RU2765663C1 - Tracked vehicle driving trainer - Google Patents

Abstract

FIELD: training simulators.

SUBSTANCE: invention relates to training simulators for driving tracked vehicles. The simulator contains an electrohydraulic drive of the vibrational movement of the cabin, a motion dynamics simulation unit, a visual environment simulation unit, an instructor's control panel, a “deviation to the right” level setter, a time counter, an amplifier-detector, and a “deviation to the left” level setter. A group of left deflection shapers, an inverter, a right deflection shaper group, the first element 2AND-NOT, a blink generator, the second element 2AND-NOT, an evaluation unit, a trigger, an emitter follower of small and medium deviations to the left, a power supply unit, an emitter follower are introduced. small and medium deviations to the right, an LED bar located in the field of view of the viewing device of the driver of a tracked vehicle, with LED indicators of the maximum deviation to the right and the maximum deviation to the left, small and medium deviations to the right, small and medium deviations to the left mounted in it.

EFFECT: quality of training of trainees is increasing, and the time spent on training is reduced.

1 cl, 3 dwg

Description

SUBSTANCE: invention relates to tracked vehicle driving simulators.

Known simulators for training the driver of a tracked vehicle, providing the formation of the necessary primary driving skills.

From the studied analogues, a simulator for learning to drive a tracked vehicle was taken as a prototype for the proposed invention (see patent No. 2723504, bull. No. 17 dated June 11, 2020), which was adopted as a prototype.

The simulator for training the driver of a tracked vehicle, which is taken as a prototype, contains an electric hydraulic drive of the oscillatory movement of the cabin, a block for modeling the dynamics of movement and a block for simulating the visual situation are connected in series to it by the first outputs, the second outputs of which are connected to the first and second inputs of the instructor's control panel, a power supply, a time counter, an evaluation unit and an LED bar located in the field of view of the viewing device of the tracked vehicle driver.

The disadvantage of this simulator is that it does not provide the trainee with the formation of the skill of the visual eye when orienting and correcting the direction of movement of the machine in limited passages and overcoming overall obstacles. When performing driving exercises, an “inexperienced” driver, through a relatively small window of a standard viewing device, does not see the moment the car deviates from the middle of the aisle and sees it only when it becomes much larger. The process of skill formation turns out to be discontinuous in time, since the action to control the machine is performed earlier, and the trainee learns about whether it is correct or not much later, when the last car with the trainee arrives at the initial one and the head of the lesson in the analysis points out the mistakes made by the trainee according to the reports of the instructors simulators. This reduces the effectiveness of training and does not allow the trainee to independently control the correctness of their actions, to see their mistakes at the time they are made.

In order to quickly develop the trainee's sense of maintaining a given course of movement of the combat vehicle and the reaction to the slightest deviation from the given direction, when moving along limited aisles, it is necessary for the trainee to give auxiliary information about each moment of deviation of the combat vehicle from the middle of the passage and about eliminating this deviation without fixing the error , if it did not lead to the machine going beyond the obstacle clearance or touching its limiter. Information about errors and the fulfillment of the time limit must be submitted in the field of view of the driver's observation device in order to eliminate the need for the trainee to be distracted from observing the traffic situation. In addition to indicating to the trainee his mistakes through the observation device, each of them should be recorded on the block of assessments by the instructor of the simulator. There should also be an overall score for the speed and driving technique of a tracked vehicle.

These shortcomings do not allow to fully realize the high technical capabilities inherent in modern tracked vehicles, which necessitates the search for more advanced driving simulators.

The objective of the invention is to expand the functionality of the tracked vehicle driving training simulator and improve the quality of driver training due to the rapid development of the trainee's sense of visual eye when orienting and correcting the direction of movement in a limited passage.

