JP6489355B2 - 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). . The first motion base is fixed to the vehicle body directly or via a spacer.

JP 2014-215226 A

  In the vehicle behavior reproduction system already developed by the present applicant described above, when an emergency stop button is operated during the vehicle behavior reproduction operation or when an abnormality in each motion base is detected, all motion bases are applied. Is interrupted. The interruption of power supply to all motion bases during vehicle behavior reproduction is called an emergency stop, and the emergency stop state has been canceled after the power supply to all motion bases has been restored after an emergency stop. I will decide. In order for the vehicle behavior reproduction device to perform the vehicle behavior reproduction operation when all the motion bases are in the emergency stop state, after canceling the emergency stop state, the position and orientation 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.

  Each motion base may be brought to an emergency stop when an unexpectedly large load (load) is applied to the vehicle body or the motion base. In such a case, in order to reduce or cancel the load applied to the vehicle body or motion base, it is necessary to take steps to reset each motion base to the initial position by initializing after releasing the emergency stop state. There is. For this reason, it takes time to reduce or cancel the load applied to the vehicle body and the motion base when the emergency stop is canceled.

  An object of the present invention is to provide a vehicle behavior reproduction system capable of quickly reducing or canceling a load when the system is in an emergency stop state with an unexpectedly large load applied to a vehicle body or a motion base. is there.

  In order to achieve the above object, the invention according to claim 1 is characterized in that the vehicle body (2) to which a plurality of axles (21S, 22S, 23S, 24S) are attached is fixed to the vehicle body and is vertically oriented. A first motion base (3) for causing the vehicle body to perform a six-degree-of-freedom movement including a Z direction along the X direction, an X direction orthogonal to the Z direction, and a movement in the Z direction and the Y direction orthogonal to the X direction. , A plurality of second motion bases (4, 5, 6, 7) for supporting the respective axles and causing each of the axles to move in six degrees of freedom including movement in the Z direction, the X direction, and the Y direction. ) And a vehicle behavior reproduction control unit (41) for generating a command value for reproducing the vehicle behavior for each motion base. When each motion base is emergency stopped, The vehicle behavior reproduction system (100) in which the operation of the vehicle behavior reproduction control unit is prohibited until the initialization process for returning all the motion bases to the initial position is completed, and a load reduction command is issued. Each time a load reduction command is input by the load reduction command input means, the load reduction command input means (81) for inputting, and from when the emergency stop state is canceled until the initialization process is started. A first command value for moving the first motion base so that its X-direction position and Y-direction position are close to the initial position and its Z-direction position is increased by a certain amount; and each of the second motion bases Among the second command values for moving the base so that the X direction position and the Y direction position approach the initial position and the Z direction position is lowered by a certain amount. And a load reduction means for generating at least one (42), a vehicle behavior reproduction system. 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.

  Each second motion base is not fixed to the axle, whereas the first motion base is fixed to the vehicle body. For this reason, if the position / posture of the first motion base and each second motion base is such that the force that pushes the axle upward with respect to the vehicle body is large, the vehicle body and the motion base are unexpected. A large load (load) may be applied. For this reason, when an unexpectedly large load is applied to the vehicle body or the motion base, the first motion base and / or the second motion is reduced in a direction to reduce the force that pushes the axle upward with respect to the vehicle body. When the base is moved, the load can be reduced or released.

In this configuration, every time the load reduction command is input by the load reduction command input means from the cancellation of the emergency stop state to the start of the initialization process, the following (a), (b ) Or (c) can be performed.
(A) The first motion base is moved so that its X-direction position and Y-direction position approach the initial position and its Z-direction position becomes higher by a certain amount.
(B) Each second motion base is moved so that its X-direction position and Y-direction position approach the initial position and its Z-direction position becomes lower by a certain amount.
(C) The first motion base is moved so that its X-direction position and Y-direction position approach the initial position and its Z-direction position is increased by a certain amount, and each second motion base is moved to its X-direction position. And the Y direction position is moved closer to the initial position and the Z direction position is lowered by a certain amount.

  When any of the operations (a), (b), and (c) is performed, the force that pushes the axle upward with respect to the vehicle body decreases. Thereby, the load applied to the vehicle body and the motion base can be reduced. Therefore, according to this configuration, when each motion base is stopped in an emergency state with an unexpectedly large load applied to the vehicle body or the motion base, the load can be quickly reduced or released.

