JP2005301140A - Two-wheeled automobile simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simulate a natural balance sense, based on balance between a centrifugal force during a curve travel of a two-wheeled automobile and tilt torque due to body tilting. <P>SOLUTION: A platform is turnably fitted horizontally on a base about a 1st rotary shaft. A turning mechanism applies a turning force to the platform. A 2nd rotary shaft is provided above the 1st rotary shaft in parallel, and the two-wheeled automobile body is installed in a rotatable/tiltable state, while having its length along the length of the 2nd rotary shaft. A reaction torque generating device generates a reaction torque which is proportional to a tilt angle from a neutral position, where the two-wheeled automobile body is in an attitude perpendicular with respect to the platform. A centrifugal force arithmetic means calculates a centrifugal force during a curve simulation travel of the automobile body, and a control means controls the rotating mechanism to set the angle of rotation of the platform from a horizontal position to an angle which is proportional to the centrifugal force calculated by the centrifugal arithmetic means. The rotating mechanism rotates the platform about the 1st rotary shaft. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a two-wheeled vehicle simulator that simulates driving and traveling of a two-wheeled vehicle.

A two-wheeled vehicle simulator that simulates driving and traveling is used for education / training or research of driving / driving of a two-wheeled vehicle.
2. Description of the Related Art Conventionally, a simulated two-wheeled vehicle has a ride portion provided above a base, for example, as described in Patent Document 1, in order to simulate the time of traveling on a curve, and the ride portion is a steering equipped with a steering wheel. Some have an operation portion and a rear ride having a seat portion, and the ride portion can be held at a predetermined inclination and can be returned to the neutral position. The inclination of this ride part is to give a feeling that the corner is actually bent at the time of cornering.
JP 2001-104654 A

  However, the pseudo two-wheeled vehicle cannot realize an equilibrium sense that the centrifugal force generated when traveling on a curve is balanced by the inclination torque due to the vehicle body inclination.

When an actual two-wheeled vehicle travels on a curve, the driver tilts the vehicle body to generate tilt torque in order to balance the generated centrifugal force. FIG. 3 shows the balance between the centrifugal force and the tilt torque. From this figure, the equation in this balanced state is as follows from the balance of moments around the point where the vehicle body is in contact with the ground (point O in FIG. 3).

mv ² / r = mg · tan θ (1)

Where m: (body + driver) mass
v: Speed of a two-wheeled vehicle
r: Instantaneous radius of curvature in body running motion
g: Gravity acceleration
θ: The inclination angle of the vehicle body.
The above equation (1) is an equation that is established at the moment of motion. Actually, the driver changes θ to balance with the centrifugal force determined by r and v in the equation (1), and runs without falling down. That is, when v and r are changed by the operation of the steering wheel, the accelerator, and the brake, it is handled by changing θ so that the expression (1) is satisfied. Conversely, even if the driver intentionally moves the body or tilts the two-wheeled automobile body 301 to change θ, the inclination torque and centrifugal force due to gravity are changed at the next moment by changing v or r. Continue running with the trajectory corrected to balance.
However, in the conventional two-wheeled vehicle simulator, it is not possible to realize a sense of shaking that balances with the centrifugal force by tilting the body and changing θ. This is because the simulator does not actually run at a speed v, and thus, in principle, centrifugal force is not generated as a vehicle body motion. Therefore, in the simulation running in the conventional two-wheeled vehicle simulator, even if the driver forcibly leans the vehicle body and creates a situation where the vehicle runs on a curve, the vehicle body inclination for obtaining a balance with the centrifugal force in the actual vehicle is It is inevitably different from the sense of equilibrium.

  The present invention has been made to solve the above-described problems, and can simulate a natural equilibrium feeling due to a balance between a centrifugal force when a two-wheeled vehicle travels a curve and a tilt torque due to a vehicle body inclination. A two-wheeled vehicle simulator is obtained.

  The present invention is a two-wheeled vehicle simulator that simulates a two-wheeled vehicle, and includes a base, a first rotating shaft that is parallel to the horizontal, and a first rotating shaft that is rotatable about the first rotating shaft. A platform mounted on a base via one rotation axis; a rotation mechanism for applying a rotational force to the platform via the first rotation axis; and a parallel above the first rotation axis of the platform A two-wheeled vehicle body installed on the second rotating shaft provided on the first rotating shaft and tilted by rotating around the second rotating shaft, with the length direction of the second rotating shaft being a longitudinal direction; A reaction force torque generator for generating a reaction force torque around the second rotation axis, wherein the vertical posture of the two-wheeled vehicle body with respect to the platform is a neutral position, and a reaction force torque proportional to an inclination angle from the neutral position; Model of the two-wheeled vehicle body A centrifugal force calculating means for calculating a centrifugal force during travel; and controlling the rotation mechanism for rotating the platform about the first rotation axis by an angle proportional to the centrifugal force calculated by the centrifugal force calculating means. And a control means.

