JP6380799B2 - Vehicle behavior reproduction system - Google Patents

Description

  The present invention relates to a vehicle behavior reproduction system for reproducing vehicle behavior.

  In order to support the vehicle body and cause the vehicle body to move with 6 degrees of freedom, the applicant of the present invention has four axles corresponding to the four wheels of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. Has developed a vehicle behavior reproduction device including a first motion base and four second motion bases for supporting each axle and causing each axle to move with six degrees of freedom (see Patent Document 1 below). .

JP 2014-215226 A

  In the above-described vehicle behavior reproduction device developed by the present applicant, each motion base is connected between a fixed base, a movable base disposed above the fixed base, and the fixed base and the movable base. , An actuator for causing the movable base to move with 6 degrees of freedom, and a motion controller for controlling the actuator. The actuator includes, for example, six electric cylinders and a servo amplifier for driving it. The servo amplifier of each electric cylinder is provided with a rod expansion / contraction button for extending / contracting the cylinder rod of the electric cylinder by manual operation. That is, the operator can expand and contract the cylinder rod of the electric cylinder by operating the rod expansion / contraction button.

  When the vehicle behavior reproduction operation is performed by the vehicle behavior reproduction device, any motion with six degrees of freedom of any motion base may reach the limit of the movable range. That is, any electric cylinder may reach the limit of its movable range. In this case, if the vehicle behavior reproduction operation is continued, the electric cylinder that has reached the limit of the movable range cannot move beyond the limit, while the electric cylinder that has not reached the limit of the movable range can still move. The vehicle body of the vehicle behavior device may be in an unexpected posture.

In view of this, the present applicant has proposed a vehicle behavior reproduction system capable of emergency stopping the vehicle behavior reproduction device when any of the electric cylinders reaches the limit of the movable range.
That is, a limit switch for detecting that the electric cylinder has reached the limit of the movable range as a limit error is attached to each electric cylinder. When a limit error is detected by any of the limit switches during the vehicle behavior reproduction operation, power supply to all the motion bases is cut off. The interruption of power supply to each motion base during vehicle behavior reproduction is called an emergency stop, and the emergency stop state has been canceled when the power supply to all motion bases has been restored after an emergency stop. To. When all the motion bases are in the emergency stop state, the vehicle behavior reproduction operation by the vehicle behavior reproduction device is prohibited.

  When all the motion bases are in an emergency stop state, in order for the vehicle behavior reproduction device to perform the vehicle behavior reproduction operation, after canceling the emergency stop state, the position / posture of each motion base is determined by initialization processing. It is necessary to return to the initial position (neutral position). This is because the position / posture of each motion base cannot be accurately specified unless the position / posture of each motion base is returned to the initial position in an emergency stop state. In the initialization process, for example, every time the operator designates a motion base to be initialized, the designated motion base position / posture is automatically returned to the initial position.

  However, it is not preferable to perform the initialization process in a state where a limit error is detected. Therefore, when the vehicle behavior reproduction device is emergency stopped due to detection of a limit error, the limit error is canceled by the operator's operation after the emergency stop state is canceled (the limit error is not detected). Until it is done, the initialization process is prohibited. The limit error is released by the operator identifying the electric cylinder in which the limit error has been detected by visual observation and operating a rod expansion / contraction button provided in the servo amplifier of the identified electric cylinder. For this reason, the operation for canceling the limit error is troublesome.

  An object of the present invention is to provide a vehicle behavior reproduction system in which an operation for canceling a limit error is simplified.

  In order to achieve the above object, the invention according to claim 1 includes a vehicle body (2) to which a plurality of axles (21S, 22S, 23S, 24S) are attached, and supports the vehicle body and has 6 degrees of freedom in the vehicle body. And a plurality of second motion bases (4, 5, 6, 7) for supporting the respective axles and causing the respective axles to move with six degrees of freedom. Limit error detecting means (71a to 76a, 71b to 76b) provided in each motion base for detecting as a limit error that any of the six degrees of freedom of the motion base has reached the limit of the movable range. ) And a control device (40) for controlling each of the motion bases, wherein the control device includes an initialization control means (42), The initialization control means determines whether or not there is a motion base in which a limit error is detected by the limit error detection means in each of the motion bases when an initialization start command is given. A determining means, and a limit error canceling means for driving the motion base in which the limit error is detected to cancel the limit error when it is determined that there is a motion base in which the limit error is detected by the determining means; When it is determined that there is no motion base in which the limit error is detected by the determination unit or when the limit error is canceled by the limit error release unit, the position / posture of each motion base is set to Vehicle behavior reproduction system, including initialization processing means for performing initialization processing for returning to the initial position. It is a non. In addition, although the alphanumeric character in parentheses represents a corresponding component in an embodiment described later, of course, the scope of the present invention is not limited to the embodiment. The same applies hereinafter.

