CN1368712A - Control method of open action simulating system - Google Patents
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- CN1368712A CN1368712A CN01102483A CN01102483A CN1368712A CN 1368712 A CN1368712 A CN 1368712A CN 01102483 A CN01102483 A CN 01102483A CN 01102483 A CN01102483 A CN 01102483A CN 1368712 A CN1368712 A CN 1368712A
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Abstract
The invention relates to a method for controlling an open-type system of simulating action. Conformity of instruction is built between the simulation system and the action system so that software developer or manufacturer only needs to research or develop simulation software, game software and action system respectively, without need f considering adaptation between the simulation system and action platform. Developing procedure includes the following steps: The simulation system is connected to the action system. The open-type instruction is output to the action system. The action system calculates and analyzes the open-type instruction and the feedback signal of the platform by use of platform action deductive method of a controller. The action system outputs control signal to the control drive to drive the platform.
Description
The present invention relates to a kind of control method of open action simulating system, particularly relevant for the controller of moving system, utilize the platform innervation to drill translation and then the open action instruction (motioncommand) of various simulation systems is converted to drive signal after the calculation process analysis, drive the movement platform (motion platform) of this moving system, and between the moving system of simulator (simulator) and simulation system, set up the control method that instruction is integrated.
The simulation softward that conventional analog systems is used, as vehicle, ships or aircraft software, its simulation system is mainly constructed software in the particular static system of image simulation, do not integrate with movement platform, therefore each movement platform needs specific simulation system, and simulation system can only be applied to specific movement platform in other words.One of reason that this simulation system and movement platform fail to integrate is this movement platform manufacturing cost and costs an arm and a leg, mainly be fit to be applied to fields such as athletic training, national defense industry or space flight space flight training, its manufacturing technology can't shift popularization and application in general industry to obtain further exploitation; Former two is because of never carrying out integrating seeking unified codes and standards therefore, and makes system combination person not know the codes and standards of how application integration.
The analogue means that tradition is used is as No. 5752834 patent of the U.S. of authorizing on May 19th, 1998 action/strength the analog training device of Three Degree Of Freedom " six or ".Shown in Figure 1 is that it has six or the process block diagram of the action/strength analog training device of Three Degree Of Freedom, and as shown in FIG., this flow process comprises three squares 14,15 and 13, illustrates with dot-and-dash line respectively.Wherein square 1 is the action/strength simulated training system (motion/force simulation system) of six degree of freedom, square 2 15 is the mechanical hook-ups (mechanical device) that are additional to square 1, and square 3 13 comprises holder for TV playing processing unit 131 (video game processing unit).Operator 11 utilizes operating rod 12 to handle this analogue means, to handle the back through holder for TV playing processing unit 131 and remove the output shadow. sound feedback signal (audio and video feedback) is to the operator 11, and output speed, vibrations, acceleration, strength etc. are instructed to the action/strength simulated training system 14 of six degree of freedom.The action of this six degree of freedom/strength simulated training system 14, by its video conversion device 141 instruction transformation such as speed, vibrations, acceleration, strength are become image (conversion mapping), and output simulation displacement (displacement) and the extremely reverse displacement controller 142 (reverse displacementcontroller) of simulation direction signals such as (orientation), the distance signal (length) of these reverse displacement controller 142 output actuators (actuator) is to mechanical hook-up 15.Mechanical hook-up 15 is to feedback (the simulatedmotion and force feedback) signal of operator's 11 output simulated action and strength.
The simulation system of these No. 5752834 United States Patent (USP)s, owing to be that software is constructed in the particular static system of image simulation, therefore the developer of simulation system can't revise former simulation software at its simulation system singlely, perhaps develop new software, if will revise former simulation software or develop new software, must consider the control of movement platform in the lump, thereby cause the obstacle of software development.
The objective of the invention is to design a kind of control method of open action simulating system, in view of the deficiency of prior art scheme and improve the shortcoming of its existence, integrate by between simulation system and moving system, setting up instruction, to solve the integration problem of simulation system and movement platform.
The technical scheme that realizes the object of the invention is such: a kind of control method of open action simulating system is characterized in that comprising the steps:
One simulation system is linked to a moving system;
Export open instruction to this moving system by this simulation system;
This moving system is drilled translation with the platform innervation of a controller and then simultaneously computing and analysis is carried out in this open instruction and platform feedback signal; And
This moving system outputs control signals to a Control Driver, drives platform again.Thereby between simulation system and moving system, set up and integrate open instruction.