  In this configuration, each time the load reduction command is input, each motion base moves so that the X-direction position and the Y-direction position of the motion base approach the initial position of the motion base. When the motion base is at an arbitrary height position, the movable range of the motion base in the Z direction increases as the position in the X direction and the position in the Y direction approach the initial position. Therefore, according to this configuration, it is possible to move the first motion base to a higher position than when the first motion base is moved only in the Z direction. Similarly, according to this configuration, it is possible to move each second motion base to a lower position than when moving each second motion base only in the Z direction. Thereby, the load applied to the vehicle body and the motion base can be reduced more effectively.

According to a second aspect of the present invention, the load reducing means is configured to generate both the first command value for the first motion base and the second command value for each of the second motion bases. The vehicle behavior reproduction system according to claim 1.
A third aspect of the present invention is the vehicle behavior reproduction system according to the first aspect, wherein the load reducing means is configured to generate only the first command value for the first motion base.

A fourth aspect of the present invention is the vehicle behavior reproduction system according to the first aspect, wherein the load reducing means is configured to generate only the second command value for each of the second motion bases.
According to a fifth aspect of the present invention, the number of times of load reduction command input by the load reduction command input means has reached a predetermined number after the emergency stop state is released and before the initialization process is started. In this case, the vehicle behavior reproduction system according to any one of claims 1 to 4, wherein the operation by the load reducing means is prohibited.

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 flowchart for explaining a part of the operation of the load reduction / initialization control unit. FIG. 7B is a flowchart for explaining a part of the operation of the load reduction / initialization control unit. FIG. 8 is a schematic diagram illustrating an example of an operation screen displayed on the display unit when the emergency stop state is canceled. FIG. 9A is a schematic diagram illustrating an example of a state of the vehicle behavior reproduction device at the time of an emergency stop, and FIG. 9B is a schematic diagram illustrating a state of the vehicle behavior reproduction device after the load reduction button is operated 20 times. .

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.

1 and 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 direction (X direction), left and right direction (Y direction), up and down direction (Z direction), roll, pitch and yaw movement). And a motion controller 14 (see FIG. 6) for controlling the actuator 13. 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, 7, an operation unit 51, a display unit 52, an emergency stop / release button 53, a switchboard 54, and the like are connected to the control device 40. 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 switchboard 54 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.

In each of the servo amplifiers SA1 to SA6, a current sensor (not shown) for detecting a motor current flowing through the servomotors of the electric cylinders CY1 to CY6 is provided. The output signal of the current sensor is sent to the control device 40 via the motion controller 14.
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, a load reduction / 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 motion bases 3 to 7 are, for example, the x coordinate value (X), y coordinate value (Y), and z coordinate value (Z) of the xyz coordinate system fixed to each motion base 3 to 7. , Rotation angle around the x axis (Roll), rotation angle around the y axis (Pitch), and rotation angle around the z axis (Yaw).

  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 monitors whether or not the electric cylinders CY1 to CY6 are overloaded based on the motor current detected by the current sensor. The emergency stop / release control unit 43 determines that any of the electric cylinders CY1 to CY6 is overloaded when the vehicle behavior is reproduced by the vehicle behavior reproduction device 1, or the emergency stop / release button 53. When is turned on, the switchboard 54 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 prohibited state by the vehicle behavior reproduction control unit 41, it is necessary to return the position / posture of each of the motion bases 3 to 7 to the initial position after canceling the emergency stop state. 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.

  The emergency stop / release control unit 43 releases the emergency stop state when the emergency stop / release button 53 is turned off when the emergency stop / release button 53 is turned on in the emergency stop state. On the other hand, when the emergency stop / release button 53 is turned off in the emergency stop state, the emergency stop / release control unit 43 turns the emergency stop state when the emergency stop / release button 53 is turned off after being turned on once. Is released.

The load reduction / initialization control unit 42 is a load for reducing the load (load) applied to the vehicle body 2 or each of the motion bases 3 to 7 based on the operation of the operator after the emergency stop state is released. A reduction process and an initialization process for returning the motion bases 3 to 7 to their initial positions are performed.
7A and 7B are flowcharts for explaining the operation of the load reduction / initialization control unit 42.