  In this configuration, when an initialization start command is given, it is determined whether or not there is a motion base in which a limit error is detected by the limit error detection means in each motion base. If it is determined that there is a motion base in which a limit error is detected, the motion base in which the limit error is detected is driven to release the limit error. According to this configuration, since the limit error can be automatically canceled, an operation for canceling the limit error is simplified.

In addition, when a limit error is detected, the initialization process is not performed until the limit error is canceled, so that the initialization process can be prevented from being performed while the limit error is detected. .
According to a second aspect of the present invention, each motion base includes a plurality of cylinders, and the limit error detecting means detects a plurality of limit errors that the cylinder rod of each cylinder has reached the limit of the movable range. It is a vehicle behavior reproduction system of Claim 1 containing a limit error detector (71a-76a, 71b-76b).

  According to a third aspect of the present invention, the discriminating means includes a cylinder in which a limit error is detected by the limit detector in each of the motion-based cylinders when an initialization start command is given. The limit error canceling unit is configured to determine whether or not there is a cylinder in which the limit error is detected by the determining unit. The initialization processing means is configured to release the limit error by driving the case where it is determined that there is no cylinder in which the limit error is detected by the determination means or by the limit error release means. When the limit error is released, an initialization process is performed to return the position / posture of each motion base to the initial position. It is configured Migihitsuji a vehicle behavior reproducing system according to claim 2.

FIG. 1 is a schematic perspective view schematically showing the appearance of a vehicle behavior reproduction device used in a vehicle behavior reproduction system according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the vehicle behavior reproduction device of FIG. FIG. 3 is a side view schematically showing the vehicle behavior reproduction device of FIG. FIG. 4 is a plan view schematically showing the vehicle behavior reproduction device of FIG. FIG. 5 is a block diagram showing the overall electrical configuration of the vehicle behavior reproduction system. FIG. 6 is a block diagram showing a motion-based electrical configuration. FIG. 7A is a schematic diagram illustrating an example of an operation screen displayed on the display unit, and FIG. 7B is a schematic diagram illustrating another example of the operation screen displayed on the display unit. FIG. 8A is a flowchart illustrating a part of an example of the procedure of the initialization control process executed by the initialization control unit. FIG. 8B is a flowchart illustrating a part of an example of the procedure of the initialization control process executed by the initialization control unit.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view schematically showing the appearance of a vehicle behavior reproduction device used in a vehicle behavior reproduction system according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the vehicle behavior reproduction device of FIG. FIG. 3 is a side view schematically showing the vehicle behavior reproduction device of FIG. FIG. 4 is a plan view schematically showing the vehicle behavior reproduction device of FIG. In FIG. 4, the vehicle body is omitted.

  The vehicle behavior reproduction device 1 includes a vehicle body 2 to which four axles 21S, 22S, 23S, and 24S corresponding to four wheels of a left front wheel 21, a right front wheel 22, a left rear wheel 23, and a right rear wheel 24 are attached. The vehicle behavior reproduction device 1 supports the vehicle body 2 and supports the first motion base 3 for causing the vehicle body 2 to move with six degrees of freedom, the axles 21S, 22S, 23S, and 24S, and the axles 21S. , 22S, 23S, and 24S, and four second motion bases 4, 5, 6, and 7 for causing the movement of 6 degrees of freedom.

In FIG. 1 or FIG. 3, the front end of the vehicle body 2 is indicated by reference numeral 2f, and the rear end of the vehicle body 2 is indicated by reference numeral 2r. A left front wheel 21, a right front wheel 22, a left rear wheel 23, and a right rear wheel 24 are coupled to the four axles 21S, 22S, 23S, 24S of the vehicle body 2 so as to be integrally rotatable.
The vehicle body 2 may be mounted with test products of various automobile parts. In the example of FIGS. 1 to 4, the vehicle body 2 includes an electric power steering (EPS) 8 and a rear wheel drive module 9 for driving the left rear wheel 23 and the right rear wheel 24 by an electric motor. Are mounted as test products.

