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为了在两栖装甲车辆驾驶训练模拟器中复现车辆在海浪中的运动,提出了一种海浪及车体运动实时协同仿真方法。首先,根据海浪浪高和风速设定的参数构造海浪时域波面方程;其次,按照车辆结构外型参数将车体表面分割为尺寸相同的网格,并通过当前时刻车辆的运动参数和海浪状态,在虚拟场景中利用碰撞检测算法获得车辆表面网格处海浪波面的位置,这一相对位置将用于计算此处海浪对车体的作用力;最后,解算车辆动力学方程,获得下一时刻车辆的运动参数。通过仿真结果与试验结果的对比验证了该方法的有效性,为实现模拟器对车辆海上运动的实时仿真提供了一种途径。
In order to reproduce the vehicle’s motion in the sea waves in amphibious armored vehicle driving training simulator, a real-time co-simulation method of ocean wave and body motion is proposed. Firstly, the wave time-domain wave equation is constructed according to the wave height and wind speed parameters. Secondly, the vehicle body surface is divided into grids of the same size according to the structural parameters of the vehicle and the current vehicle movement parameters and the wave state , The collision detection algorithm is used in the virtual scene to obtain the position of the wave surface at the vehicle surface grid. The relative position will be used to calculate the force of the ocean wave on the vehicle body. Finally, the vehicle dynamics equation is solved to obtain the next Time vehicle movement parameters. The effectiveness of this method is verified by comparing the simulation results with the experimental results, which provides a way to simulate the real-time simulation of the vehicle’s maritime activities.