation safety of the coastal train through the aspects of train, track, traction calculation and the like in a scene, carrying out integrated simulation of multi-factor action in the scene, wherein the integrated simulation of coastal railway running safety under the multi-factor action comprises integrated simulation of the multi-factor action and coastal railway running safety analysis and visualization of the multi-factor action.
Wherein, coastal railway driving scene is built includes:
(1) Coastal environment construction
The coastal environment is mainly considered to comprise the construction of terrains, the simulation of seawater, the construction of environmental illumination, a space box and other factors. The topography plugin of utilizing virtual reality engine can build out required topography and topography fast to can simulate sea water effect well. The space box and the ambient illumination can enable the effect of the scene to be more real, and the corresponding scene effect can be added through SkyBox and Light plug-in components of the virtual reality engine.
(2) Train and railway track construction
The consideration of trains and railway tracks is mainly considered from two aspects of simulation of the train body and track, simulation of the interaction between the train and the track. Adding rigid body attributes to the coastal train and railway track model by using the virtual reality engine, so that the model can have mass to be acted by gravity, and interaction between each part of the train and the track can be realized; the addition of collision bodies and joint assemblies to the train and railway track can simulate the constraints between the bodies and the interaction with the track.
(3) Coastal railway line construction
The coastal railway line diagram is designed and comprises the contents of thousands of gradient scores, length (m), road sections where curves are located, curvature radius, angle and the like, wherein the direction of the curves is the right turning direction of the train advancing direction. According to the circuit diagram, the coastal railway track for train operation is quickly built by using the railway plug-in of the virtual reality engine.
The data processing of the coastal soft soil roadbed settlement simulation comprises the following steps:
(1) the visual processing of the two-dimensional simulation data in the three-dimensional scene is carried out on the finite element simulation of soft soil roadbed settlement in two dimensions, one simulation result only shows the settlement deformation result of the section, but the actual train operates in the three-dimensional environment, the coastal railway driving is simulated in the virtual reality environment, not only the vertical displacement data of the track is needed, but also the extending construction is needed on the length of the track, and the settlement deformation of a certain road section is different according to the groundwater level condition of the road section. Therefore, when coastal railway tracks are built in the virtual reality environment, the groundwater level of the same settlement road section is considered to be the same, and the settlement values are the same on the premise of bearing the same train circulation times.
(2) Roadbed settlement is converted into track vertical displacement
In actual conditions, coastal trains run on railway tracks built on soft soil roadbed, but when the coastal trains are simulated in virtual reality environment, pile-soil composite roadbed of long lines is unrealistic, actual pile-soil coupling cannot be simulated, and storage and consumption of a computer can be greatly increased. In virtual reality, the train is operated on the track through gravity, collision detection and contact constraint, namely the train operation only needs to consider the contact of wheel pairs and the track in the virtual reality environment, the track does not need gravity to embody, the constructed track does not need to be supported, therefore, the soft soil roadbed settlement only needs the track vertical displacement to embody, the settlement finite element analysis data of the railway track under the condition of the soft soil roadbed is processed according to the requirement, only the vertical displacement data of the top surface of the embankment are extracted, and the settlement road section track is built according to the data.
(3) Track vertical displacement data acquisition
Based on the analysis and the finite element simulation result of the soft soil roadbed, only the displacement value of the point on the top surface of the embankment can be extracted, and because of the symmetrical calculation, the displacement of the left and right symmetrical points of the roadbed is the same, but the vertical settlement of the roadbed is not uniform, the vertical displacement of the top surface point is not the same, and the straight line of the highest deformation displacement point of the topmost layer of the embankment in the length of the sleeper is taken as the vertical settlement displacement value of the track of the road section in virtual reality in consideration of the higher intensity of the sleeper and the feasibility of the track construction in virtual reality.
The aerodynamic force data processing of the train under the crosswind comprises the following steps: the aerodynamic force simulation analysis result of the train under the crosswind condition can obtain the trend of the train forward direction resistance and the overturning moment generated by each part of the train under a certain wind speed along with the speed of the train. Because the speed change interval set by the coastal railway route is larger, the speed is calculated by the resultant force and the time step, the number of the speed is not necessarily an integer, and the moment of each part of the vehicle body is different in size, the interpolation index of the change trend graph of the resistance and the moment along with the vehicle speed is complex, and the calculation efficiency is low, the curve of the resistance in the advancing direction of the whole vehicle body and the moment of each part of the vehicle body along with the vehicle speed is fitted respectively, and the curve is fitted into a linear function related to the speed v. The resistance and moment values in the time step of each frame are set to be unchanged, so that the independent real-time updating of the resistance and moment values is realized, and the situation that the resistance and moment change along with the speed of a vehicle in actual situations is simulated.
