Design And Development Of The Visual Simulation System Of Tank Driving Simulator In Off-road Environment

Tank driving simulator is mainly used to protect the tank driver to a real car driving simulation training devices in a specific training sites or unfamiliar terrain. Using this simulation training system can effectively solve the problem of the small number of new equipment, security complex real car driving training, equipment loss and training time and weather issues. Not only can provide the basis for training conditions, but also provide opportunities to practice driving in unfamiliar terrain for tank driver training, driver training to improve the level of the tank, reducing training time and reduce the cost of training is important. Virtual reality technology is a collection of a series of high-tech computer technology, sensor technology, computer graphics, multi-media technologies and so on. And this is the new ways to connect the virtual world solutions.This paper presents a new mathematical model of the vehicle tank inertia calculation method:the3D segmentation method of the moment of inertia. The mathematical model of the tank of the vehicle in three-dimensional space is divided by the number of cubes of a mass, the mass center instead of the cube with the mass, in the calculation of the moment of inertia of the vehicle tank, the calculation of a point relative to the quality of all the rotation axis of inertia. This method not only avoids the real structure of the various parts of the vehicle idealized as a rectangular tank, increasing the gap between the mathematical model and study the structure of the object, but also can reduce the quality of the mathematical model of a tank vehicle assigned to the tank body parts that do not exist physical space by removing the tank vehicle redundant part of the mathematical model, the real response to the real structure of a tank vehicle. The use of three-dimensional mathematical model of the moment of inertia obtained by dividing method of inertia of the tank body is more realistic real inertia.For tank vehicles climbing over the complex surface motion dynamics and the kinematics analysis, including the following four kinds of terrain:single obstacle, vertical wall, up/down hill, gully. For any kind of terrain, this paper will exercise process tank vehicle obstacle is decomposed into several stages of exercise, change formula through the calculation and analysis of tank vehicle pitch every phase angle, roll angle. In all stage division movement of tanks, the two division method:dynamic model simulation and observation and critical value calculation method. And the use of multi body dynamics software RecurDyn and mathematic software MATLAB to verify the mathematical model of tank.According to the analysis of the kinematics and dynamics, and the parameters of tank vehicle pitching in crossing the vertical walls and uphill process angle is obtained by calculating. In the use of virtual reality software3DS MAX and Virtools to create a visual simulation system in the process, the above results are applied to calculate the pitch angle of the vehicle pitch angle control tanks, and propose a new terrain matching method: Mixed terrain matching method (mixed use of four coordinates distance and volume collision).The first time to put forward to separate model tank body and above and below the vehicle driving system, and each part uses a terrain matching method. The body and the above part adopts four coordinate point distance terrain matching method:through the establishment of the tank body coordinate point on the four corners and terrain coordinate point distance to judge whether the call body motion parameters, motion parameters of the tank body pitch angle is equal to the mathematical model of the theoretical calculation value. The following part of the tank body volume collision terrain matching:the body and the following sections each with similar geometric structure of the "green skin" package, judge whether two objects contact volume collision terrain matching method through "green skin" contact, make the model tank better with all kinds of complicated terrain matching. Finally, we got the tank driving simulator interactive visual simulation system.