  When the emergency stop state is canceled (step S1), the load reduction / initialization control unit 42 is a variable for storing the number of operations of a load reduction button (load reduction command input means) 81 (see FIG. 8) described later. k is set to 0, and the initialization start flag F is reset (F = 0) (step S2). The initialization start flag F is a flag for storing whether or not the initialization process has been started. Further, the load reduction / initialization control unit 42 displays an operation screen as shown in FIG. 8 on the display unit 52 (step S3). On this operation screen, a load reduction button (load reduction command input means) 81 for inputting a load reduction command and initialization buttons 83 to 87 corresponding to the motion bases 3 to 7 are displayed. As will be described later, the initialization process is started by operating any one of the initialization buttons 83 to 87.

  Next, the load reduction / initialization control unit 42 determines whether or not all the motion bases 3 to 7 have been initialized (step S4). That is, the load reduction / initialization control unit 42 determines whether or not the initialization process (the process of step S11 described later) for returning the motion bases 3 to 7 to the initial position has been executed. . If any of the motion bases 3 to 7 has not been initialized (step S4: NO), the load reduction / initialization control unit 42 proceeds to step S5. In step S5, the load reduction / initialization control unit 42 determines whether any of the initialization buttons 83 to 87 has been operated. If none of the initialization buttons 83 to 87 has been operated (step S5: NO), the load reduction / initialization control unit 42 determines whether or not the load reduction button 81 has been operated (step S6). If the load reduction button 81 has not been operated (step S6: NO), the load reduction / initialization control unit 42 returns to step S4.

  In step S6, when it is determined that the load reduction button 81 is operated (when a load reduction command is input) (step S6: YES), the initialization start flag F is reset (F = 0). It is determined whether or not there is (step S7). When the initialization start flag F is reset (F = 0) (step S7: YES), that is, when the initialization process is not started, the load reduction / initialization control unit 42 The value of k is incremented by 1 (+1) (step S8). Then, the load reduction / initialization control unit 42 determines whether or not the value of the variable k is equal to or less than the predetermined value A (step S9). In this embodiment, the predetermined value A is set to 20.

  When the value of the variable k is equal to or less than the predetermined value A (step S9: YES), the load reduction / initialization control unit 42 performs a load reduction process (step S10). Specifically, for the first motion base 3, the load reduction / initialization control unit 42 approaches the initial position of the x-coordinate value and the y-coordinate value, and the z-coordinate value is only the first fixed amount. A position / posture command value that increases (the position in the Z direction increases) is generated. In addition, the load reduction / initialization control unit 42, for each of the second motion bases 4 to 7, has its x coordinate value and y coordinate value approaching the initial position and its z coordinate value is the second fixed amount. A position / posture command value is generated such that it becomes smaller (the position in the Z direction becomes lower). However, the second fixed amount is usually different for each of the second motion bases 4 to 7. Details of the load reduction process will be described later.

  The position / posture command values for the motion bases 3 to 7 generated by the load reduction / initialization control unit 42 are given to the motion controllers 14 of the corresponding motion bases 3 to 7. As a result, the first motion base 3 moves so that the x coordinate value and the y coordinate value approach the initial position and the z coordinate value becomes larger (higher) by the first predetermined amount. Further, each of the second motion bases 4 to 7 moves so that the X coordinate value and the Y coordinate value approach the initial position and the z coordinate value becomes smaller (lower) by a second fixed amount. When the process of step S10 ends, the load reduction / initialization control unit 42 returns to step S4.

  When it is determined in step S9 that the value of the variable k is larger than the predetermined value A (step S9: NO), the load reduction / initialization control unit 42 returns to step S4. Therefore, when the number of operations of the load reduction button 81 (the number of times of input of the load reduction command) exceeds the predetermined number A, the load reduction process in step S10 is not performed. Accordingly, it is possible to prevent the first motion base 3 from rising higher than a predetermined first limit amount (= first fixed amount × A), and each of the second motion bases 4 to 7 has a predetermined second limit. It is possible to prevent the amount from dropping more than the amount (= second fixed amount × A).