It then is a mathematical model that described platform innervation is drilled translation.
The open action instruction of described simulation system is converted to actuating signal through an actuating signal converter; The feedback signal of described movement platform is converted to status signal through a state converter; Described actuating signal and status signal are imported described platform innervation simultaneously and are drilled in the translation mathematical model then, the described control signal of output after the execution computing.
Described simulation system and moving system comprise a presentation layer, a transaction layer, a key-course, a linking layer and a Physical layer respectively on logical organization.
Described simulation system and moving system, its flow process are to carry out Physical layer and linking layer square, a key-course square of moving system, a transaction layer square of moving system and a presentation layer square of this moving system of a simulation system square, moving system in regular turn.
Be by of Physical layer and the linking layer square output open action instruction of simulation system square to moving system; Physical layer and linking layer square export this action command conversion to the key-course square; The key-course square after the platform innervation is drilled translation and then carried out, is exported back Physical layer and linking layer square with control signal with switching motion instruction; Physical layer and linking layer square export this control signal to the transaction layer square again; The transaction layer square is with the movement platform of the direct control action of this control signal system presentation layer square; The presentation layer square utilizes sensor to send platform information back to the key-course square through Physical layer and linking layer square; The key-course square utilizes the feedback data and the action command of platform information, again output control signal after the platform innervation is drilled translation and then carried out.Therefore, moving system constantly receives the open action instruction from the simulation system square, and this moving system is constantly carried out Physical layer and linking layer square, key-course square, transaction layer square and presentation layer square again continuously.
The presentation layer of described simulation system comprises at least more than one user instruction and application software.
The described user instruction person of being to use imports or operation interface, and described application software is recreation or simulation softward.
The transaction layer of described simulation system is to comprise to construct 3 dimension (3D) scene Direct X and a network communication interface RS232/NetWork and I/O control interfaces.
The key-course of described simulation system is an operating system, comprises Windows 98, Windows NT or UNIX.
The linking layer of described simulation system is a kernel software, comprises Basic Input or Output System (BIOS) (BIOS).
The Physical layer of described simulation system is a computer hardware, comprises Encore R/T, SGI equipment or PC.
The presentation layer of described moving system is one 3 movement platforms to 6DOF (d.o.f).
The transaction layer of described moving system is a Control Driver, comprises the servocontrol driver.
The key-course of described moving system is that a platform innervation is drilled translation then.
The linking layer of described moving system is a kernel software, comprises Basic Input or Output System (BIOS) (BIOS).
The Physical layer of described moving system is a computer hardware, comprises Encore R/T, SGI equipment or PC and image generator.
Described platform innervation is drilled translation then, and its flow process is failure detection square and the control signal conversion square of carrying out the inspection of the analysis square of mobile space, singular point in regular turn and modifying square, system.
It is the analysis square of actuating signal and status signal being imported simultaneously mobile space; Analysis square by mobile space is done to check mutually to analyze to current state and next step running action thereof of movement platform, obtains to meet the action command of movement platform control; By the inspection of singular point and modify square and this action command is checked and modified; Confirm that by the failure detection square of system system exports action command to control signal conversion square after errorless; Action command is converted to the control signal that meets movement platform by control signal conversion square.
The present invention allows the controller of moving system, utilize the platform innervation to drill the action command of then computing of translation, processing, the different simulation systems of analysis, be converted to the signal of drive actions system acting platform, integrate and between the simulation system of simulator and moving system, set up instruction.
The control method of open action simulating system of the present invention, a simulation system is linked to a moving system; By open instruction of this simulation system output to moving system; This moving system is drilled translation with the platform innervation of its controller and then computing and analysis is carried out in this open instruction and platform feedback signal data simultaneously; Output control signals to a Control Driver by this moving system again, to drive platform.
The control method of open action simulating system of the present invention, a kind of control method of open action simulating system is provided, controller is set in moving system, this controller includes a platform innervation and drills translation then, only the open instruction that need accept simulation system can be carried out computing, allows and sets up the instruction integration between simulation system and the moving system.
The control method of open action simulating system of the present invention, a kind of control method of open action simulating system is provided, controller is set in moving system, only need accept the open instruction of simulation system, thus the software developer only need research and develop simulation or Games Software and need not to consider and movement platform between the interoperation problem.