  Each motion base 3, 4, 5, 6, 7 is fixed on a surface plate 10 placed on the floor. Each motion base 3, 4, 5, 6, 7 includes a fixed base 11 fixed to the surface plate 10, a movable base 12 disposed above the fixed base 11, and between the fixed base 11 and the movable base 12. And an actuator 13 for causing the movable base 12 to move in six degrees of freedom (back and forth, left and right, up and down, roll, pitch and yaw movement), and a motion controller 14 for controlling the actuator 13 (see FIG. 6). ). The actuator 13 includes six electric cylinders CY1 to CY6 (see FIG. 6) and servo amplifiers SA1 to SA6 (see FIG. 6) for driving them. In this specification, the position / posture of the motion bases 3, 4, 5, 6, 7 means the position / posture of the movable base 12. In this specification, moving the motion bases 3, 4, 5, 6, 7 (returning to the initial position, lowering, raising) moves the movable base 12 (returning to the initial position, lowering). , Raise).

  1 to 4 show a state in which the first motion base 3 and the second motion bases 4, 5, 6, and 7 are in an initial position (neutral position). In this embodiment, the state in which the motion base is in the initial position refers to a state in which the movable base of the motion base is located at the center of the movable range for all the six degrees of freedom motion. In this embodiment, the height position at the initial position of the first motion base 3 is equal to the height position at the initial position of each of the second motion bases 4 to 7. Therefore, when all the motion bases 3 to 7 are in the initial positions, the height position of the movable base 12 of the first motion base 3 is equal to the height position of the movable base 12 of each of the second motion bases 4 to 7. .

  In this embodiment, when all the motion bases 3 to 7 are in the initial positions, the first motion base 3 and the vehicle body are arranged so that the vehicle body 2 is in a substantially horizontal posture (a posture substantially parallel to the surface of the surface plate 10). The spacer 101 is provided between the two. Specifically, the spacer 101 is fixed on the upper surface of the movable base 12 of the first motion base 3. On the upper surface of the spacer 101, the vehicle body 2 is fixed in a state where the central portion of the vehicle body 2 is placed. That is, the vehicle body 2 is fixed to the first motion base 3 via the spacer 101.

  A left front wheel 21, a right front wheel 22, a left rear wheel 23 and a right rear wheel 24 are mounted on the movable bases 12 of the second motion bases 4, 5, 6 and 7, respectively. That is, the wheels 21, 22, 23, and 24 are supported by the second motion bases 4, 5, 6, and 7, respectively. In other words, the outer ends of the axles 21S, 22S, 23S, and 24S are supported by the second motion bases 4, 5, 6, and 7 via the wheels 21, 22, 23, and 24, respectively.

  In the vehicle behavior reproduction device 1, various vehicle body postures can be created by driving and controlling the actuator 13 of the first motion base 3. Various road surface conditions can be created by individually controlling the actuators 13 of the second motion bases 4, 5, 6, and 7. Therefore, it is possible to simulate (reproduce) various vehicle running states (vehicle behaviors) by individually controlling the actuators 13 of the motion bases 3, 4, 5, 6, and 7.

  In the vehicle behavior reproduction device 1, a force is directly applied to the vehicle body 2 by the first motion base 3 in a state where the wheels 21 to 24 are supported by the second motion bases 4, 5, 6, and 7. Can do. Accordingly, the vehicle body 2 is applied to the member supporting the wheels 21 to 24 (axles 21S to 24S) with the same force as the inertial force acting on the vehicle body during acceleration, deceleration and turning of the actual vehicle. It can be given to the vehicle body 2 without running relatively. In the vehicle behavior reproduction apparatus 1, the vehicle body 2 can be yawed by the first motion base 3. Thereby, yawing exercise | movement can be simulated.

Hereinafter, a vehicle behavior reproduction system using the vehicle behavior reproduction device 1 will be described.
FIG. 5 is a block diagram showing the overall electrical configuration of the vehicle behavior reproduction system.
The vehicle behavior reproduction system 100 includes a driving simulator 30, a vehicle behavior reproduction device 1, and a motion base control device 40 (hereinafter simply referred to as “control device 40”). The driving simulator 30 virtually simulates driving of the vehicle and is operated by the driver.

