Quayside Container Crane Training Simulator Mathematical Modeling With The Instructor Console Design

Container Crane Training Simulator is the high-tech production, integrating virtual reality technology, computer simulation technology and communication technology. It is developed to train the operator. There is no domestic successful product and experience for us to use for reference at present. Shanghai maritime university started to develop Container Crane Training Simulator in two-thousand. On the basis of research work which had been finished before, this paper makes a lot of exploration and tries in several jobs of Training Simulator such as realization of mathematics model, the instructor system and communication between the different modules. The details list as below:1. The mathematics model of training simulator is a key in this paper. Because the Container Crane Training Simulator is a real-time ergonomic mutual system. Its state is changed all through the operation process with the speed changing of motor. The spreader is linked to the crane through the rope, and its motion state is changed complicated in three-dimension with the accelerating and decelerating of trolley, hoist and gantry. On the basis of the motor driving principle, the paper establishes kinematics and dynamics model of crane and lists the driving equation. These equations are calculated by using Gill formula, Milne and Hamming forecasting and emendation system. It realizes the real-time movement control in virtual environment.2. Collision model is an important and key part in simulating system. The high-speed of container cranes makes strict demands on the real-time collision detection and spreader landed judgment. The complexity of the spreader makes the problem more difficult. This paper analyses the movement process of spreader and the difficult point of collision mode in simulator. A simple and high efficiency method which makes use of collision lines is adopted in this paper to resolve the collision detection. Based on the database of container, it also realizes the spreader landed judgment successfully.3. The simulator is developed to train the operator. During the training period, the instruct system plays an important role. Based on the analysis of requirement of the instructor system, this paper designs the main function of it. And therelationship between the instructor system and the other modules is also introduced in this paper.4. The simulator is made up of several program modules. It is required to communicate and exchange the data between the different modules. According to requirement of instruct and evaluation system, the paper determines the data to exchange. And using the UDP protocol, memory file mapping and multimedia clock, it realizes the high-speed real-time data exchange between the different computers and process in the Visual C++ software development environment.