CN109087551B - A kind of motion simulator balance adjusting method, system, storage equipment and terminal - Google Patents
A kind of motion simulator balance adjusting method, system, storage equipment and terminal Download PDFInfo
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Abstract
The invention discloses the balance adjusting methods of a kind of motion simulator and simulator carrier platform, including the mass density distribution of motion simulator is vertically projected in plane, the plane quality distribution diagram for obtaining motion simulator calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；The planar structure distribution map of motion simulator will be obtained on the shape project to plane of motion simulator, calculate the plane geometry center of motion simulator；The center of motion simulator is calculated according to the plane mass centre of motion simulator and plane geometric center；Adjusting motion simulator according to the center of motion simulator keeps its center corresponding with the center of simulator carrier platform.The technical solution of the present invention situation larger for leveling difficulty between current motion simulator and simulator carrier platform, it obtains mass centre and the geometric center of motion simulator respectively to obtain the center of motion simulator, carries out leveling processing using center.
Description
Technical field
The invention belongs to balance adjustment fields between motion simulation platform and platform loading, and in particular to a kind of movement simulation
The balance adjusting method of device and simulator carrier platform, system, storage equipment and terminal.
Background technique
Analogue simulation be profile simulation, operational simulation, visual experience emulation, using true car model or other etc.
Report control platform of the models such as aircraft, the airship of ratio as participant passes through practical behaviour using VR technology (virtual reality technology)
Make, so that participant is had a technology of personal understanding on the spot in person, be currently used primarily in drive simulating, training, demonstration, religion
It learns, training；Military simulation, commander, Virtual Battlefield；Build what comes into a driver's and urban planning.Wherein, drive simulating, training etc.
Using being even more important.
Such as in practice, the leveling of motion platform and cockpit is the important of research and development global function train driving emulation simulator
One ring, can it be directly related to driving simulator and work normally and the usage experience of driving simulator.Motion platform at present
Leveling method with cockpit is allowed to and motion platform mainly using the geometric center of cockpit as the central point of cockpit
Center is corresponding, and by repeatedly adjustment test, finds suitable position and installed, although this method can guarantee driving simulation
Device operates normally, but time-consuming and laborious, and causes train driving to emulate mould due to cockpit non-uniform mass in practice
Quasi- body is tested bad, seriously affects service efficiency.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of motion simulators and simulator to carry
The balance adjusting method of body platform at least can partially solve the above problems.Technical solution of the present invention is for movement simulation at present
The larger situation of difficulty is leveled between device and simulator carrier platform, respectively in the mass centre and geometry of acquisition motion simulator
The heart carries out leveling processing using center to obtain the center of motion simulator.
To achieve the above object, according to one aspect of the present invention, a kind of motion simulator and simulator carrier are provided
The balance adjusting method of platform, which is characterized in that including
The mass density distribution of motion simulator is vertically projected in plane by S1, obtains the plane quality of motion simulator
Distribution map calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
S2 will obtain the planar structure distribution map of motion simulator on the shape project to plane of motion simulator, calculate fortune
The plane geometry center of dynamic simulator；
S3 calculates the center of motion simulator according to the plane mass centre of motion simulator and plane geometric center；
S4, which adjusts motion simulator according to the center of motion simulator, makes its center and simulator carrier platform
Center it is corresponding.
One as technical solution of the present invention is preferred, includes in step S1,
Motion simulator is vertically projected in plane by S11 according to mass density distribution, obtains the plane of motion simulator
Quality distribution diagram；
Plane quality distribution diagram is divided into the uniform piecemeal of multiple shapes, the preferred phase of the mass density of each piecemeal by S12
Deng or it is unequal；
S13 arbitrarily selects two adjacent piecemeals, obtains the mass center and quality of each piecemeal, according to each piecemeal mass center and
Quality obtains the mass center and quality that the two adjacent piecemeals constitute new piecemeal；
S14 repeats step S13 until obtaining the plane mass centre of motion simulator.