  The control device 40 controls the motion bases 3, 4, 5, 6, and 7 of the vehicle behavior reproduction device 1. The control device 40 is constituted by a computer, for example. The control device 40 may be configured by one or more computers and one or more programmable controllers. In addition to the motion bases 3, 4, 5, 6, and 7, the control device 40 is connected to an operation unit 51, a display unit 52, an emergency stop / release button 53, an operation preparation button 54, a switchboard 55, and the like. The emergency stop / release button 53 is a button that is operated to cause the vehicle behavior reproduction device 1 (each motion base 3, 4, 5, 6, 7) to make an emergency stop or to release an emergency stop state. The driving preparation button 54 is a button that is operated to cancel the emergency stop state when the vehicle behavior reproduction device 1 enters an emergency stop state due to a limit error described later. The switchboard 55 is a device for controlling power supply to the motion bases 3 to 7.

FIG. 6 shows the electrical configuration of each of the motion bases 3, 4, 5, 6, and 7.
Each motion base 3, 4, 5, 6, 7 includes an actuator 13 and a motion controller 14 for controlling the actuator 13. The actuator 13 includes six electric cylinders CY1 to CY6 and six servo amplifiers SA1 to SA6 for driving the six electric cylinders CY1 to CY6, respectively. Each servo amplifier SA1 to SA6 is controlled by the motion controller 14.

  Each electric cylinder CY1 to CY6 includes a servo motor. The electric cylinders CY1 to CY6 are provided with rotation angle sensors 61 to 66 for detecting the rotation angle (cylinder rod expansion / contraction amount) of the servo motor. Output signals c1 to c6 of the respective rotation angle sensors 61 to 66 are sent to the servo amplifiers SA1 to SA6. Output signals c1 to c6 of the respective rotation angle sensors 61 to 66 are also sent to the control device 40 via the servo amplifiers SA1 to SA6 and the motion controller 14.

  Each electric cylinder CY1 to CY6 is provided with lower limit sensors 71a to 76a for detecting as a lower limit error that the cylinder rod has reached the lower limit of the movable range. Each electric cylinder CY1 to CY6 is provided with upper limit sensors 71b to 76b for detecting, as an upper limit error, that the cylinder rod has reached the upper limit of the movable range. The output signals a1 to a6 of the lower limit sensors 71a to 76a and the output signals b1 to b6 of the upper limit sensors 71b to 76b are sent to the control device 40 via the motion controller 14. Hereinafter, when the lower limit error and the upper limit error are collectively referred to without being distinguished, they are referred to as “limit error”.

Returning to FIG. 5, the steering simulator 30 outputs steering wheel angle information (steering angle information), accelerator opening information, brake pedal force information, and the like according to the driving operation of the driving simulator 30.
The control device 40 includes a vehicle behavior reproduction control unit 41, an initialization control unit 42, and an emergency stop / release control unit 43 as function processing units. The vehicle behavior reproduction control unit 41 includes a vehicle model 41A and a command value generation unit 41B. The vehicle model 41A receives the steering wheel angle information, the accelerator opening information, and the brake pedal effort information output from the driving simulator 30. Based on the input information, the vehicle model 41A calculates the position / posture of the vehicle body and the position / posture of each wheel according to the driving situation simulated by the driving simulator 30.

The command value generation unit 41B instructs the position / posture to be taken by each motion base 3, 4, 5, 6, 7 based on the position / posture of the vehicle body and the position / posture of each wheel calculated by the vehicle model 41A. A value (position / posture command value) is generated. That is, the command value generation unit 41 </ b> B generates a position / posture command value for reproducing the vehicle behavior for each of the motion bases 3 to 7.
The position / posture command values for the respective motion bases 3, 4, 5, 6 and 7 generated by the command value generation unit 41B are given to the motion controllers 14 of the corresponding motion bases 3, 4, 5, 6 and 7. . Each motion controller 14 controls the corresponding actuator 13 based on the position / posture command value given from the command value generation unit 41B. As a result, the position / posture of the movable base 12 of each of the motion bases 3, 4, 5, 6 and 7 is controlled to be a position / posture corresponding to the position / posture command value. Thereby, the vehicle behavior corresponding to the driving operation of the driving simulator 30 is reproduced by the vehicle behavior reproduction device 1.