If it is determined in step S7 that the initialization start flag F is set (F = 1) (step S7: NO), the load reduction / initialization control unit 42 returns to step S4. Therefore, when the initialization process has already been started, the load reduction process in step S10 is not performed.
If it is determined in step S5 that any of the initialization buttons 83 to 87 has been operated (step S5: YES), the load reduction / initialization control unit 42 operates the operated initialization buttons 83 to 87. A position / posture command value for stepwise returning the motion bases 3 to 7 corresponding to the initial position is generated (step S11). The position / posture command values generated by the load reduction / initialization control unit 42 are given to the corresponding motion controllers 14 of the motion bases 3-7. As a result, the positions and postures of the corresponding motion bases 3 to 7 are returned to the initial positions. That is, the corresponding motion bases 3 to 7 are initialized. Next, the load reduction / initialization control unit 42 sets the initialization start flag F (F = 1) (step S12), and then returns to step S4.

  When all the motion bases 3 to 7 are returned to the initial positions (initialized) by the processing in steps S5 and S11, an affirmative determination is made in step S4 (step S4: YES), so that load reduction / initialization is performed. The control unit 42 cancels the operation prohibition state of the vehicle behavior reproduction control unit 41 (step S13). Thereby, vehicle behavior reproduction control by the vehicle behavior reproduction control part 41 is attained. Then, the load reduction / initialization control unit 42 ends the current process.

The load reduction process in step S10 will be described in detail.
The load reduction / initialization control unit 42 generates command values (command values of x coordinate, y coordinate, and z coordinate) related to the position of the first motion base 3 based on the following equation (1).

  In Expression (1), vectors [X1 (k), Y1 (k), Z1 (k)] indicate command values of the x-coordinate, y-coordinate, and z-coordinate of the first motion base 3. (K) in X1 (k), Y1 (k), and Z1 (k) indicates that these command values are a function of the number of operations of the load reduction button 81. [X1 (0), Y1 (0), Z1 (0)] indicates the x coordinate value, the y coordinate value, and the z coordinate value of the first motion base 3 when the emergency stop state is released. α (k) is a variable that changes by a predetermined value in accordance with the number of operations of the load reduction button 81, the initial value is 0, and is set to 1 when the number of operations of the load reduction button 81 reaches the predetermined number A. Become. α (k) is represented by α (k) = (1 / A) · k. In this embodiment, since the predetermined number A is set to 20, α (k) = 0.05k.

The vector [X1c, Y1c, Z1c] represents the x coordinate value, the y coordinate value, and the z coordinate value of the first motion base 3 at the initial position. Since the position of the first motion base 3 at the initial position is set in advance, [X1c, Y1c, Z1c] is a constant.
Z1 ′ (k) is a z-coordinate correction value for raising the first motion base 3 by a first fixed amount each time the load reduction button 81 is operated. Z1 ′ (k) is a function of the number of operations of the load reduction button 81. Z1 ′ (k) is set to satisfy the condition of α (k) · | Z1 (0) −Z1c | <Z1 ′ (k). In this embodiment, Z1 ′ (k) is calculated based on the following equation (2), for example.

Z1 ′ (k) = (| Z1 (0) −Z1c | / A) × 2k (2)
In this embodiment, every time the load reduction button 81 is operated, the first motion base 3 has its x coordinate and y coordinate approaching the coordinate value of the initial position and its z coordinate is increased by a first fixed amount. To move. When the load reduction button 81 is operated 20 times, the x coordinate value X1 (20) and the y coordinate value Y1 (20) of the first motion base 3 become X1c and Y1c, respectively. That is, the x coordinate value and the y coordinate value of the first motion base 3 are coordinate values corresponding to the initial position. On the other hand, the z coordinate value Z1 (20) of the first motion base 3 is Z1 (20) = Z1c + Z1 ′ (20) = Z1c + 2 | Z1 (0) −Z1c |.

  Based on the following equation (3), the load reduction / initialization control unit 42 provides command values (roll angle (Roll), pitch angle (Pitch) and yaw angle (Yaw) command values related to the attitude of the first motion base 3. ) Is generated.