The control method of open action simulating system of the present invention, by being set, the platform innervation drills translation then, and utilize this platform innervation to drill translation then with the open action ordering calculation of various simulation systems, be parsed into the actuating signal of control platform, thereby setting up instruction between simulation system and moving system integrates, so the software developer only need study, exploitation simulation or Games Software, and need not to consider and movement platform between the interoperation problem, in other words the fabricator of moving system only need research and develop moving system itself and needn't consider and simulation system between matching problem.And the simulation system of No. 5752834 patent of the U.S., because software is constructed in the particular static system of image simulation, therefore the developer of simulation system can't singlely revise original simulation softward or develop new software at its simulation system, if will revise original simulation softward or develop new software, then must consider control in the lump, thereby the software developer is caused the exploitation obstacle movement platform.
Further specify technical scheme of the present invention below in conjunction with embodiment and accompanying drawing.
Fig. 1 is that No. 5752834 United States Patent (USP) has six or the process block diagram of the action/strength analog training device of Three Degree Of Freedom.
Fig. 2 is the logical organization calcspar of the open action simulating system of preferred embodiment of the present invention.
Fig. 3 is the control method process flow diagram of the open action simulating system of preferred embodiment of the present invention.
Fig. 4 is that preferred embodiment moving system internal control preparative layer execution platform innervation of the present invention is drilled translation process flow diagram then.
The control method of open action simulating system of the present invention, controller mainly is set in moving system, this controller comprises a platform innervation and drills the open instruction that translation then supplies the computing simulation system, and this moving system outputs control signals to a Control Driver again, to drive the platform action.
Preferred embodiment of the present invention suitably is embodied in above-mentioned major technique content in the cited preferred embodiment, and utilizes this preferred embodiment method that major technique content of the present invention is done suitable enforcement.
Referring to Fig. 2, be the logical organization calcspar of the open action simulating system of preferred embodiment of the present invention, mainly comprise a simulation system and a moving system, this simulation system is linked to moving system.Simulation system and moving system comprise presentation layer (presentation layer), transaction layer (transaction layer), key-course (control layer), linking layer (linking layer) and Physical layer (physical layer) respectively on logical organization.Its presentation layer is presented to the user with the performance state of entity; Transaction layer is between the driver between the operating system or between the Control Software; System resources such as key-course control hardware and application program; Linking layer is the kernel driver that links hardware; Physical layer is a computer hardware.
As shown in Fig. 2, Fig. 3, the presentation layer of simulation system comprises user instruction (user command) and application software (application program).Its user instruction the person of being to use import or operation interface, and as rocking bar or bearing circle etc., its application software is recreation or simulation softward; The transaction layer of simulation system comprises constructs 3D (3 dimension) scene Direct X and network communication interface RS232/NetWork and I/O control interface; The key-course of simulation system is operating system (operation system), as Windows98, Windows NT or UNIX etc.; The linking layer of simulation system is kernel software (Kernel), as Basic Input or Output System (BIOS) (BIOS); The Physical layer of simulation system is computer hardware (a recreation/analogue computer), as Encore R/T, SGI equipment or PC etc.
As shown in Figure 2, the presentation layer of moving system is the movement platform with 3 to 6 d.o.f (Degree-of-Freedom); The transaction layer of moving system is Control Driver (control driver), as the servocontrol driver; The key-course of moving system is that the platform innervation is drilled translation then; The linking layer of moving system is kernel software (Kernel), as BIOS; The physics of moving system (entity) layer is computer hardware (a recreation/analogue computer), as Encore R/T, SGI equipment or PC and image generator etc.
Referring to Fig. 3, the control method flow process of the open action simulating system of preferred embodiment of the present invention shown in the figure.This flow process is carried out five squares in regular turn, is respectively Physical layer and linking layer square 321, the key-course square 322 of moving system 32, the transaction layer square 323 of moving system 32 and the presentation layer square 324 of moving system of simulation system square 31, moving system 32.