  The two-wheeled vehicle simulator according to the present invention is mounted on the base via the first rotation shaft so that the platform can be rotated around a first rotation shaft provided in parallel with the horizontal. A rotation mechanism applies a rotational force to the platform via the first rotation shaft, and a second rotation shaft is provided in parallel above the first rotation shaft. Rotating around the second rotating shaft as the direction of the length of the rotating shaft, and installed so as to be able to tilt, and the reaction force torque generator is used to position the two-wheeled vehicle body perpendicular to the platform in a neutral position Further, a reaction torque is generated around the second rotation axis to return to the original in proportion to the inclination angle from the neutral position. The centrifugal force calculation means calculates the centrifugal force when the two-wheeled vehicle body travels on a curve, controls the rotation mechanism by the control means, and calculates the rotation angle from the horizontal position of the platform by the centrifugal force calculation means. The platform is rotated around the first rotation axis by the rotation mechanism so as to have an angle proportional to the centrifugal force. It is possible to realize a two-wheeled vehicle simulator capable of simulating a natural balance feeling due to the balance between the tilting torque and the centrifugal force when the two-wheeled vehicle travels a curve.

  FIG. 1 is a configuration diagram illustrating an embodiment of a two-wheeled vehicle simulator according to the present invention. In FIG. 1, 101 is a base placed on the installation surface, 102 is a first bearing provided at the front and rear ends of the base 101, 103 is a platform positioned above the base 101, 104 is, for example, A first rotating shaft provided on the platform 103, 105 a rotating mechanism for applying a rotating force to the platform 103 via the first rotating shaft 104, 106 a second bearing provided on the platform 103, 107 Is supported by the second bearing 106 and is positioned above and in parallel with the first rotating shaft 104, 108 is a two-wheeled vehicle body, 109 is a reaction torque generator, 110 is the 2 Centrifugal force calculation means for calculating the centrifugal force during simulated running of the wheeled vehicle body, 111 is a control means, and 112 is a display device. FIG. 1 shows functional operations in the centrifugal calculation means 110 in addition to the constituent elements.

  The first rotating shaft 104 can be provided in parallel to the horizontal by placing it on the base 101 via the first bearing 102, and the platform 103 serves as an equilibrium position where the horizontal direction is balanced. It is attached above. The first bearing 102 is formed vertically upward from the base 101, and forms a space in which the platform 103 can rotate with the base 101. The two-wheeled vehicle body 108 has its front-rear direction coincided with the length direction of the second rotation shaft 107 and is attached to the second rotation shaft 107 so as to rotate around the second rotation shaft 107 so as to be inclined. The second bearings 106 are formed at both ends of the platform 103 and form a gap between the platform 103 and the lower part of the two-wheeled vehicle body 108 so that the two-wheeled vehicle body 108 can rotate. The reaction force torque generator 109 is provided at both ends of the platform 103 in the same manner as the second bearing 106, for example, is formed in the second bearing 106, and the second bearing 106 and the second rotating shaft 107 are formed. When the two-wheeled vehicle body 108 rotates and tilts with a spring interposed therebetween, the two-wheeled vehicle body 108 has an inclination angle from a neutral position, that is, a vertical angle with respect to the platform 103, that is, a rotation angle. A reaction torque that is proportional to return to the neutral position is received around the second rotation shaft 107. Centrifugal force calculating means 110 detects the driver's accelerator, brake, and steering wheel operations (110a in FIG. 1) in addition to calculating the centrifugal force that balances the tilt torque of the two-wheeled vehicle body 108, and operates the engine and the vehicle body. The three-dimensional motion of the vehicle body and three angle changes of roll, pitch and yaw are calculated (110b in FIG. 1). Then, from the calculation result of these six degrees of freedom, the position where the vehicle body is currently traveling is calculated using the landscape database (110c in FIG. 1), and the landscape that the driver can see is displayed on the display device 112 together with the inclination from the line of sight. To do. On the other hand, the centrifugal force calculation means 110 calculates the centrifugal force from the radius of curvature r and the speed v according to the simulated running, and calculates the vehicle body inclination θ that is balanced with the centrifugal force (110d in FIG. 1). At this time, θ is obtained by the above-described equation (1). Further, an angle β proportional to the centrifugal force is obtained (110e in FIG. 1). The control unit 111 controls the rotation mechanism 105 to rotate the platform 103 around the first rotation shaft 104 by an angle proportional to the centrifugal force calculated by the centrifugal force calculation unit 110.

  2 shows the rotation of the platform 103 and the two-wheeled vehicle body 108 around the longitudinal axis, that is, the rotation of the second rotating shaft 107 described with reference to FIG. It is a figure explaining the operation | movement which rotates the platform 103 by the angle (beta) around the 1st rotating shaft 104 in proportion to the effect | action of the reaction force torque which returns to a position, and the centrifugal force calculated by the centrifugal force calculation means 110. As shown in FIG. 2, the rotation angle from the position where the two-wheeled vehicle body 108 is perpendicular to the platform 103 is denoted by δ. An inclination angle of the two-wheeled vehicle body 108 from the vertical direction is φ. Further, the rotation angle from the horizontal position of the platform 103 is β, and β is calculated from the instantaneous radius of curvature r and the speed v simulated by the two-wheeled vehicle body 108 by the centrifugal force calculating means 110 as shown in FIG. The amount is controlled to be proportional to the calculated centrifugal force. The spring constant of the reaction torque generated by the reaction torque generator 109 is k.