When the wind speed of the crosswind is 15 m/s, the change of the resistance of the advancing direction of the train along with the speed of the vehicle and the change of the moment of the train head part along with the speed of the vehicle are respectively as follows:
F air resistor = 177.092 v-1171.7458 (one), M （v） = 170.22v+ 10698.68, (formula two), v is speed in km/h; f air resistance is the resistance of the train in the advancing direction, and is in units of N and M （v） In terms of moment, units N.m.
The train traction calculation simulation along the railway comprises the following steps:
autonomous operation of the train in the coastal railway driving scene of the virtual environment can be realized by changing the position of the train frame by frame, thereby requiring calculation of the distance of the train moving in each frame time step. Therefore, it is necessary to calculate the acceleration and speed values of the train according to the resultant force to which the train is subjected. In order to ensure the smoothness of scene operation, the time interval between frames is set to be fixed to be 0.02s, and when calculation is performed, the speed, acceleration and coordinate change of the train every 0.02s are required to be calculated on the premise that the magnitude and direction of resultant force born by the train within 0.02s are unchanged.
The coastal railway track settlement simulation method mainly comprises the steps of simulating coastal railway track settlement, and mainly considering the coastal railway driving scene built by the method from the two aspects of coastal railway settlement road section design and settlement track construction.
(1) Coastal railway settlement section design
Obtaining corresponding sedimentation values according to different underground water levels and the number of circulating loads of the train; designing a settlement road section and a non-settlement road section in the coastal railway line, and determining the number, the position and the length of the settlement road sections; and determining the track sedimentation value of each sedimentation road section, determining the vertical displacement value of the track of the road section according to the value, and setting the vertical displacement value of the non-sedimentation road section unchanged.
(2) Construction of a sedimentation track
According to the design of a settlement section in the railway line, in the constructed coastal railway driving scene, constructing the coastal railway line according to the positions of the settlement section and the non-settlement section and the vertical displacement values respectively; in order to simulate a continuous and smooth track connection mode between settlement road sections in actual conditions, the road section connection part with difference in vertical displacement is subjected to smooth treatment in a virtual scene, so that a large vertical drop is avoided, and the simulation of the settlement effect of the railway track in the built coastal railway driving scene can be mainly considered in terms of the running condition of the train and the gradient additional resistance generated by the running of the train during the running of the scene. As the settlement value of a certain section of settlement road section is uniformly considered, the road section has little influence on the running of the train, so the influence of the track settlement on the running of the train mainly solves the problem of track irregularity caused by the vertical displacement difference of the joint parts of all the road sections. The track irregularity problem is manifested as a non-smooth train running in the presence Jing Yun, and the resulting gradient causes additional drag that impedes train running.
The simulation of the influence of the air resistance under the crosswind on the train traction calculation comprises the following steps:
the simulation of the aerodynamic resistance of the train in the advancing direction under the crosswind is mainly considered in terms of the additional action of the aerodynamic resistance on the train traction calculation, the speed of the aerodynamic resistance is calculated through the resultant force, and the influence of the aerodynamic resistance on the train operation is reflected through the change of the speed value in the same distance.
F taking the wind speed and the running speed of the crosswind into consideration Air resistor The total resistance after the calculation is substituted into the calculation formula of the resultant force born by the train,，/>is the basic resistance of unit->Add resistance to the unit of gradient, +.>Additional resistance for unit curve, +.>Adding resistance to the small gradient of track sedimentation and formation, F Air resistor The unit N/kN is the resistance of the running direction of the train under the crosswind, and the speed of the train taking the aerodynamic effect of the crosswind into consideration can be calculated according to the traction calculation script for autonomous running of the train in the coastal railway running simulation scene, so that the simulation of the influence of the aerodynamic resistance in the virtual scene on the running of the train is realized.