  In equation (3), the vector [r1 (k), p1 (k), y1 (k)] indicates the command value of the roll angle, pitch angle, and yaw angle of the first motion base 3. r1 (k), p1 (k), and y1 (k) are functions of the number of operations of the load reduction button 81. [R1 (0), p1 (0), y1 (0)] indicates the roll angle, pitch angle, and yaw angle of the first motion base 3 when the emergency stop state is released. α (k) is the same as α (k) in the formula (1), and is represented by α (k) = (1 / A) · k. In this embodiment, since the predetermined number A is set to 20, α (k) = 0.05k. The roll angle, pitch angle, and yaw angle of the first motion base 3 at the initial position are represented by [0, 0, 0]. This is because the roll angle, pitch angle and yaw angle of the first motion base 3 are defined with reference to the horizontal and vertical coordinate axes x, y and z at the initial position.

  In this embodiment, each time the load reduction button 81 is operated, the roll angle, pitch angle, and yaw angle of the first motion base 3 change so as to approach the roll angle, pitch angle, and yaw angle at the initial position, respectively. . When the load reduction button 81 is operated 20 times, the roll angle r1 (20), the pitch angle p1 (20), and the yaw y1 (20) of the first motion base 3 are the roll angle, pitch angle, and The value corresponds to the yaw angle.

  The load reduction / initialization control unit 42 generates command values (command values of x coordinate, y coordinate, and z coordinate) related to the positions of the second motion bases 4 to 7 based on the following equation (4).

  In equation (4), the vector [X2 (k), Y2 (k), Z2 (k)] indicates the command values of the x coordinate, y coordinate, and z coordinate of each of the second motion bases 4-7. (K) in X2 (k), Y2 (k), and Z2 (k) indicates that these command values are a function of the number of operations of the load reduction button 81. [X2 (0), Y2 (0), Z2 (0)] indicate the x coordinate value, the y coordinate value, and the z coordinate value of each of the second motion bases 4 to 7 when the emergency stop state is canceled. Yes. α (k) is the same as α (k) in the formula (1), and is represented by α (k) = (1 / A) · k. In this embodiment, since the predetermined number A is set to 20, α (k) = 0.05k.

The vector [X2c, Y2c, Z2c] represents the x coordinate value, the y coordinate value, and the z coordinate value of each of the second motion bases 4 to 7 at the initial position. Since the positions of the second motion bases 4 to 7 in the initial position are set in advance, [X2c, Y2c, Z2c] is a constant.
Z2 ′ (k) is a Z coordinate correction value for lowering each second motion base 4 to 7 by a second fixed amount each time the load reduction button 81 is operated. However, the second fixed amount is usually different for each second motion base 4-7. Z2 ′ (k) is a function of the number of operations of the load reduction button 81. Z2 ′ (k) is set to satisfy the condition of α · | Z2 (0) −Z2c | <Z2 ′ (k). In this embodiment, Z2 ′ (k) is calculated based on the following equation (5), for example.

Z2 ′ (k) = (| Z2 (0) −Z2c | / 20) × 2k (5)
In this embodiment, every time the load reduction button 81 is operated, each of the second motion bases 4 to 7 has its x coordinate and y coordinate approaching the coordinate value of the initial position and its z coordinate is a second fixed amount. Move to get smaller only. However, the second fixed amount is usually different for each second motion base 4-7. When the load reduction button 81 is operated 20 times, the x coordinate value X2 (20) and the y coordinate value Y2 (20) of each of the second motion bases 4 to 7 become X2c and Y2c, respectively. That is, the x coordinate value and the y coordinate value of each of the second motion bases 4 to 7 are coordinate values corresponding to the initial position. On the other hand, the z coordinate values Z2 (20) of the second motion bases 4 to 7 are Z2 (20) = Z2c−Z2 ′ (20) = Z2c−2 | Z2 (0) −Z2c |.

  Based on the following equation (6), the load reduction / initialization control unit 42 determines the command values (roll angle (Roll), pitch angle (Pitch), and yaw angle (Yaw)) for the postures of the second motion bases 4 to 7. Command value).