FIG. 2 is also a diagram showing a general state in which the two-wheeled vehicle body 108 is tilted during the curve traveling of the two-wheeled vehicle simulator. From the balance of moments around point O,

mg · sin (φ) = k · δ = k · (β + φ) (2)

That is, the moment of gravity action caused when the driver integrally tilts the two-wheeled vehicle body 108 with respect to the vertical direction is defined as the reaction torque generated by the rotation from the vehicle body neutral position in the vertical direction with respect to the platform 103 (FIG. 2). 203). In a region where φ is small, sin (φ) = φ can be set, and the equation (2) is

mg · φ = k · δ = k · β + k · φ (3)

It becomes. In fact, even if φ is 30 °, the difference between sin (φ) and φ is about 5%. From the viewpoint of human perception, the relationship of sin (φ) = φ in the curve driving of a normal two-wheeled vehicle. There is no problem as long as it is established. From equation (3)

β = {(mg−k) / k} · φ (4)

It becomes.

  By the way, the important thing is that the balance between the centrifugal force and the tilting torque due to the tilt of the vehicle body is balanced in the sense of equilibrium in the actual vehicle's curve driving, so even if the driver visually feels that the vehicle body is tilting with respect to the ground. It ’s something you do n’t feel. When this is realized by a simulator, the vehicle is controlled as vertically as possible without tilting the vehicle body even while driving on a curve, that is, φ shown in FIG. . However, sensuously, the screen display of the landscape is displayed by being tilted from the vertical by the vehicle body inclination (−β + δ−θ) that is balanced with the centrifugal force when viewed from the vehicle body, as shown by 110f in FIG. At this time, the clockwise direction as viewed from the vehicle body is positive.

1 to β is controlled as an amount proportional to the magnitude of the centrifugal force calculated from the instantaneous radius of curvature r and the speed v of the vehicle body in the centrifugal force calculation means 110. It can be seen that φ can be realized in a small amount by selecting k and the proportional constant n (conversion coefficient between centrifugal force and β) in FIG. In other words, this shows a simulation of a natural equilibrium feeling when driving on a curve with a two-wheeled vehicle simulator.
As described above, according to the present invention, a two-wheeled vehicle simulator capable of simulating a natural equilibrium feeling due to the balance between the centrifugal force when the two-wheeled vehicle runs on a curve and the tilt torque due to the vehicle body inclination is obtained. be able to.

  The application of the two-wheeled vehicle simulator according to the present invention is not limited to two-wheeled vehicle driving / running education / training and research, but is used for games, entertainment, and attractions in general game and event venues. It can also be used for purposes.

It is a block diagram explaining one Example of the two-wheeled vehicle simulator by this invention. In proportion to the rotation of the motorcycle body around the longitudinal axis, the reaction torque that returns the motorcycle body to its original position by the reaction torque generator, and the centrifugal force calculated by the centrifugal force calculator. It is a figure explaining the operation | movement which rotates a platform from a horizontal direction. It is a figure explaining the balance of the centrifugal torque when a two-wheeled vehicle drive | works a curve, and the inclination torque by a vehicle body inclination.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 ... Base, 102 ... 1st bearing, 103 ... Platform, 104 ... 1st rotating shaft, 105 ... Rotating mechanism, 106 ... 2nd bearing, 107 ... 2nd rotating shaft, 108 ... Two-wheeled vehicle body 109 ... Reaction torque generator, 110 ... Centrifugal force calculation means, 111 ... Control means, 112 ... Display device.

Claims (1)

In a two-wheeled vehicle simulator that simulates a two-wheeled vehicle,
A base (101);
A first axis of rotation (104) parallel to the horizontal;
A platform (103) mounted on a base via the first rotation shaft so as to be rotatable about the first rotation shaft;
A rotation mechanism (105) for applying a rotational force to the platform via the first rotation axis;
A second rotation axis (107) provided in parallel above the first rotation axis of the platform;
A two-wheeled vehicle body (108) installed in such a manner that the longitudinal direction of the second rotating shaft is set to be the front-rear direction, and the second rotating shaft is tilted by rotating around the second rotating shaft;
A reaction force torque generator (109) that generates a reaction force torque around the second rotation axis that has a vertical position of the two-wheeled vehicle body with respect to the platform as a neutral position and is proportional to an inclination angle from the neutral position. )When,
Centrifugal force calculation means (110) for calculating centrifugal force during simulated running of the two-wheeled vehicle body;
Control means (111) for controlling the rotation mechanism for rotating the platform around the first rotation axis by an angle proportional to the centrifugal force calculated by the centrifugal force calculation means. Two-wheeled vehicle simulator.

Images