One as technical solution of the present invention is preferred, in step S12, is directly entered if the mass density of piecemeal is equal
Step S13；If the mass density of piecemeal is unequal, which is continued to be divided into the uniform piecemeal of multiple shapes, until every
The mass density of a piecemeal is equal, arbitrarily selects two adjacent piecemeals, obtains the mass center and quality of each piecemeal, according to each point
The mass center and quality of block obtain the mass center and quality that the two adjacent piecemeals constitute new piecemeal, repeat the above steps until obtaining
The mass center and quality for obtaining current piecemeal, enter step S13.
One as technical solution of the present invention is preferred, preferably the mass density distribution and/or shape by motion simulator
Be distributed upright projection to coordinate plane on, using in coordinate system plane quality distribution diagram and/or planar structure distribution map obtain
It makes even face mass centre and the/coordinate at plane geometry center.
One as technical solution of the present invention is preferred, and mass center, plane mass centre and plane geometric center are preferably to sit
The expression of mark form.
One as technical solution of the present invention is preferred, center described in step S3, preferably plane mass centre
With the midpoint of plane geometric center.
One as technical solution of the present invention is preferred, when piecemeal is non-centrosymmetry figure in step S12, to the piecemeal
Benefit processing cut to calculate equivalent mass center.
According to one aspect of the present invention, the balance adjustment system of a kind of motion simulator and simulator carrier platform is provided
System, which is characterized in that including
Mass centre's module obtains movement for the mass density distribution of motion simulator to be vertically projected to plane
The plane quality distribution diagram of simulator calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
Geometric center module obtains the planar junction of motion simulator on the shape project to plane by motion simulator
Structure distribution map calculates the plane geometry center of motion simulator；
Simulator center module, for calculating movement according to the plane mass centre of motion simulator and plane geometric center
The center of simulator；
Module is leveled, makes its center and simulation for adjusting motion simulator according to the center of motion simulator
The center of device carrier platform is corresponding.
According to one aspect of the present invention, a kind of storage equipment is provided, wherein being stored with a plurality of instruction, described instruction is suitable
For being loaded by processor and being executed:
The mass density distribution of motion simulator is vertically projected in plane by S1, obtains the plane quality of motion simulator
Distribution map calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
S2 will obtain the planar structure distribution map of motion simulator on the shape project to plane of motion simulator, calculate fortune
The plane geometry center of dynamic simulator；
S3 calculates the center of motion simulator according to the plane mass centre of motion simulator and plane geometric center；
S4, which adjusts motion simulator according to the center of motion simulator, makes its center and simulator carrier platform
Center it is corresponding.
According to one aspect of the present invention, a kind of terminal, including processor are provided, each instruction is adapted for carrying out；And it deposits
Equipment is stored up, is suitable for storing a plurality of instruction, described instruction is suitable for being loaded and being executed by processor:
The mass density distribution of motion simulator is vertically projected in plane by S1, obtains the plane quality of motion simulator
Distribution map calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
S2 will obtain the planar structure distribution map of motion simulator on the shape project to plane of motion simulator, calculate fortune
The plane geometry center of dynamic simulator；
S3 calculates the center of motion simulator according to the plane mass centre of motion simulator and plane geometric center；
S4, which adjusts motion simulator according to the center of motion simulator, makes its center and simulator carrier platform
Center it is corresponding.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit:
1) technical solution of the present invention is passed through by the way that the mass density distribution of motion simulator to be vertically projected in plane
Plane Mass Distribution, which calculates, obtains the plane mass centre of motion simulator on a projection plane, in conjunction with the plane of motion simulator
Geometric center obtains final motion simulator center, by the center of the center and simulator carrier platform
It is corresponding in the plane projection of the two, the balance of motion simulator Yu simulator carrier platform can be realized.
2) technical solution of the present invention, on the mass density distribution projection to plane by motion simulator after, using pair
Its mode for carrying out plane segmentation, successively seeks the mass cg of each small piecemeal, then calculates and obtain two adjacent small piecemeal institutes
The mass cg of the big piecemeal constituted, until obtaining the mass cg of motion simulator, this mode can effectively guarantee matter
The accuracy at amount center greatly reduces the error between mass cg obtained and real quality center of gravity.