  In equation (6), the vector [r2 (k), p2 (k), y2 (k)] represents the command values for the roll angle, pitch angle, and yaw angle of each of the second motion bases 4-7. r2 (k), p2 (k), and y2 (k) are functions of the number of operations of the load reduction button 81. [R2 (0), p2 (0), y2 (0)] indicates the roll angle, pitch angle, and yaw angle of each of the second motion bases 4 to 7 when the emergency stop state is released. α (k) is the same as α (k) in the formula (1), and is represented by α (k) = (1 / A) · k. In this embodiment, since the predetermined number A is set to 20, α (k) = 0.05k. The roll angle, pitch angle, and yaw angle of each of the second motion bases 4 to 7 at the initial position are represented by [0, 0, 0]. This is because the roll angle, pitch angle and yaw angle of each of the second motion bases 4 to 7 are defined with reference to the horizontal and vertical coordinate axes x, y and z at the initial position.

  In this embodiment, each time the load reduction button 81 is operated, the roll angle, pitch angle, and yaw angle of each of the second motion bases 4 to 7 approach the roll angle, pitch angle, and yaw angle at the initial position, respectively. To change. When the load reduction button 81 is operated 20 times, the roll angle r2 (20), the pitch angle p2 (20), and the yaw angle y2 (20) of each of the second motion bases 4 to 7 are the roll angles at the initial position. The values correspond to the pitch angle and the yaw angle.

In order to prevent the vehicle body 2 and the motion bases 3 to 7 from being damaged when the vehicle behavior reproduction device 1 is stopped in an emergency state with an unexpectedly large load applied to the vehicle body 2 and the motion bases 3 to 7. It is desirable to quickly reduce or cancel the load applied to the vehicle body 2 and the motion bases 3 to 7.
The second motion bases 4 to 7 are not fixed to the wheels 21 to 24 (axles 21S to 24S), whereas the first motion base 3 is fixed to the vehicle body 2. Therefore, the position / posture of the first motion base 3 and each of the second motion bases 4 to 7 is such that the force for pushing the wheels 21 to 24 (axles 21S to 24S) upward with respect to the vehicle body 2 is increased. When it becomes a posture, an unexpectedly large load (load) may be applied to the vehicle body 2 and the motion bases 3 to 7. For this reason, when an unexpectedly large load is applied to the vehicle body 2 and the motion bases 3 to 7, the first force is applied in a direction to reduce the force that pushes the wheels 21 to 24 upward with respect to the vehicle body 2. When the motion base 3 and / or the second motion bases 4 to 7 are moved, the load can be reduced or released.

In the above-described embodiment, each time the load reduction button 81 is pressed, the first motion base 3 is raised by a first fixed amount, and the second motion bases 4 to 7 are lowered by a second fixed amount. However, the second predetermined amount is normally different for each second motion base 4-7.
When the first motion base 3 is raised by a first predetermined amount, the vehicle body is pushed upward by the first motion base 3, so that the force pushing the wheels 21 to 24 upward with respect to the vehicle body 2 decreases. Thereby, the load applied to the vehicle body 2 and the motion bases 3 to 7 is reduced. Further, when each of the second motion bases 4 to 7 is lowered by a second fixed amount, the force for pushing the wheels 21 to 24 upward with respect to the vehicle body 2 decreases. Thereby, the load applied to the vehicle body 2 and the motion bases 3 to 7 is reduced. Therefore, according to the above-described embodiment, when the vehicle behavior reproduction device 1 is stopped in an emergency state with an unexpectedly large load applied to the vehicle body 2 or the motion bases 3 to 7, the load is quickly reduced or It can be canceled.

  In the above-described embodiment, each time the load reduction button 81 is pressed, each of the motion bases 3 to 7 has the x and y coordinates of the motion bases 3 to 7 at the initial positions of the motion bases 3 to 7. Move to approach the x and y coordinates. When the motion bases 3 to 7 are at arbitrary height positions, the movable range in the Z direction of the motion bases 3 to 7 becomes larger as the x coordinate and the y coordinate are closer to the initial position. Therefore, according to the above-described embodiment, it is possible to move the first motion base 3 to a higher position than when the first motion base 3 is moved only in the Z direction. Similarly, according to the above-described embodiment, it is possible to move the second motion bases 4 to 7 to a lower position as compared with the case where the second motion bases 4 to 7 are moved only in the Z direction. Become. Thereby, the load applied to the vehicle body 2 and the motion bases 3 to 7 can be reduced more effectively.