Because the overturning moment generated by the side wind of the sea can cause the train to have a tendency of overturning around the advancing direction, and the magnitude of the overturning moment can generate larger difference according to different wind speeds and vehicle speeds, the corresponding moment magnitude is needed to be obtained according to the change of the moment along with the vehicle speed under different wind speeds, and the simulation of the train action is mainly realized by applying the moment to the train body and writing scripts to update the moment magnitude in real time. In the coastal train operation simulation scene, the overturning moment is applied to the train body by writing and mounting scripts on the train body, the moment is calculated according to the frame rate, the applied moment changes along with the change of the speed of each frame, and the simulation of the action of the overturning moment on the train is realized.
The integrated simulation of the multi-factor coastal train operation is realized based on the finite element simulation of the effect of each factor and the built coastal railway driving simulation scene. Three aspects of influence of multiple factors on the traction calculation of the autonomous operation of the train, the track and the train are considered.
(1) Simulation of multi-factor train action
The simulation of the train action in multiple factors mainly considers the influence of the overturning moment of the train under the coastal crosswind condition. The method for simulating the action of the overturning moment on the train in the virtual scene is to add the moment action to the train.
(2) Simulation of multi-factor effect on railway track
The effect of multiple factors on the railway track mainly considers that the soft soil roadbed subsides to enable the track to generate vertical displacement change. And constructing a railway track of a settlement road section by a method for simulating the action of soft soil roadbed settlement on the railway track in the virtual scene.
(3) Simulation of multi-factor calculation of train operation traction
The influence of the combined action of multiple factors on the train operation traction calculation mainly considers the additional effect of the multiple factors on the resistance to the train operation in the traction calculation. According to a traction calculation flow chart when the multiple factors act, substituting the total resistance into a resultant force calculation formula for simulating train operation in a coastal railway driving scene, so that the resultant force born by the train when the multiple factors act together is calculated, and the acceleration and the speed which take the multiple factors into consideration can be calculated through a kinematic formula and a railway along-line train traction calculation simulation method, and the action of the multiple factors on the train operation can be expressed through the change of the speed within the same running distance and time.
The integrated simulation system for coastal railway driving safety under the multi-factor effect of the second embodiment, see fig. 2, comprises three parts of a system interaction module, a system scene building module and a system data module, wherein the user interaction module designs three sub-modules to realize the functions of the parts, and is an interaction interface building module, an interface function realizing module and an HTC device interaction module respectively; the system data module comprises a coastal soft soil roadbed settlement simulation module and a coastal crosswind train aerodynamic force simulation module, and each module comprises a data acquisition and data processing sub-module. And the system scene building module builds a coastal train operation simulation virtual scene for simulating the multi-factor action by a method for simulating each factor, so as to realize integrated simulation and visualization of coastal train operation safety under the multi-factor action. The system scene building module is a main module for realizing the coastal railway driving safety integrated simulation and visualization functions considering multiple factors, and mainly comprises 4 sub-modules: the system comprises a coastal environment building module, a train and track simulation module, a coastal railway line building module and a train traction calculation module, wherein a coastal railway driving simulation scene considering multiple factors is built through the integration of functions of the four modules, and is a main scene for realizing the integration simulation and visualization functions of multiple factors on the running action of the train, and the system can display the running state data of the train and visualize the running safety of the coastal railway.
The system data module in this embodiment is a data source for simulating the multi-factor effect by the system, and relatively accurate data of each factor effect is obtained through finite element simulation and then processed, so that the finite element simulation result can be visualized in the virtual environment. It comprises the following two main modules:
(1) And a coastal soft soil roadbed settlement simulation module. And (3) establishing a settlement simulation model of the coastal railway track under the condition of soft soil roadbed by using ABAQUS software, and obtaining the settlement value of the track when a certain groundwater level and the train circulation times are obtained. And performing secondary development on ABAQUS to derive the sedimentation data, processing the sedimentation data, and constructing coastal railway tracks in the virtual scene according to the processed data.
(2) And a train aerodynamic force simulation module under the seaside crosswind condition. And establishing a aerodynamic simulation model of the train under the crosswind condition by utilizing ANSYS Fluent, and acquiring the change data of the resistance of the train in the advancing direction and the overturning moment along with the speed of the train under different wind speeds. ANSYS Fluent derives this aerodynamic data and from this data establishes a speed-resistance and speed-moment relationship enabling integration in a virtual reality environment.