  The emergency stop / release control unit 43, when the vehicle behavior is reproduced by the vehicle behavior reproduction device 1, when a limit error is detected by any of the limit sensors 71a to 76a, 71b to 76b, or emergency stop / release When the button 53 is turned on, the switchboard 55 is controlled to cut off the power supply to all the motion bases 3-7. The state where the power supply to all the motion bases 3 to 7 is cut off by the emergency stop / release control unit 43 is called an emergency stop state, and the power supply to all the motion bases 3 to 7 is restored after the emergency stop. Let's say that the emergency stop state has been cancelled.

  When the vehicle behavior reproduction device 1 enters an emergency stop state, the vehicle behavior reproduction control unit 41 is set in an operation prohibited state. In order to cancel the operation prohibition state by the vehicle behavior reproduction control unit 41, after canceling the emergency stop state, a process (initialization process) for returning the position / posture of each motion base 3 to 7 to the initial position is performed. There is a need. This is because in the case of an emergency stop, the position / posture of each motion base 3-7 cannot be accurately specified unless the position / posture of each motion base 3-7 is returned to the initial position. It is.

  However, when the vehicle behavior reproduction device 1 is in an emergency stop state due to the detection of the limit error, it is not preferable to perform the initialization process in a state where the limit error is detected. In this embodiment, the initialization control unit 42 automatically cancels the limit error after canceling the emergency stop state when the vehicle behavior reproduction device 1 enters the emergency stop state due to the detection of the limit error. After performing the process for performing the initialization process, the initialization process is performed.

  When the vehicle behavior reproduction device 1 enters an emergency stop state by turning on the emergency stop / release button 53, the emergency stop / release control unit is turned on when the emergency stop / release button 53 is turned off by the operator. 43 controls the switchboard 55 to release the emergency stop state. On the other hand, when the vehicle behavior reproduction device 1 is in an emergency stop state due to the detection of a limit error, the emergency stop / release control unit 43 operates the switchboard when the operation preparation button 54 is operated by the operator. 55 is controlled to cancel the emergency stop state. When the emergency stop state is released, the emergency stop / release control unit 43 displays an operation screen including an initialization start button 81 on the display unit 52 as shown in FIG. 7A. When the initialization start button 81 is operated, an initialization start command is given to the initialization control unit 42. When an initialization start command is given to the initialization control unit 42, the initialization control unit 42 performs initialization control processing.

8A and 8B are flowcharts illustrating an example of the procedure of the initialization control process executed by the initialization control unit 42.
When the initialization start command is given (step S1: YES), the initialization control unit 42 detects the motion base in which any of the six degrees of freedom has reached the limit of the movable range (hereinafter, “limit error is detected”). It is determined whether or not 3-7 are present (step S2). In this embodiment, whether or not a limit error is detected from the motion controllers 14 of the motion bases 3 to 7 by any of the limit switches 71a to 76a and 71b to 76b in the motion bases 3 to 7 is expressed. The limit error information is given to the initialization control unit 42. In this embodiment, this limit error information includes information for identifying the motion bases 3 to 7. The initialization control unit 42 recognizes the motion base in which the limit error is detected by any of the limit switches 71a to 76a and 71b to 76b (motion base in which the limit error is detected) based on the limit error information. It is possible. However, in this embodiment, information indicating which limit error is detected in any of the electric cylinders CY1 to CY6 in the motion bases 3 to 7 and the type of limit error (upper limit error or lower limit error) is the motion controller. 14 is not given.

  When there are motion bases 3 to 7 in which the limit error is detected (step S2: YES), the initialization control unit 42 specifies the electric cylinders CY1 to CY6 in which the limit error is detected (step S3). ). Specifically, the initialization control unit 42 determines the limit based on the rotation angle (cylinder rod expansion / contraction amount) detected by the rotation angle sensors 61 to 66 provided in the motion base where the limit error is detected. The electric cylinders CY1 to CY6 in which errors are detected are specified. More specifically, the initialization control unit 42 detects an upper limit error if the rotation angle (cylinder rod expansion / contraction amount) detected by the rotation angle sensors 61 to 66 is equal to or greater than a predetermined upper limit determination threshold. If it is less than or equal to a predetermined lower limit determination threshold, it is determined that a lower limit error has been detected. Thereby, the initialization control unit 42 specifies the electric cylinders CY1 to CY6 in which the limit error is detected, and also specifies the type of the limit error (upper limit error, lower limit error).