To perform the task in a well-known simulator, containing an electrohydraulic drive of the oscillatory movement of the cabin, a block for modeling the dynamics of movement and a block for simulating the visual situation, connected in series to it by the first outputs, the second outputs of which are connected to the first and second inputs of the instructor's control panel, a power supply unit, a time counter, a block evaluation and the LED bar, located in the field of view of the viewing device of the driver of the tracked vehicle, additionally introduced are the "deviation to the right" level setter, the amplifier-detector, the "deviation to the left" level setter, the group of "deviation to the left" shapers, the inverter, the group of "deviation" shapers right", the first element "2NAND-NOT", blinking generator, the second element "2NAND-NOT", trigger, emitter follower of small and medium deviation to the left, emitter follower of small and medium deviation to the right, LED indicators of limit, small and medium deviation.

The simulator device is illustrated in Fig. 1÷3.

In FIG. 1 shows a functional diagram of the proposed tracked vehicle driving training simulator.

The tracked vehicle driving training simulator contains an electrohydraulic drive 1 of the oscillatory movement of the cab, a block 2 for modeling the dynamics of movement and a block 3 for simulating the visual situation connected in series to it by the first outputs, the second outputs of which are connected to the first and second inputs of the instructor's control panel 4, the setpoint of 5 levels of "right deviation ”, counter 6 time, amplifier-detector 7, setter 8 levels “deviations to the left”, group of generators 9 “deviations to the left”, inverter 10, group of generators 11 “deviations to the right”, first element 12 “2I-NOT”, generator 13 blinking , second element 14 "2I-NOT", evaluation unit 15, trigger 16, emitter follower 17 of small and medium deviation to the left, power supply 18, emitter follower 19 of small and medium deviation to the right, LED bar 20 located in the field of view of the mechanic's viewing device - the driver of the tracked vehicle, with LED indicators built into it 21 limit deviations to the right, 22 m scarlet and medium deviations to the right, 23 small and medium deviations to the left, 24 maximum deviations to the left.

Amplifier-detector 7, the input of which is the third output of the motion dynamics simulation block, and the first output is the input of the time counter, is connected by the second output to the direct inputs of the group of generators 9 "deviations to the left" and through the inverter 10 to the group of generators 11 "deviations to the right", inverse the inputs of the groups of shapers are connected to the level generators "deviations to the left" and "deviations to the right", and the first outputs of the groups of formers are connected to the first inputs of the first 12 and second 14 elements "2I-NOT", the other inputs of which are connected to the generator 13 of the blinking having a connection with a power supply, and the outputs of the "2I-NOT" elements through emitter followers are connected to the indicators of small and medium deviations to the left and right, the second outputs of the groups of shapers are connected to the indicators of the maximum deviation and through the trigger 16 to the evaluation unit, which has feedback from the instructor's control panel .

The circuit diagram of the simulator shown in Fig. 2 contains two groups of drivers designed to convert the voltage of the "deviation" of the tracked vehicle from a given trajectory into light indication signals. The deviation voltage from the trajectory (input tr.) is supplied to the inputs of two groups of shapers: the group DA1-2, DA2-2, DA3-2 - "deviation to the left" and through the inverter DA7-2 to the group DA4-2, DA5-2, DA6 -2 "deviation to the right".

The shapers are assembled according to the comparator circuit, the direct inputs of which are supplied with voltages proportional to the deviation, and the inverse inputs are supplied with voltages from the chain of potentiometers R5-2, R8-2, R11-2, which set the levels of operation of the comparators in case of deviation to the left and from the chain of potentiometers R22-2, R37-2, R17-2 when deviated to the right.

The amplifier-detector, the circuit diagram of which is shown in Fig. 3 consists of diode positive and negative voltage detectors connected to the input of the summing amplifier DA-1-3.

The negative voltage detector is connected to the first one (Bx1) and consists of elements D1-3, R1-3, C1-3. The positive voltage detector D2-3, R5-3, C2-3 is connected to the second sensor (Vx2).

Common to both detectors is a circuit of summing resistors R2-3, R3-3, R4-3 and capacitor C3-3.

Potentiometer R4-3 "zero balance" provides adjustment of the zero position of the trajectory, potentiometer R7-3 "feelings" - the nominal width of the deviation zone is set. The zone width is set in such a way that, with deviations of 30 cm, 60 cm, 120 cm, the voltage at the amplifier input is 1.5 V, 3 V, 6 V, respectively.