The system scene building module is realized based on the Unity 3D virtual reality engine, and is an important part of system function realization. The system mainly comprises the following four modules, and finally establishes a coastal railway driving safety integrated simulation scene considering multiple environmental factors according to the data of a system data module:
(1) Building a module in a coastal environment. The coastal topography of the scene is built by utilizing the Gaia Environment, the ocean water flow effect is built, the immersion experience of the scene is increased, and the train is simulated to run at sea.
(2) And a train and rail simulation module. Coastal track and train models are built and different attributes are added to the coastal track and train models respectively, so that the coastal track and the train models can interact with each other. Moment generated by the action of the side wind is added on the train to simulate the influence of the side wind on the running of the train.
(3) Building a module along the coastal railway. And constructing coastal railway lines according to the data such as gradient, curve, length and the like according to the designed line diagram. Setting up a settlement road section by the settlement value of the coastal railway track on the soft soil roadbed, and simulating the influence of the factor on the railway track.
(4) And the train operation traction calculation module. And writing and mounting a traction calculation script, so that the train can run autonomously along the track according to the line working condition data. The air resistance effect in the advancing direction caused by train operation and crosswind and the small-gradient additional resistance generated by track sedimentation are added into traction calculation to be considered together, and the influence of the multi-factor effect on the train operation speed is simulated.
The system interaction module in this embodiment is implemented by using a Unity 3D virtual reality engine as a software platform and HTC device as a hardware device, and is mainly used for man-machine interaction and display of coastal train running states and data, and mainly includes three modules:
(1) And constructing a module of the interactive interface. The module designs and builds a corresponding interaction interface according to the system interaction requirement by utilizing the UGDI plug-in the virtual reality environment.
(2) And an interface function realizing module. The module is mainly designed to write and mount scripts for different controls according to the functions of the interactive interface, and the functions of interface skip, data selection and the like are realized.
(3) HTC device interaction module. The module configures the HTC device environment, sets the scene roaming function to be matched with the head-mounted display of the HTC device for use, and sets the interaction function of the handle and the interface control, so that the handle ray can trigger the corresponding script event.
The coastal railway driving simulation scene construction and integrated simulation module function realization of the system of the embodiment adopts the following method:
based on the Unity 3D virtual reality engine, it can make visual simulation system development with immersive interaction function. The system developed by the embodiment takes the Unity 3D as a platform, and realizes the data reading and visualization functions of the system and the switching of different interface scenes through the C# script and the UGUI control.
The construction of the coastal railway driving simulation scene of the system comprises four parts: the construction method of the traction calculation system comprises the following steps of calculating the traction of coastal environment, trains and tracks, coastal railway lines and autonomous running of the trains:
building coastal environment:
1) Terrain and ocean construction, in which the simulation object is a train running in a coastal environment, is required to be constructed in order to improve the reality of the scene. The ocean was drawn using the Water tool in the Gaia Environment plug-in. The Terrain type landform is manufactured, sky and light effects can be added to a scene, environmental sound effects can also be added, an oversized scene can be cut into a plurality of parts, the load of a computer during scene loading can be greatly reduced according to the parts required by dynamic loading/unloading, the overall operation efficiency and fluency are improved, the rendering effect on a water body is excellent, and the terrains can be well fused.
2) Scene environmental effect addition, in a scene constructed by the Unity 3D engine, the color and effect of the sky can be realized by setting a Skybox (sky box). Sky box resources with different effects are imported through an Import Package command, and then sky box types needed by scene command loading are conducted. The light source simulating sunlight can be arranged in the sky box, and the sunlight irradiation effect in different directions can be obtained by adjusting the position of the light source. When the coastal railway driving scene is built, a space box and a light source are added for the scene to obtain a brighter scene, so that the visual result of influence of the multi-environment factors on the train operation safety is greatly improved while the immersion sense is improved.
The simulation of trains and tracks simulates coastal railway driving in a virtual reality environment, wherein the train, wheel sets and track models have physical properties similar to those of the real environment, and then the interaction and constraint among the trains, the wheel sets and the tracks are simulated.
The method has the advantages that the coastal railway line is built, the coastal train railway driving scene is built, the rapid paving of the railway is needed, the coastal railway driving is better simulated, the long-distance track line including straight lines, curves and slopes is needed to be built, the difficulty is high, and long time is needed to be consumed for complete building.