3) technical solution of the present invention had both considered influence of the motion simulator mass cg to balance adjustment, it is also considered that
Influence of the geometric center to balance adjustment, finally both to combine the comprehensive center obtained as the key of balance adjustment
Point is balanced adjusting to motion simulator and simulator carrier platform, is improving motion simulator and simulator carrier platform
While balance adjustment efficiency, the usage experience and service efficiency of simulator are also greatly promoted
Detailed description of the invention
Fig. 1 is the motion simulator plan view after dividing in the embodiment of technical solution of the present invention；
Fig. 2 is fan-shaped equivalent centroid calculation schematic diagram in the embodiment of technical solution of the present invention；
Fig. 3 is the motion simulator plan view after piecemeal is split in the embodiment of technical solution of the present invention；
Fig. 4 is to calculate mass centre's calculation method diagram in the embodiment of technical solution of the present invention after piecemeal segmentation；
Fig. 5 is the flow chart that motion simulator plane mass centre calculates in the embodiment of technical solution of the present invention；
Fig. 6 is the calculating schematic diagram at motion simulator plane geometry center in the embodiment of technical solution of the present invention；
Fig. 7 is the stream for carrying out leveling processing in the embodiment of technical solution of the present invention to motion simulator using place-centric
Cheng Tu；
Fig. 8 is the segmentation figure of cockpit plane quality distribution diagram in the embodiment of technical solution of the present invention；
Fig. 9 is that sector portion cuts complement in cockpit plane quality distribution diagram in the embodiment of technical solution of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.The present invention is described in more detail With reference to embodiment.
With the tune of global function train driving emulation simulator 6-dof motion platform and train driving cabin in the present embodiment
For flat process, the leveling process of motion simulator and simulator carrier platform is illustrated.Specifically reality of the invention
It applies and provides a kind of method for finding motion simulator center in example, be by the mass centre of motion simulator and several
What center is realized.By taking cockpit as an example, due to having breaker cabinet, console, projection screen, host computer, throwing in cockpit
The distribution of the electrical components such as shadow instrument is irregular, therefore the mass center of cockpit is not overlapped with geometric center, and the center of cockpit should examine
Consider geometric center, considers mass centre again.Firstly, the characteristics of analysis cockpit, find the mass center and geometric center of cockpit,
Then, the center of cockpit is calculated according to the mass center of cockpit and geometric center, finally makes cockpit center and fortune
The center of moving platform is corresponding, and the leveling for completing cockpit and motion platform is installed.By taking cockpit as an example, in the present embodiment, fortune
Leveling process between dynamic simulator and simulator carrier platform is preferably as follows:
Step 1: mass centre's calculating process of cockpit is as follows:
Firstly, establishing rectangular coordinate system, the mass density distribution of cockpit is all projected in plane, cockpit plane
Quality distribution diagram.Then cockpit plane quality distribution diagram is divided into n block, the title of each piecemeal is denoted as F1,F2,F3…Fn,
Each piecemeal centroid position is denoted as σ1,σ2,σ3…σn, the area of each piecemeal is denoted as: m1,m2,m3…mn, as shown in Figure 1, wherein n=6.
Secondly, calculating the mass center of piecemeal.In the present embodiment, if piecemeal is mainly made of a kind of object (due to cabin top and cabin
Bottom even density, except preferred under the premise of not influencing counting accuracy, air quality is preferably ignored), then it projects to
The piecemeal even density (preferably equal, i.e. density on a piecemeal will not change) behind plane, the mass center of piecemeal is
For the geometric center of piecemeal.The F of example cockpit as shown in figure 15Piecemeal is mainly made of console, even density, therefore this point
The mass center of block can be equal to geometric center.In another example F6Piecemeal is mainly made of projection screen, even density, therefore the piecemeal
Mass center can also be equal to geometric center.Simultaneously as F6Piecemeal is sector, although shape is uniform, not due to sector
It is centrosymmetric image, so to carry out cutting the equivalent mass center of benefit processing calculating, as shown in Fig. 2, F6The mass center of piecemeal is equal to equivalent
The geometric center of rectangle.