  Next, the initialization control unit 42 determines the type of limit error (step S4). When the type of the limit error is the upper limit error (step S4: YES), the initialization control unit 42 contracts the cylinder rods of the electric cylinders CY1 to CY6 in which the upper limit error is detected by the first predetermined amount. The command value for generating is generated (step S5). This command value is given to the servo amplifiers SA1 to SA6 corresponding to the electric cylinders CY1 to CY6 via the corresponding motion controller 14. Thereby, the cylinder rods of the electric cylinders CY1 to CY6 are contracted by the first predetermined amount. Since the first predetermined amount is set to a length sufficient to cancel the upper limit error, the upper limit error for the electric cylinders CY1 to CY6 is thereby released. Thereafter, the initialization control unit 42 returns to step S2.

  If it is determined in step S4 that the type of limit error is the lower limit error (step S4: NO), the initialization control unit 42 determines the cylinders of the electric cylinders CY1 to CY6 in which the lower limit error is detected. A command value for extending the rod by the second predetermined amount is generated (step S6). This command value is given to the servo amplifiers SA1 to SA6 corresponding to the electric cylinders CY1 to CY6 via the corresponding motion controller 14. Thereby, the cylinder rods of the electric cylinders CY1 to CY6 are extended by the second predetermined amount. Since the second predetermined amount is set to a length sufficient to cancel the lower limit error, the lower limit error for the electric cylinders CY1 to CY6 is thereby released. Thereafter, the initialization control unit 42 returns to step S2. When returning from step S5 or S6 to step S2, if there is an electric cylinder in which a limit error has been detected, the processing of steps S3, S4, S5 or steps S3, S4, S6 is executed again. .

  When it is determined in step S2 that there is no motion base in which a limit error is detected (step S2: NO), the initialization control unit 42, as shown in FIG. An operation screen including initialization buttons 83 to 87 corresponding to 7 is displayed on the display unit 52 (step S7). Then, the initialization control unit 42 executes initialization processing.

  Specifically, the initialization control unit 42 determines whether or not all the motion bases 3 to 7 have been initialized (step S8). That is, the initialization control unit 42 determines whether or not initialization processing (processing in step S10 described later) for returning the motion bases 3 to 7 to their initial positions has been executed. If any of the motion bases 3 to 7 has not been initialized (step S8: NO), the initialization control unit 42 determines whether or not any of the initialization buttons 83 to 87 has been operated ( Step S9).

  If none of the initialization buttons 83 to 87 has been operated (step S9: NO), the process returns to step S8. When any of the initialization buttons 83 to 87 is operated in step S9 (step S9: YES), the initialization control unit 42 proceeds to step S10. In step S10, the initialization control unit 42 generates a position / posture command value for stepwise returning the motion bases 3 to 7 corresponding to the operated initialization buttons 83 to 87 to the initial positions. The position / posture command value generated by the initialization control unit 42 is given to the motion controllers 14 of the corresponding motion bases 3 to 7. As a result, the corresponding motion bases 3 to 7 are returned to the initial positions. That is, the corresponding motion bases 3 to 7 are initialized. Thereafter, the initialization control unit 42 returns to Step S8.

  Thus, when all the motion bases 3 to 7 are returned to the initial positions (initialized), an affirmative determination is made in step S8 (step S8: YES). The operation prohibition state of the behavior reproduction control unit 41 is canceled (step S11). Thereby, vehicle behavior reproduction control by the vehicle behavior reproduction control part 41 is attained. Then, the initialization control unit 42 ends the current process.

  In the above-described embodiment, when an initialization start command is given, it is determined whether or not there are motion bases 3 to 7 for which a limit error has been detected. When the motion bases 3 to 7 in which the limit error is detected exist, the electric cylinders CY1 to CY6 in which the limit error is detected are driven, and the limit error is released. That is, the limit error is automatically canceled. For this reason, the operation for canceling the limit error is simplified.

In addition, when a limit error is detected, the initialization process is not performed until the limit error is canceled, so that the initialization process can be prevented from being performed while the limit error is detected. .
As mentioned above, although one Embodiment of this invention was described, this invention can also be implemented with another form. For example, in the above-described embodiment, the limit error information provided from the motion controller 14 of each motion base 3 to 7 to the initialization control unit 42 includes information for identifying the motion bases 3 to 7. However, the limit error information may not include information for identifying the motion bases 3 to 7. In this case, the initialization control unit 42 targets all the electric cylinders CY1 to CY6 of the motion bases 3 to 7 based on the rotation angle (cylinder rod expansion / contraction amount) detected by the rotation angle sensors 61 to 66. The electric cylinders CY1 to CY6 in which the limit error is detected are specified.