The autonomous running of the train in the scene is realized by changing the position of the train through each frame, the script flow for realizing the train running simulation in the coastal railway running scene is shown in figure 3, the road section information of the position of the train at the moment is obtained according to the road diagram, and the road section information comprises the starting position S and the ending position S of the road section imin ,S imax And the highest limit speed V of the road section imax And gradient or curve information P i . Acquiring the speed and the travelling distance of the train at the end of the previous frame, determining the working condition type according to the circuit diagram, calculating the value of resultant force of the working condition type, and further calculating the acceleration and the speed value at the end of the current frame; comparing the speed value with the highest speed limit of the current road section, entering a traction working condition if the speed value is less than 85% of the highest speed limit, entering an idle working condition if the speed value is less than the highest speed limit and greater than 85% of the highest speed limit, and returning the calculated speed as the ending speed of the frame to the previous step for continuous iteration and calculating the displacement at the end of the frame; if the speed value is greater than the highest limiting speed, a braking working condition is entered, the speed which is 10 smaller than the highest limiting speed is taken as a target speed, the required braking force is estimated, the acceleration and the running distance are recalculated, and the recalculated speed and distance values are carried into subsequent iterations. And (5) iterating the loop until the line is finished, and obtaining the speed and the travelling distance value of the train at each time node.
By the method, a scene capable of simulating coastal train operation is built in the virtual environment. Setting up and running a scene in the Unity 3D engine requires two views to cooperate. One is a scene view for interacting with scene objects, which can select and locate scenes, characters, light sources, and all other types of objects; one is a Game view, which simulates the appearance effect of the finally rendered scene by means of Camera (scene Camera). When the scene runs, the view is required to be observed through the Game view output by the Camera, so that the coordinates of the Camera are required to be set, and the following object motion is realized or the motionless view is kept through the script mounting. In a coastal train operation simulation scene, the visual effect of each environmental factor on the safe operation of the train needs to be intuitively obtained, so that the Camera visual angle needs to be adjusted to enable the Camera visual angle to always 'watch' the train, and a script for detecting the real-time movement position of the train and synchronously assigning the real-time movement position to the Camera is mounted to enable the Camera visual angle to move along with the train. According to the simulation method for the coastal railway, the train and the train running traction calculation, the simulation virtual scene of the coastal railway running safety is seen through the Scence view, and the train can be observed in the visual field all the time, so that the change of the train running condition can be found in time.
The implementation of the function of the multi-factor action integrated simulation of the system of the embodiment adopts the following method: based on the built coastal train operation simulation scene and the analysis of the multi-factor action integrated simulation method, the multi-factor action can be applied to the corresponding part of the scene, and coastal railway driving safety integrated simulation and visualization of the multi-factor action can be realized by writing a script and operating the scene. Therefore, the multi-factor action integrated simulation function is mainly realized by applying multi-factor actions to trains, tracks and traction calculation in the coastal train operation simulation virtual scene.
The function of the multi-factor coastal train action simulation is realized by adopting the following method:
(1) Action of crosswind overturning moment on train
The action on coastal trains mainly takes into account the overturning moment generated by the coastal crosswind. In a coastal train operation simulation scene built by Unity, the action of the aerodynamic moment changing along with the speed of the train is simulated, and the influence of the moment on the train body can be simulated by using the AddToque () method and using the moment through Rigid body components of each part of the train body. Because the speed of the vehicle changes every frame, a data model established for the overturning moment generated by the crosswind at the sea can be written with a script to realize the calculation of moment values of every frame, and the simulation of moment changing along with the speed of the vehicle in real environment in a virtual environment is realized. The pseudo code of the script file is as follows:
Train=GetComponent < Rigidbody > (Train);// acquire vehicle body
Vecity=GongKuang [ i ]. V;// speed at which a certain time step is acquired
Torque=M (v);// calculating the Torque at this speed
Transform=getcomponent < Transform > ();// obtaining coordinates of the vehicle body
Train.AddTorque(Transform.x Torque) for setting Torque of the vehicle body rotating around the x-axis
(2) The crosswind streamline visualization simulates the running condition of crosswind around the vehicle body, and the wind direction can be visualized by using a Unity particle system. Firstly, drawing a streamline diagram of an coastal train under crosswind through a finite element simulation result, determining the coordinates of a path control point of particle movement according to the streamline diagram drawn by the aerodynamic simulation result of the train under the crosswind condition, and writing a script for controlling the path of the coastal train to enable the particles to move according to the control points arranged on the streamline curve, wherein a pseudo code is as follows:
set of path control points
private List<Vector3>TargetNodeList;
Obtaining control point coordinates according to a sequence
Transform[] TargetTrans = GetComponent<Transform>();
Obtaining/obtaining the number of currently activated particles
float proportion = (Particles[i].StartLifetime - Particles[i].RemainingLifetime) /
Particles[i].startLifetime;
Setting the direction of particle movement
Vector3 direction = Transform.InverseTransformPoint(TargetList[index + 1]) -
Transform.InverseTransformPoint(TargetNodeList[index]);
The speed of the movement is set.