In the present embodiment, if current piecemeal is made of a variety of objects, Density Distribution is uneven, then preferably again by each piecemeal
It is divided into the part m, every division name is denoted as: Fij, wherein i=1,2 ... n, j=1,2 ... m.As shown in Figure 3.Each piecemeal
Quality is not necessarily identical, and when segmentation only needs to guarantee only to form segmentation (except cabin top and the bilge) by a kind of object in every part
The consistent in density of every part, air are ignored afterwards.Therefore the surface density of every part is uniform after dividing, geometric center and mass center position
Coincidence is set, the geometric center of the part is mass center σij.The part mass isρ is object in the part
Density, V is the volume of corresponding object, and w is the fractional object quantity.In wherein various, i=1 ... n, n are block count；J=
1 ... m, m are the section number of each piecemeal segmentation, and the mass center and quality that can calculate separately out every part in this way calculate piecemeal again
Centroid position and quality.
With F1For piecemeal, by F in the present embodiment1Piecemeal has been divided into two parts, i.e. m=2, as shown in Figure 3.First
It is divided into F11, quality m11, centroid position σ11(x11,y11)；Second part is F12, quality m12, centroid position σ12(x12,
y12)。
By F1Effect is as shown in figure 4, set F after piecemeal takes out amplification1The centroid position of piecemeal is σ1(x1,y1), mass center position
The calculation formula set is as follows:
In formula, m11、m12Respectively F1F under piecemeal11、F12The quality of branch；A is F1Mass center is to F11The distance of mass center, a=|
σ1-σ11|；B is F1Mass center is to F12The distance of mass center, b=| σ1-σ12|；L is F11Mass center is to F12The distance of mass center, L=| σ11-σ12
|.In the present embodiment, above-mentioned mass center is expressed preferably in the form of coordinate, thus can directly using above formula both calculate away from
From.
F can be obtained as a result,1The centroid position coordinate of piecemeal is σ1(x1,y1), and because piecemeal quality is equal to each branch's matter
Amount and i.e. mi=mi1+mi2+…+mim, F can be found out1The quality m of piecemeal1=m11+m12。
It is finally the calculating of whole mass center.In the present embodiment, preferably application can calculate each piecemeal by above method
Centroid position σ1,σ2,σ3…σnWith the quality m of each piecemeal1,m2,m3…mn.It regards piecemeal as part again, carries out seeking mass center two-by-two,
Above method is repeated, can repeatedly find out the centroid position σ (x, y) of cockpit entirety later, dependence diagram is as shown in Figure 5.
As shown in Figure 1, calculating F5And F6Centroid position and quality after, by piecemeal F5And F6Two adjacent parts, referring to above-mentioned utilization
F11And F12Seek F1The process of piecemeal mass center, finds out F5And F6Common mass center.And so on, find out the plane of entire cockpit
The plane mass centre of quality distribution diagram.As shown in figure 5, being to calculate cockpit according to plane quality distribution diagram in the present embodiment to put down
The flow chart of face mass centre.
Step 2: calculating the plane geometry center of cockpit.In the present embodiment, since cockpit being projected to after plane closely
It is seemingly rectangle, the geometric center of the equivalent rectangular can be considered as the geometric center of cockpit, be denoted as point φ.As shown in Figure 6.It needs
It is special, it is noted that if motion simulator in the plane be projected as non-rectangle or non-geometric symmetric figure, can take
Mathematical method obtains the geometric center of motion simulator planar structure distribution map, this technology being well known to those skilled in the art
Means, it will not be described here.
Step 3: the center of cockpit is obtained using the plane mass centre of cockpit and plane geometric center, and
It carries out carrying out leveling processing to cockpit and simulator carrier platform using center.
