虚拟现实环境下载人机动装置仿真系统

系统地介绍了载人机动装置(MMU,Manned maneuvering unit)的虚拟现实仿真环境,建立了MMU动力学／运动学模型、推力系统模型。根据航天员太空行走的特点,建立了航天员多体模型,利用位姿跟踪设备记录操作者的肢体运动信息,并将该信息正确地映射为虚拟环境下航天员的肢体运动。所得到的运动信息实时参与航天员动力学／运动学计算,更加真实地反映出航天员太空行走过程。从虚拟样机控制系统的快速设计和仿真的目的出发, 建立了虚拟现实环境下MMU的分布式仿真系统。控制系统的设计和仿真在MATLAB/Simulink环境下完成,利用网络通信手段实现控制系统与MMU仿真主程序之间的协同仿真。

SIMULATION SYSTEM FOR MANNED MANEUVERING UNIT IN VIRTUAL REALITY ENVIRONMENT

A brief introduction of a virtual reality simulation system for manned maneuvering unit (MMU) is presented, MMU's dynamics/kinematics module and thruster system module are formulated. Astronaut's multi-body model is established according to characteristics of spacewalking. With the using of FOB (flock of bird: a motion tracking system), the system records operator's limbs motion, maps the record information to astronaut's limbs motio'n and introduces it to the computation of dynamics/kinematics model. Thus, actual astronaut space-walking can be simulated more vividly in this system. The entire system is created with a distributed framework for the purpose of MMU control system's fast design and simulation. The design and simulation of control system are finished in the environment of MATLAB/Simulink with the control system isolated from other modules of the MMU virtual prototype system. The co-simulation between control module and the service program of MMU is accomplished making use of network technologies.