Particles[i].velocity = direction (1.0f / speed) (1.0f / Transform.localScale.x);
And a flow chart is drawn according to the finite element analysis result under the train crosswind condition when the wind speed is 15 m/s and the vehicle speed is 200 m/s. In the running process of the train, the particle system is arranged to move along with the train, so that the particle system always displays the crosswind flow direction in the visual field.
The function implementation process of the multi-factor effect simulation on the coastal railway track is as follows:
(1) Coastal railway track settlement section simulation
The effect on the coastal railway track mainly considers the vertical displacement deformation of the track caused by subsidence of the coastal soft soil roadbed, and the effect is represented as subsidence of the track on the subsidence road section of the coastal railway track in a virtual reality scene, so that vertical coordinate difference is generated between the track and other road sections, the track is unsmooth, and the safe operation of the coastal train is further influenced.
The railway track settlement simulation method in the virtual scene has the following functions:
(1) the settlement section in the coastal railway line is designed. And obtaining corresponding finite element results according to the selected number of the cyclic loads of the train and the groundwater level value to determine the height of the sedimentation road section, and determining the length of each section of sedimentation line part.
(2) And constructing a railway track in a virtual scene of coastal train operation simulation according to the line design drawing, taking the sedimentation value as the vertical coordinate of the track of the sedimentation road section, and reconstructing the railway line to perform soft soil roadbed sedimentation simulation.
(3) And visual visualization of the action of the subsidence of the coastal soft soil roadbed on the running of the train is realized through the running state of the train on the coastal railway line where the subsidence occurs in the virtual environment.
(2) Continuous smoothing of coastal railway tracks
Because most of the railway tracks running in the actual environment are continuous, the joint part of the sedimentation road section and the normal road section in the virtual environment needs to be subjected to smooth transition, and excessive vertical angle difference is prevented from occurring, so that the train has additional running potential safety hazard. The smoothing part length was set to 10 m.
The realization of the function of the integrated simulation of the traction calculation of the autonomous running of the train under the multi-factor is specifically as follows:
the simulation of the influence of multiple factors on the autonomous running of the train mainly considers the influence of small gradient caused by the vertical displacement difference of the track generated by the settlement of the soft soil roadbed and the resistance of the advancing direction of the train running under the crosswind condition on the train traction calculation, the coastal railway line is divided into different road sections according to the gradient, the gradient generated by the settlement of the track is divided into gradient data of the line, and the calculation flow of the total resistance of the train in the train traction calculation is designed by adopting the simulation method of the influence of multiple factors on the autonomous running of the train, and is shown in fig. 4.
The system interaction module based on the HTC device is used for realizing the coastal railway driving safety integration and visualization system considering the multi-environment factors, and the specific process is as follows:
(1) Configuration of a stem VR
The Steam VR can connect HIC virtual equipment to Unity 3D, and the development of VR head display can be realized by downloading and importing a Steam VR plug-in and configuring. The configuration of the SteamVR mainly comprises the steps of setting 'Camera Rig' and 'SteamVR' in a plug-in, adding a rendering component for the SteamVR, setting initial coordinates of the Camera Rig, deleting cameras except for the Camera in a head display to avoid interference, and finally initializing input of an HTC (hypertext transfer controller).