In the present embodiment, after the mass centre σ and geometric center φ for acquiring cockpit, compare relationship between the two.It is excellent
Choosing, if distance between the two is less than or equal to 0.5, the center of cockpit is centroid position o=σ, otherwise cockpit center
PositionIt should be noted that being in general defaulted as cockpit center position coordinates and beingWork as cockpit
It, can be according to the ratio of mass centre σ and geometric center φ when leveling processing between simulator carrier platform has additional demand
Relatively result directly determines, and according to the difference of coordinate system linear module, and the distance in the present embodiment between the two is less than or equal to 0.5 simultaneously
It is not intended as the concrete restriction to technical solution of the present invention.
Leveling processing is carried out after cockpit center is calculated, and makes the center of motion platform and the center of cockpit
It is corresponding, the leveling processing between cockpit and simulator carrier platform can be completed.
Below by taking the leveling process in a specific train driving cabin as an example, the content of technical solution of the present invention is said
It is bright, only as purposes of discussion is further explained to technical solution of the present invention, it is not regarded as to technical solution of the present invention
Further limit.
Specifically, simulator of train cockpit used in the present embodiment is equipped with organic having a size of 3.4*6, in cabin
Cockpit mass density is projected in plane and is divided into 6 piecemeals, effect such as Fig. 1 by the objects such as cabinet, console and projection screen
It is shown.Wherein, guarantee that same object in same piecemeal, is again split every piecemeal, guarantee that object is single in every part.
In other words, exactly it is further ensured that in each plane piecemeal that mass density is consistent.Segmenting structure is as shown in Fig. 8.It needs
It is emphasized that for convenience of calculation in the present embodiment, all physical parameters use dimensionless group.Wherein, F11Piecemeal
By cockpit roof, drive bay floor and rear wall cabinet and form, if the density p that above structure is set in the present embodiment is respectively as follows: 5,5,
20,；Volume, which can measure, is respectively as follows: 10,10,20；Know F11Quality are as follows:
Again because of F11Surface density is uniform, and mass center is overlapped with geometric center, geometric center can by coordinate system measurement can
Know, therefore F11Centroid position are as follows:
σ11(x11,y11)=σ11(0.8,2.7)；
F12Piecemeal is made of cockpit roof, driving bay floor, quality m12=100, mass center σ12(0.8,2.1).
Again because of F1Piecemeal is by F11、F12Composition calculates F1The centroid position of piecemeal, if centroid position is σ1(x1,y1), benefit
With aforementioned formula (1) it can be concluded that F1Piecemeal centroid position are as follows: σ1(0.8,2.6), quality are as follows: m1=m11+m12=600.
It can similarly obtain, F2Centroid position be σ2(0.8,1.0), quality m1=600；F3Centroid position be σ3(2.4,
2.7), quality m3=800；F4Centroid position be σ4(2.4,0.9), quality m4=800.
Further, F can be obtained further according to formula (1)1+F2Centroid position be σ1+2(0.8,1.8), quality m1+2=
1200；F3+F4Centroid position be σ1+2(2.4,1.8), quality m3+4=1600.
Then F is calculated further according to formula (1)1+F2+F3+F4Mass center be σ1+2+3+4(1.71,1.8), quality m1+2+3+4
=2800.
F in the present embodiment5Piecemeal is mainly made of cockpit roof, driving bay floor and console, it is known that density p difference
Are as follows: 5,5,20,；Volume, which can measure, is respectively as follows: 20,20,40；Know F11Quality be
Again because of F5Surface density is uniform, and mass center is overlapped with geometric center, and geometric center can be learnt by measurement, and be known
F5Centroid position are as follows:
σ5(x5,y5)=σ5(3.6,1.8)；
Seek F6Mass center when sector is carried out to cut benefit, as shown in figure 9, then F6Mass center be equivalent rectangular geometric center
σ6(x6,y6)=σ6(5.0,1.8), and because F6It is mainly made of cockpit roof, driving bay floor and projection screen, quality m6
=500.
F can be obtained again according to formula (1)5+6Mass center are as follows: σ5+6(4.07,1.8), quality are as follows: m5+6=1500.Thus can
The mass center of entire cockpit: σ (2.53,1.8) is calculated according to formula (1), geometric center is φ (x, y)=φ (3.0,1.8).