As shown in Figure 3, step 1 is by Physical layer (controlling computer) and linking layer (Kernel) the square 321 output open action instructions of simulation system square 31 to moving system 32; Step 2, Physical layer (controlling computer) and linking layer (Kernel) square 321 export key-course square (controller) 322 to after this action command is changed; Step 3, the instruction of the 322 pairs of switching motions of key-course square (controller) export control signal (loopback) to the Physical layer (controlling computer) and linking layer (Kernel) square 321 of moving system 32 after the platform innervation is drilled translation and then carried out; Step 4, Physical layer of moving system 32 (controlling computer) and linking layer (Kernel) square 321 export this control signal to transaction layer square (Control Driver) 323 again, and transaction layer square (Control Driver) 323 is with the movement platform 324 of the direct control action presentation layer of this control signal square; Step 5, presentation layer square 324 are utilized sensor (transducer) through Physical layer (controlling computer) and linking layer (Kernel) square 321 platform information to be fed back to and are given key-course square 322.Key-course square 322 utilizes the feedback data and the action command of this platform information again, after the platform innervation is drilled translation and then carried out, exports control signal control transaction layer square (Control Driver) 323 again.
Therefore, moving system square 32 constantly receives the open action instruction from simulation system square 31, and this moving system square 32 is constantly carried out Physical layer and linking layer square 321, key-course square 322, transaction layer square 323 and presentation layer square 324 continuously.Only need set up general open instruction can finish integration to control method of the present invention between simulation system and moving system.
Referring to Fig. 4, preferred embodiment moving system internal control preparative layer of the present invention shown in the figure is carried out the platform innervation and is drilled translation flow process then.This flow process is mainly carried out four squares in regular turn, be respectively mobile space analysis square 41, singular point inspection and modify the failure detection square 43 and the control signal conversion square 44 of square 42, system, four squares are formed a mathematical model (math model), carry out computing and comparative analysis.This flow process mainly is executed in the key-course square of open action simulating system flow process, as shown in Figure 3.
In conjunction with referring to Fig. 3, Fig. 4, key-course is carried out computing and comparative analysis through mathematical model after the feedback signal of the action command of input simulation system and movement platform, control signal is exported to the transaction layer of moving system.The open action instruction of simulation system is converted to actuating signal through actuating signal converter (motion cuetransfer) 45; The feedback signal of movement platform is converted to status signal through status signal converter (status cuetransfer) 46; After actuating signal and the status signal interior execution of the inputting mathematical model simultaneously computing, the output control signal is shown in (step) 3 among Fig. 3, Fig. 4.
As shown in Figure 4, actuating signal and status signal are imported the analysis square 41 of mobile space simultaneously, the current state of 41 pairs of movement platforms of analysis square of this mobile space and next step running action thereof check analysis mutually, obtain to meet the action command of movement platform control.The inspection of singular point and 42 pairs of these action commands of modification square are checked and are modified.The failure detection square 43 of system exports action command to control signal and changes square 44 after the affirmation system is errorless.This control signal conversion square 44 converts action command to meet movement platform control signal, and exports back Physical layer and linking layer square, as shown in Figure 3.
Contrast is referring to Fig. 3 and Fig. 1, the control method of open action simulating system of the present invention is to drill translation then by the platform innervation is set, and utilize this platform innervation to drill translation then the open action ordering calculation of various simulation systems to be parsed into control platform actuating signal, to integrate and between simulation system and moving system, set up instruction.So, the software developer only need research and develop simulation or Games Software and need not to consider and movement platform between interoperation, or the product dealer of moving system only need research and develop moving system itself and need not to consider with simulation system between cooperate.Yet, the simulation system of No. 5752834 United States Patent (USP), because software is constructed in the particular static system of image simulation, the developer of simulation system can't singlely be revised original simulation softward or develop new software at its simulation system, if will revise original simulation softward or develop new software and then must consider control in the lump, thereby the software developer is caused obstacle to movement platform.
In sum, the control method of open action simulating system of the present invention is to allow simulation system and moving system link; By open instruction of simulation system output to moving system; Moving system is drilled translation with the platform innervation of a controller and then computing and analysis is carried out in this open instruction and platform feedback data simultaneously; Output a control signal to Control Driver again by moving system and drive platform.
Claims (19)
1. the control method of an open action simulating system is characterized in that comprising the steps:
One simulation system is linked to a moving system;
Export open instruction to this moving system by this simulation system;
This moving system is drilled translation with the platform innervation of a controller and then simultaneously computing and analysis is carried out in this open instruction and platform feedback signal; And
This moving system outputs control signals to a Control Driver, drives platform again.
