【作者】 徐强；

【导师】 张晓萍；

【作者基本信息】 清华大学 ， 管理科学与工程， 2008， 硕士

【摘要】 基于虚拟现实的岸吊仿真器的培训是当今及未来岸吊培训学习的重要方向之一。国内对于岸吊仿真器的研究和设计还处于起步阶段,有必要设计开发一种实用的多功能岸吊仿真器。本文在对岸吊仿真器进行功能设计、体系结构设计、数据通讯接口设计、运动仿真建模及优化等基础上,设计和开发了一种实用的岸吊仿真器。研究和设计开发的过程遵循了自底向上建模、并行化开发、由点到面的原则方法,并按照三维实体建模、初始化与设置、运动仿真、仿真效果优化的步骤,完成了岸吊仿真器研究和设计开发。本文的主要内容包括: (1)提出了一种功能齐全的岸吊仿真器设计方案。(2)设计了岸吊仿真器两种系统结构,即基于数学模型和数学-物理模型的岸吊仿真器。(3)详细设计了模型场景的三维实体造型。(4)对岸吊仿真器进行了详细的运动仿真建模。(5)提出了模型的优化方案。其中,利用Virtools开发平台进行运动仿真建模是本文的重点。运动仿真建模的技术关键主要在于碰撞检测、多因素的影响和提高模型的真实性与实时性。本文将碰撞检测问题拆分为实时监测、类型判断和分类处理三个子问题分别予以解决;采用建立简化力学模型和运动的动力学模型的方法将多因素的影响抽象化予以解决;真实性和实时性则通过模型优化方案得以保证。本文以岸吊为重点,针对其作业流程的各个环节进行了详细的运动仿真建模。更多还原

【Abstract】 The quay crane simulator training is an important orientation of quay crane training now and in future. The domestic study and design on quay crane simulator has just begun. So it is necessary to design and develop a kind of practical multi-function quay crane simulator.This dissertation designed and developed a kind of practical quay crane simulator on the basis of function design, architecture design, data communication interface design, motional simulation modeling and optimization. According to the principle of bottom-up modeling, concurrent design and develop, and design from point to plane, this dissertation accomplished the study and design on quay crane simulator by a develop procedure: (a) 3D entity modeling, (b) Initialization and Setup, (c) motional simulation modeling, (d) optimization.The Main Solutions of this dissertation are as follow: (1) Designed a functional scheme for quay crane simulator; (2) Designed two kinds of architecture for quay crane simulator: Digital Model and Digital- physical Model; (3) Designed 3D entity models of the terminal scene; (4) Accomplished motional simulation modeling; (5) Designed two optimization schemes.Motional simulation modeling using the development platform of Virtools Dev. is the focal point among these solutions. Its key techniques contains collision detection, multiple factor effect, reality and real-time. This dissertation split the collision detection problem into there sub problems to solve: (a) real-time collision detection; (b) collision type determination; (c) collision treatments according to collision type. The problem of multiple factor effect can be solved by a method of creating a simple dynamic model. And also the optimization schemes can promise the reality and the model is real-time. This dissertation designed motional simulation modeling against every operation process of the quay crane.更多还原