To sum up, it due to | σ-φ < 0.5 so the center of cockpit is o (2.53,1.8), is carried out using center
Leveling processing is allowed to corresponding with free Platform center.Motion platform and cockpit can be rapidly and efficiently carried out using the present invention
Work is leveled, while promoting the usage experience of simulator, improves service efficiency.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. the balance adjusting method of a kind of motion simulator and simulator carrier platform, which is characterized in that including
The mass density distribution of motion simulator is vertically projected in plane by S1, obtains the plane Mass Distribution of motion simulator
Figure calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
S2 will obtain the planar structure distribution map of motion simulator on the shape project to plane of motion simulator, calculate movement mould
The plane geometry center of quasi- device；
S3 calculates the center of motion simulator according to the plane mass centre of motion simulator and plane geometric center；
S4, which adjusts motion simulator according to the center of motion simulator, to be made in its center and simulator carrier platform
The heart is corresponding.
Wherein, include in the step S1,
Motion simulator is vertically projected in plane by S11 according to mass density distribution, obtains the plane quality of motion simulator
Distribution map；
Plane quality distribution diagram is divided into the uniform piecemeal of multiple shapes by S12, the mass density of each piecemeal it is preferably equal or
It is unequal；
S13 arbitrarily selects two adjacent piecemeals, obtains the mass center and quality of each piecemeal, the mass center and quality according to each piecemeal
Obtain mass center and quality that the two adjacent piecemeals constitute new piecemeal；
S14 repeats step S13 until obtaining the plane mass centre of motion simulator.
2. the balance adjusting method of a kind of motion simulator and analog carrier platform according to claim 1, wherein step
In S12, step S13 is directly entered if the mass density of piecemeal is equal；If the mass density of piecemeal is unequal, by the piecemeal
Continue to be divided into the uniform piecemeal of multiple shapes, until the mass density of each piecemeal is equal, arbitrarily select two adjacent piecemeals,
The mass center and quality for obtaining each piecemeal, mass center and quality according to each piecemeal obtain the two adjacent piecemeals constitute it is new
The mass center and quality of piecemeal repeat the above steps up to the mass center and quality for obtaining current piecemeal, enter step S13.
3. the balance adjusting method of a kind of motion simulator and analog carrier platform according to claim 1 or 2, wherein
It is preferred that utilizing coordinate system in the distribution of the mass density of motion simulator and/or distribution of shapes upright projection to coordinate plane
In plane quality distribution diagram and/or planar structure distribution map obtain plane mass centre and the/coordinate at plane geometry center.
4. the balance adjusting method of a kind of motion simulator and analog carrier platform according to claim 1 or 2, wherein
The mass center, plane mass centre and plane geometric center are preferably expressed with coordinate form.
5. the balance adjusting method of a kind of motion simulator and analog carrier platform according to claim 1 or 2, wherein
Center described in step S3, the preferably midpoint of plane mass centre and plane geometric center.
6. the balance adjusting method of a kind of motion simulator and analog carrier platform according to claim 1 or 2, wherein
When piecemeal is non-centrosymmetry figure in the step S12, cut benefit processing to the piecemeal to calculate equivalent mass center.
7. the balance-conditioning system of a kind of motion simulator and simulator carrier platform, which is characterized in that including
Mass centre's module obtains movement simulation for the mass density distribution of motion simulator to be vertically projected to plane
The plane quality distribution diagram of device calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
Geometric center module obtains the planar structure point of motion simulator on the shape project to plane by motion simulator
Butut calculates the plane geometry center of motion simulator；
Simulator center module, for calculating movement simulation according to the plane mass centre of motion simulator and plane geometric center
The center of device；
Module is leveled, carries its center and simulator for adjusting motion simulator according to the center of motion simulator
The center of body platform is corresponding,
Wherein, the function of mass centre's module realizes that process includes,
Motion simulator is vertically projected in plane by S11 according to mass density distribution, obtains the plane quality of motion simulator
Distribution map；
Plane quality distribution diagram is divided into the uniform piecemeal of multiple shapes by S12, the mass density of each piecemeal it is preferably equal or
It is unequal；
S13 arbitrarily selects two adjacent piecemeals, obtains the mass center and quality of each piecemeal, the mass center and quality according to each piecemeal
Obtain mass center and quality that the two adjacent piecemeals constitute new piecemeal；
S14 repeats step S13 until obtaining the plane mass centre of motion simulator.