(2) Locator and handle arrangement
And installing a positioner according to an installation manual, and realizing accurate positioning of the head display and the handle controller. Script is written according to the handle controller interface, so that a user can trigger different interaction semantics by utilizing the handle control. Combining the position location and motion control functions, the user can start a highly immersive virtual experience.
The system interaction interface design and function implementation is specifically as follows:
the interactive interface is an important component of the system, can play roles in explaining and explaining the functions of the system, is also an intuitive explanation of the using method of the system, and is a key that a user can correctly operate the system and reasonably interact with the system. The basic implementation mode of the virtual reality technology is that a computer technology is used as the main mode, a realistic virtual world with multiple sense experiences such as three-dimensional vision, touch sense and the like is generated by means of equipment such as sensors, VR glasses and the like, and the virtual world can be interacted with objects in the virtual world simply, conveniently and efficiently, so that an interaction interface of the system is designed based on the technology, and the interaction interface can be correlated with the built coastal train operation scene, and the interaction efficiency is improved.
(1) System interactive interface design
Referring to fig. 5, the interactive interface of the present system is divided into three stages: the first level is a system description interface, the second level is a system description interface, the system description interface is switched to a corresponding coastal train operation simulation scene through selecting the factors of the groundwater level, the train circulation times and the wind speed, the third level is a coastal railway driving safety visualization interface, numerical values of the train operation distance, the speed, the wind speed, the groundwater level, the train circulation times and the like can be displayed, and an arrow in the figure indicates the switching sequence of the interfaces.
(2) System interactive interface construction
Based on the system interaction interface design, a system description interface scene and a factor data selection interface scene are respectively built by using a virtual reality engine, and corresponding interaction interfaces are respectively built in the scenes by using a UGUI system of a Unity engine.
(3) System interactive interface switching function realization
The system interaction interface is realized based on each corresponding scene, and the switching between the interfaces can be realized by placing the switching of different interface scenes.
The immersive interaction system formed by the HTC device and the interface interaction software of the embodiment can enable a user to walk in a certain range in reality through the head-mounted display, the positioner and the handle of the HTC device, so that roaming in a coastal railway driving scene is realized. And the user can interact with objects in the scene through the handle, and can interact with each control of the interaction interface through the radiation emitted by the control handle, so that the triggering, the selection and the like of the button function are realized.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. The coastal railway driving safety integrated simulation method under the action of multiple factors is characterized by comprising the following steps of: finite element simulation analysis of railway running under the single factor action of the coastal railway track is carried out, and influence data of the aerodynamic force of the train under the condition of soft soil roadbed on the coastal railway track on the running safety of the coastal railway is obtained; extracting, processing and integrating single-factor finite element simulation data, constructing a coastal railway driving simulation scene in a virtual reality environment from the aspects of coastal environment, trains, line tracks and train traction calculation, integrating the settlement result of coastal soft soil roadbed into the influence on the coastal railway line tracks, integrating the seaside crosswind analysis result into the influence on the trains and the running traction thereof, and finally realizing coastal railway driving safety integrated simulation and visualization under the influence of multiple factors in the virtual environment;
The effect of the subsidence of the coastal soft soil roadbed is realized through a subsidence effect simulation method of the coastal soft soil roadbed, the subsidence effect simulation method of the coastal soft soil roadbed comprises the steps of re-constructing the railway track on a corresponding subsidence road section in a coastal train operation simulation scene, and simulating the effect of the subsidence of the soft soil roadbed on the coastal railway track; the method for simulating the settlement effect of the coastal soft soil roadbed comprises the following steps of: obtaining corresponding sedimentation values according to different underground water levels and the number of circulating loads of the train; designing a settlement road section and a non-settlement road section in the coastal railway line, and determining the number, the position and the length of the settlement road sections; determining a track sedimentation value of each sedimentation road section, determining a vertical displacement value of the track of the road section according to the value, and setting the vertical displacement value of the non-sedimentation road section unchanged; in the constructed coastal railway driving scene, respectively constructing coastal railway lines according to the positions of the subsidence road sections and the non-subsidence road sections and the vertical displacement values, and carrying out smoothing treatment on road section connecting parts with differences in vertical displacement; the track irregularity generated by the vertical displacement difference of the connecting parts of each road section is reflected as the instability of the running process of the train in the presence Jing Yun, and the generated gradient can cause additional resistance for obstructing the running of the train so as to influence the total resistance of the train, and the influence of the railway track settlement on the train is reflected by the running speed change of the train under different settlement values;
The seaside crosswind analysis result is integrated into the effect on the train and the running traction force thereof by a seaside crosswind effect simulation method, and the seaside crosswind effect simulation method comprises the steps of applying overturning moment changing along the speed of the train in an coastal train running scene by writing and mounting scripts and simulating the aerodynamic force generated by the seaside crosswind in a virtual environment on the train running effect by a method of increasing the train running direction resistance changing along the speed of the train in the train running traction calculation.
