Research And Implementation Of Visual Control Simulation Teaching Experimental Platform Based On Uniry3D

In order to meet the urgent needs of the society for engineering and technical talents,the development trend of engineering disciplines in Colleges and universities presents the characteristics of comprehensiveness and integration.As far as the mechanical specialty is concerned,the teaching fields involved have developed in the direction of mechatronics and electro-hydraulic integration.Students are no longer limited to the study of traditional mechanical knowledge in the classroom,but also need to study the control,hydraulic and other disciplines In depth learning.As far as control subject is concerned,it is difficult for students to master its knowledge points because of its complicated and abstract knowledge points.Based on virtual simulation experiment and graphical modeling and simulation technology,this paper develops a visual control simulation teaching experimental platform as an innovative experimental teaching method to improve students’ learning interest and effect.Based on the requirement analysis of the experimental platform and the characteristics of Unity3 D development platform,the overall architecture of the experimental platform is designed.The experimental platform is divided into two subsystems: virtual simulation experiment and graphical modeling and simulation.The virtual simulation experiment system adopts a hierarchical architecture,which is divided into display layer,business logic layer and communication layer.The graphical modeling and simulation system is divided into three parts:blocks library,graphical modeling and simulation.The mathematical model of the experimental object is established based on the idea of parameterization.The kinematics and dynamics models of the 4-axis robot and the SCARA robot are established by DH method and Lagrange method respectively.The kinematics and dynamics models of the crank rocker mechanism and the crank slider mechanism are established by vector coordinate method and equivalent force method respectively.The virtual simulation experiment system is designed in detail.In the display layer,3DMax+Unity3D is used to realize the display of virtual scene and virtual experimental object in the system.The design scheme of UI interface is determined based on UGUI framework in Unity3 D,and the UI interface of the whole system is designed based on UI interface design scheme.The functional modules are designed in detail in the business logic layer.The event management system is established based on delegation / event mechanism in the communication layer and the message notification and data interaction between modules are carried out through the event center.The graphic modeling and simulation system is designed in detail.The data structure of the system is designed by using object-oriented method.The design scheme of block graphic unit is determined based on UGUI framework,and an automatic configuration algorithm is proposed to realize the configuration management function of blocks library,and a tree menu control is extended to realize the hierarchical display of local blocks library in user interface.The graphic model is saved and loaded based on Newton Soflt,and the functions of block generation,deletion,movement and other modeling operations are realized based on UGUI+Event System framework,and a context menu control is extended to realize the classification and combination of modeling functions,and a mapping algorithm of "parameter tree" and "UI tree" is proposed,and a unified verification framework is constructed to realize the parameter setting function of the block.Based on Tarjan algorithm and block characteristics,the block sorting algorithm is proposed,and the design of simulation mechanism is completed,and discrete and continuous solvers are used to realize the simulation calculation function of the model.In the blocks library,a variety of common blocks examples are designed,and the model examples of discrete,continuous and mixed systems are designed to verify the graphical modeling and simulation system.Taking the 4-axis robot experimental object as an example,the trajectory linear interpolation model is designed to verify the visual control simulation teaching experimental platform.The experimental platform is released on the web platform.