8. a kind of storage equipment, wherein being stored with a plurality of instruction, described instruction is suitable for being loaded and being executed by processor:
The mass density distribution of motion simulator is vertically projected in plane by S1, obtains the plane Mass Distribution of motion simulator
Figure calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
S2 will obtain the planar structure distribution map of motion simulator on the shape project to plane of motion simulator, calculate movement mould
The plane geometry center of quasi- device；
S3 calculates the center of motion simulator according to the plane mass centre of motion simulator and plane geometric center；
S4, which adjusts motion simulator according to the center of motion simulator, to be made in its center and simulator carrier platform
The heart is corresponding；
Wherein, include in the step S1,
Motion simulator is vertically projected in plane by S11 according to mass density distribution, obtains the plane quality of motion simulator
Distribution map；
Plane quality distribution diagram is divided into the uniform piecemeal of multiple shapes by S12, the mass density of each piecemeal it is preferably equal or
It is unequal；
S13 arbitrarily selects two adjacent piecemeals, obtains the mass center and quality of each piecemeal, the mass center and quality according to each piecemeal
Obtain mass center and quality that the two adjacent piecemeals constitute new piecemeal；
S14 repeats step S13 until obtaining the plane mass centre of motion simulator.
9. a kind of terminal, including processor are adapted for carrying out each instruction；And storage equipment, it is suitable for storing a plurality of instruction, the finger
It enables and is suitable for being loaded and being executed by processor:
The mass density distribution of motion simulator is vertically projected in plane by S1, obtains the plane Mass Distribution of motion simulator
Figure calculates the plane mass centre for obtaining motion simulator according to plane quality distribution diagram；
S2 will obtain the planar structure distribution map of motion simulator on the shape project to plane of motion simulator, calculate movement mould
The plane geometry center of quasi- device；
S3 calculates the center of motion simulator according to the plane mass centre of motion simulator and plane geometric center；
S4, which adjusts motion simulator according to the center of motion simulator, to be made in its center and simulator carrier platform
The heart is corresponding；
Wherein, include in the step S1,
Motion simulator is vertically projected in plane by S11 according to mass density distribution, obtains the plane quality of motion simulator
Distribution map；
Plane quality distribution diagram is divided into the uniform piecemeal of multiple shapes by S12, the mass density of each piecemeal it is preferably equal or
It is unequal；
S13 arbitrarily selects two adjacent piecemeals, obtains the mass center and quality of each piecemeal, the mass center and quality according to each piecemeal
Obtain mass center and quality that the two adjacent piecemeals constitute new piecemeal；
S14 repeats step S13 until obtaining the plane mass centre of motion simulator.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101842822A (en) * | 2007-12-24 | 2010-09-22 | 罗伯特·奇尔德雷斯 | Motion platform video game racing car and flight simulator |
| CN105259866A (en) * | 2015-10-10 | 2016-01-20 | 北京精密机电控制设备研究所 | Mass center adjustment system of air-floating motion simulator |
| CN106898234A (en) * | 2015-10-27 | 2017-06-27 | 运动设备株式会社 | Motion simulator |
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2018
- 2018-08-28 CN CN201810988883.XA patent/CN109087551B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101842822A (en) * | 2007-12-24 | 2010-09-22 | 罗伯特·奇尔德雷斯 | Motion platform video game racing car and flight simulator |
| CN105259866A (en) * | 2015-10-10 | 2016-01-20 | 北京精密机电控制设备研究所 | Mass center adjustment system of air-floating motion simulator |
| CN106898234A (en) * | 2015-10-27 | 2017-06-27 | 运动设备株式会社 | Motion simulator |
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