2. the control method of a kind of open action simulating system according to claim 1, it is characterized in that: it then is a mathematical model that described platform innervation is drilled translation.
3. the control method of a kind of open action simulating system according to claim 1 is characterized in that: the open action instruction of described simulation system is converted to actuating signal through an actuating signal converter; The feedback signal of described movement platform is converted to status signal through a state converter; Described actuating signal and status signal are imported described platform innervation simultaneously and are drilled in the translation mathematical model then, the described control signal of output after the execution computing.
4. the control method of a kind of open action simulating system according to claim 1, it is characterized in that: described simulation system and moving system comprise a presentation layer, a transaction layer, a key-course, a linking layer and a Physical layer respectively on logical organization.
5. the control method of a kind of open action simulating system according to claim 4, it is characterized in that: described simulation system and moving system, its flow process are to carry out Physical layer and linking layer square, a key-course square of moving system, a transaction layer square of moving system and a presentation layer square of this moving system of a simulation system square, moving system in regular turn.
6. the control method of a kind of open action simulating system according to claim 5 is characterized in that: be by Physical layer and the linking layer square output open action instruction of simulation system square to moving system; Physical layer and linking layer square export this action command conversion to the key-course square; The key-course square after the platform innervation is drilled translation and then carried out, is exported back Physical layer and linking layer square with control signal with switching motion instruction; Physical layer and linking layer square export this control signal to the transaction layer square again; The transaction layer square is with the movement platform of the direct control action of this control signal system presentation layer square; The presentation layer square utilizes sensor to send platform information back to the key-course square through Physical layer and linking layer square; The key-course square utilizes the feedback data and the action command of platform information, again output control signal after the platform innervation is drilled translation and then carried out.
7. the control method of a kind of open action simulating system according to claim 4, it is characterized in that: the presentation layer of described simulation system comprises at least more than one user instruction and application software.
8. the control method of a kind of open action simulating system according to claim 7, it is characterized in that: the described user instruction person of being to use imports or operation interface, and described application software is recreation or simulation softward.
9. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the transaction layer of described simulation system is to comprise to construct 3 dimension (3D) scene Direct X and a network communication interface RS232/NetWork and I/O control interfaces.
10. the control method of a kind of open action simulating system according to claim 4, it is characterized in that: the key-course of described simulation system is an operating system, comprises Windows 98, Windows NT or UNIX.
11. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the linking layer of described simulation system is a kernel software, comprises Basic Input or Output System (BIOS) (BIOS).
12. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the Physical layer of described simulation system is a computer hardware, comprises Encore R/T, SGI equipment or PC.
13. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the presentation layer of described moving system is one 3 movement platforms to 6DOF (d.o.f).
14. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the transaction layer of described moving system is a Control Driver, comprises the servocontrol driver.
15. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the key-course of described moving system is that a platform innervation is drilled translation then.
16. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the linking layer of described moving system is a kernel software, comprises Basic Input or Output System (BIOS) (BIOS).
17. the control method of a kind of open action simulating system according to claim 4 is characterized in that: the Physical layer of described moving system is a computer hardware, comprises Encore R/T, SGI equipment or PC and image generator.
18. the control method of a kind of open action simulating system according to claim 1, it is characterized in that: described platform innervation is drilled translation then, and its flow process is failure detection square and the control signal conversion square of carrying out the inspection of the analysis square of mobile space, singular point in regular turn and modifying square, system.
19. the control method of a kind of open action simulating system according to claim 18 is characterized in that: be the analysis square of actuating signal and status signal being imported simultaneously mobile space; Analysis square by mobile space is done to check mutually to analyze to current state and next step running action thereof of movement platform, obtains to meet the action command of movement platform control; By the inspection of singular point and modify square and this action command is checked and modified; Confirm that by the failure detection square of system system exports action command to control signal conversion square after errorless; Action command is converted to the control signal that meets movement platform by control signal conversion square.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102974098A (en) * | 2012-12-05 | 2013-03-20 | 上海创图网络科技发展有限公司 | Unit logic control method for simulating large-scale battlefield |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102974098A (en) * | 2012-12-05 | 2013-03-20 | 上海创图网络科技发展有限公司 | Unit logic control method for simulating large-scale battlefield |
| CN102974098B (en) * | 2012-12-05 | 2015-01-28 | 上海创图网络科技发展有限公司 | Unit logic control method for simulating large-scale battlefield |
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