  Assume that the vehicle behavior reproduction device 1 is in an emergency stop in a state as shown in FIG. 9A, for example. 9A, since the height position of the second motion base 7 is higher than the height position of the first motion base 3, an unexpectedly large load is applied to the vehicle body 2 and the motion bases 3 to 7. Suppose it is hanging. Assume that the load reduction button 81 is operated, for example, 20 times after the emergency stop state is released. The vehicle behavior reproduction device 1 changes from the state of FIG. 9A to the state of FIG. 9B. That is, the height position of the first motion base 3 becomes higher than that in FIG. 9A, and the x coordinate and the y coordinate become coordinate values corresponding to the initial position. Further, the height position of each of the second motion bases 3 to 7 becomes lower than that in FIG. 9A, and the x coordinate and the y coordinate become coordinate values corresponding to the initial position. Thereby, the load applied to the vehicle body 2 and the motion bases 3 to 7 is reduced or released.

As mentioned above, although one Embodiment of this invention was described, this invention can also be implemented with another form.
For example, in step S10 of FIG. 7B, the load reduction / initialization control unit 42 determines that the x coordinate value and the y coordinate value of the first motion base 3 approach the initial position and the z coordinate value is the first A position / posture command value that increases by a certain amount (the position in the Z direction increases) is generated. In addition, the load reduction / initialization control unit 42, for each of the second motion bases 4 to 7, has its x coordinate value and y coordinate value approaching the initial position and its z coordinate value is the second fixed amount. A position / posture command value is generated such that it becomes smaller (the position in the Z direction becomes lower). However, in step S10 of FIG. 7B, the load reduction / initialization control unit 42 may generate only the position / posture command value for the first motion base 3. Further, in step S10 of FIG. 7B, the load reduction / initialization control unit 42 may generate only the position / posture command values for the second motion bases 4-7.

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 ... Wheel, 21S to 24S ... Axle, 30 ... Driving simulator, 40 ... Motion-based control device, 41 ... Vehicle behavior reproduction control unit, 42 ... Load reduction / initialization control unit, 43 ... Emergency stop / release control unit, 53 ... Emergency Stop / release button, 54 ... switchboard, 81 ... load reduction button, 83-87 ... initialization button, 100 ... vehicle behavior reproduction system, 101 ... spacer

Claims (5)

It is fixed to the vehicle body so as to support the vehicle body to which four axles are attached, and moves in the Z direction along the vertical direction, the X direction orthogonal to the Z direction, and the Z direction and the Y direction orthogonal to the X direction. A first motion base for causing the vehicle body to perform a six-degree-of-freedom motion, and a six-degree-of-freedom motion that supports each of the axles and includes movement in the Z, X, and Y directions. A plurality of second motion bases, and a vehicle behavior reproduction control unit that generates a command value for reproducing the vehicle behavior for each motion base. When each motion base is emergency stopped, After the stop state is released, the operation of the vehicle behavior reproduction control unit is prohibited until the initialization process for returning all the motion bases to the initial position is completed. A two behavior reproduction system,
Load reduction command input means for inputting a load reduction command;
Every time a load reduction command is input by the load reduction command input means from the release of the emergency stop state to the start of the initialization process, the first motion base is moved to its X-direction position and Y The first command value for moving so that the direction position approaches the initial position and the Z direction position is increased by a certain amount, and each of the second motion bases, the X direction position and the Y direction position are the initial positions. And a load reducing means for generating at least one of the second command values for movement so that the Z-direction position is lowered by a certain amount. The load reducing means is configured to generate both the first command value for the first motion base and the second command value for each of the second motion bases. Vehicle behavior reproduction system.   2. The vehicle behavior reproduction system according to claim 1, wherein the load reducing unit is configured to generate only the first command value for the first motion base.   2. The vehicle behavior reproduction system according to claim 1, wherein the load reducing unit is configured to generate only the second command value for each of the second motion bases. When the number of times of the load reduction command input by the load reduction command input unit reaches a predetermined number after the emergency stop state is released and before the initialization process is started, the load reduction unit The vehicle behavior reproduction system according to any one of claims 1 to 4, wherein the operation according to claim 1 is prohibited.

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