  In the above-described embodiment, when the emergency stop state is released, the initialization start button 81 is displayed on the display unit 52. When the initialization start button 81 is operated, the initialization start command is issued to the initialization control unit. 42. However, an initialization start command may be given to the initialization control unit 42 when the emergency stop state is released. In this case, it is not necessary to display the initialization start button 81 on the display unit 52 when the emergency stop state is canceled.

  Further, in the above-described embodiment, even when the operation screen is displayed on the display unit 52 in step S7 of FIG. The operation prohibited state of the vehicle behavior reproduction control unit 41 is not released unless the initialization process for the motion base (the process of step S10) is completed. However, even if the initialization process (the process of step S10) is not performed on the motion base at the initial position when the operation screen is displayed on the display unit 52 in step S7 of FIG. When the initialization process is completed, the operation prohibition state of the vehicle behavior reproduction control unit 41 may be canceled. In this case, in step S8, the initialization control unit 42 may determine whether or not all the motion bases 3 to 7 are in the initial positions.

In the above-described embodiment, the height position at the initial position of the first motion base 3 is equal to the height position at the initial position of each of the second motion bases 4 to 7, but the height position at the initial position of both is the same. May be different.
Further, in the above-described embodiment, the wheels 21 to 24S are mounted on the axles 21S to 24S. However, the wheels 21S to 24S are not mounted on the axles 21S to 24S, and the axles 21S to 24S are respectively mounted. You may make it mount on 2 motion bases 4-7.

  The present invention can be modified in various ways within the scope of the matters described in the claims.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle behavior reproduction apparatus, 2 ... Vehicle body, 3 ... 1st motion base, 4-7 ... 2nd motion base, 11 ... Fixed base, 12 ... Movable base, 13 ... Actuator, 14 ... Motion controller, 21-24 ... Wheels, 21S to 24S ... axes, 30 ... driving simulator, 40 ... motion-based control device, 41 ... vehicle behavior reproduction control unit, 42 ... initialization control unit, 43 ... emergency stop / release control unit, 53 ... emergency stop / release Button 54: Operation preparation button 55 ... Power distribution panel 81 ... Initialization start button 83-87 ... Initialization button 100 ... Vehicle behavior reproduction system 101 ... Spacer

Claims (3)

A vehicle body having a plurality of axles attached thereto, a first motion base for supporting the vehicle body and causing the vehicle body to move in six degrees of freedom, and supporting each of the axles and moving in six degrees of freedom on each axle. A plurality of second motion bases, and a limit error for detecting as a limit error that one of the six degrees of freedom of the motion base has reached the limit of the movable range. A vehicle behavior reproduction system including detection means and a control device for controlling each of the motion bases,
The control device includes initialization control means,
The initialization control means includes
A discriminating means for discriminating whether or not there is a motion base in which a limit error is detected by the limit error detecting means in each of the motion bases when an initialization start command is given;
When it is determined that there is a motion base in which a limit error is detected by the determination unit, a limit error canceling unit that releases the limit error by driving the motion base in which the limit error is detected;
When it is determined that there is no motion base in which the limit error is detected by the determination unit, or when the limit error is canceled by the limit error release unit, the position / orientation of each motion base is set to the initial position. A vehicle behavior reproduction system including initialization processing means for performing initialization processing for returning to a position. Each motion base includes a plurality of cylinders;
2. The vehicle behavior reproduction system according to claim 1, wherein the limit error detection unit includes a plurality of limit error detectors that detect, as a limit error, that the cylinder rod of each cylinder has reached the limit of the movable range. The discriminating unit discriminates whether or not there is a cylinder in which a limit error is detected by the limit detector among the motion-based cylinders when an initialization start command is given. Configured,
The limit error release means is configured to drive the cylinder in which the limit error is detected to release the limit error when it is determined by the determination means that there is a cylinder in which the limit error is detected. And
The initialization processing means determines the position of each motion base when it is determined that there is no cylinder for which a limit error is detected by the determination means or when the limit error is released by the limit error release means. The vehicle behavior reproduction system according to claim 2, wherein the vehicle behavior reproduction system is configured to perform an initialization process for returning the posture to each initial position.

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