2. The integrated simulation method for the driving safety of the coastal railway under the multi-factor action according to claim 1, wherein the simulation method for the action of the side wind at the sea is characterized in that the additional action of the aerodynamic resistance of the train in the advancing direction of the side wind on the train traction calculation is performed, the speed taking the action of the aerodynamic resistance into consideration is calculated through resultant force calculation, wherein the gradient and the curve resistance are only generated on a road section with the gradient and the curve, the basic resistance and the side wind air resistance are changed along with the speed value, and the train speed after the aerodynamic action of the side wind is calculated, so that the simulation of the influence of the aerodynamic resistance on the train operation in a virtual scene is realized; in the coastal train operation simulation scene, the overturning moment is applied to the train body by writing and mounting scripts on the train body, the moment is calculated according to the frame rate, the applied moment changes along with the change of the speed of each frame, and the simulation of the action of the overturning moment on the train is realized.
3. The integrated simulation method for coastal railway driving safety under the action of multiple factors according to claim 2, wherein the visualization comprises train operation state data, train operation safety analysis and train operation safety visualization, the train operation state data comprises data for displaying maximum side wind aerodynamic moment and settlement condition of a track suffered by a train, the train operation safety analysis comprises coastal railway line design curves and ramp sections, the train operation is also subjected to side force caused by side wind at sea, and derailment instability occurs when the train passes through the sections including the curves and the ramp sections at a higher speed.
4. The integrated simulation system for the coastal railway driving safety under the multi-factor effect realizes the integrated simulation method for the coastal railway driving safety under the multi-factor effect according to claim 3, and is characterized by comprising a system data module, a scene building module and an interaction module, wherein the system data module comprises a coastal soft soil roadbed settlement simulation module and a coastal side wind train aerodynamic force simulation module, and the system data module acquires and processes the effect data of each factor through finite element simulation so that the finite element simulation result can be visualized in a virtual environment; the scene construction module constructs a coastal train operation simulation virtual scene for simulating the multi-factor action by a method for simulating each factor, and realizes integrated simulation and visualization of coastal train operation safety under the multi-factor action; the interaction module is used for man-machine interaction and display of coastal train running states and data.
5. The integrated simulation system for coastal railway driving safety under the action of multiple factors according to claim 4, wherein the coastal soft soil roadbed settlement simulation module establishes a settlement simulation model of coastal railway tracks under the condition of soft soil roadbed, obtains a settlement value of the tracks when a certain groundwater level and train circulation times are obtained, processes the settlement value, and builds coastal railway tracks in a virtual scene according to the processed data.
6. The multi-factor coastal railway driving safety integrated simulation system according to claim 5, wherein the scene building module is realized based on a Unity 3D virtual reality engine and comprises a coastal environment building module, a train and track simulation module, a coastal railway line building module and a train operation traction calculation module, wherein the coastal environment building module builds coastal terrains of the scene, and builds a coastal ocean water flow effect, increases the immersion experience of the scene, simulates the running of a train at sea, the train and track simulation module builds coastal tracks and train models and respectively adds different attributes for the coastal tracks and the train models to enable the coastal tracks and the train models to interact with each other, adds moment generated by the action of coastal side wind on the train, simulates the influence of coastal side wind on the running of the train, builds a coastal railway line according to a designed line diagram, a gradient, a curve and length data, builds the influence of the coastal railway track on the railway track by a sedimentation value of the coastal railway track on a soft soil roadbed, and writes and installs traction calculation according to a script, so that the train operation calculation module can generate autonomous wind-induced resistance on the train running along the track and an additional gradient and an additional wind-induced resistance in running direction.
7. The multi-factor coastal railway driving safety integrated simulation system of claim 6, wherein the interaction module is implemented by adopting HTC device as hardware equipment.
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