基于防摇吊具的集装箱起重机半物理仿真系统-计算机工程与应用.PDF

Computer Engineering and Applications 计算机工程与应用 2013 ，49 （20 ） 15 基于防摇吊具的集装箱起重机半物理仿真系统 刘华森，程文明，任扬志 LIU Huasen, CHENG Wenming, REN Yangzhi 西南交通大学 机械工程研究所，成都 610031 Research Institute of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China LIU Huasen, CHENG Wenming, REN Yangzhi. Semi-physical simulation system based on container crane spreader ’s anti-swing. Computer Engineering and Applications, 2013, 49 （20 ）：15-18. Abstract ：A virtual-reality technology based on 3D Graphics Rendering Engine （OGRE ）is proposed to realize the semi-physical simulation of container crane operation training for the issues of low efficiency and poor security in the field of container hand- ing training. It designs the hardware of crane ’s cab for operation training. The 3D virtual scene of container yard is rendered by OGRE. It establishes the mathematical model of the spreader flexible rolling system, simulates the residual swing of crane ’s spreader. The physical hardware of crane and virtual reality simulation software are communicated by Ethernet for information exchange. This system takes efforts to solve the key issues in the container crane simulation operating system such as the visual software drivers, the residual swing analog of crane ’s spreader, the communication between the physical hardware and real-time virtual software. Experimental results show that the semi-physical simulation system has a strong sense of reality. This system has an important practical significance in both normal crane driver training and disposal training in case of emergency. Key words ：container cranes; virtual reality software; semi-physical simulation; anti-swing; operation training 摘 要：针对集装箱起重机学员培训周期长、安全性差等问题，提出一种基于3D 图形渲染引擎（OGRE ）的虚拟现实技术， 实现集装箱起重机半物理仿真操作培训的方法。设计集装箱起重机司机室硬件操作平台，使用OGRE 渲染引擎驱动集装 箱货场的三维虚拟场景；建立防摇吊具摆动的动力学模型，模拟起重机吊具的残余摆动；并用以太网通讯实现起重机联动 台等实物硬件与虚拟现实仿真软件的信息交互。解决仿真操作系统中的虚拟场景的