Part of the voltage of the positive voltage detector from the divider R5-3, R6-3 is fed to the amplifier DA2-3, designed to generate a control signal for the time counter. The output of the amplifier DA2-3 is connected to the detector of the time counter, assembled on the elements D3-3, R13-3, C5-3.

The tracked vehicle driving simulator operates as follows.

When moving along the controlled area in block 2 of the simulation of the dynamics of movement, the voltage of deviation from the trajectory is formed, which is proportional to the distance of the displacement of the machine from the center line of the obstacle. This voltage is applied to the amplifier-detector 2, which extracts a signal proportional to the magnitude and sign of the deviation. This signal is fed to the time counter 6, the group of drivers 9 (DA1-2, DA2-2, DA3-2) "left deviation", and through the inverter 10 (DA7-2) to the group of drivers 11 (DA4-2, DA5-2 , DA6-2) "deviation to the right".

When the machine is moving along the center line or with a deviation from it by ± 25 cm, the signal “Input tr.” (Fig. 2, Fig. 3) changes from 0 to ±1.5 V and the comparators of the groups of shapers are not included.

At the initial deviation of the machine to the left at a distance of more than 25 cm, the signal “Input tr.” exceeds ±1.5 V, the comparator DA3-2 of the group of generators 9 “left deviation” is activated and a voltage of +10 V appears at its output.

With further deviation from the center line, the signal "In tr." increases to +3 V and +6 V and the comparators DA2-2 and DA 1-2 of the groups of shapers 9 “left deviation” are activated. The response levels of these comparators are set by the left deviation level selector (potentiometers R8-2 "2 l" and R5-2 "3 l").

When deviating to the right, the voltage "In tr." has a negative sign, is converted to positive by means of the inverter 10 (DA7-2) and is fed to the comparators of the right deviation DA4-2, DA5-2, DA6-2 of the group of generators 11 "right deviation". The right deviation levels are set by the adjuster 5 (potentiometers R22-2 "1 PR", R37-2 "2 PR", R17-2 "3 PR").

The flash generator 13, assembled on a DA8-2.1 chip with a frequency of 2 Hz, is connected by the first outputs to the first inputs of the "2I-NOT" elements 12 and 14 of the DA9-2 chip. The second inputs of these elements are connected to the outputs of the initial deviation comparators DA3-2 and DA6-2. When comparators DA3-2 or D A6-2 are triggered, the signals of the flashing generator through the inverter DA9-2, diode UD9-2 or UD 10-2 are fed to the base of the emitter follower VT2-2 or VT4-2. As a load emitter followers included LEDs 23 (UD 14-2) and 22 (UD 16-2) green, flashing at the initial deviation.

The trainee, observing the terrain through the device, sees the moment the machine deviates from the middle of the passage. If he restores the correct direction of movement of the machine - in the middle of the passage, then the indication turns off, if not, then the comparators of the average deviation are triggered.

When the comparators of the average deviation are triggered, a constant voltage of +10 V is applied to the base of the emitter followers VT2-2 or VT4-2 and one of the indicators 23 (VD14-2) or 22 (VD16-2) changes from flashing to constant green. The trainee, observing the terrain through the device, sees the danger of movement with such a deviation from the trajectory.

When the maximum deviation to the left or right, corresponding to the machine hitting the obstacle limiter or going beyond its dimensions, the comparator DA1-2 or DA4-2 is turned on and the red indicator 24 (VD13-2) is turned on through the emitter follower VT1-2 or UT3-2 or 21 (VD15-2). The student sees the error the moment it is made.

Trigger 16 on the DA11-2 chip is designed to remember the moment of maximum deviation to the left or right, impact with maximum acceleration and the time of exceeding the standard. From the outputs of the triggers, the signals are fed to the evaluation unit 15.

When leaving the controlled section of the path, the electrical signal from the third output of block 2 for modeling the dynamics of movement goes to zero, the counting of time stops, the glow of the LED indicators remains until the “reset” button is manually pressed on the instructor’s control panel 4 (on the control unit) or until automatic reset at the next entrance to the controlled section of the road.

At the same time, the driver, without shifting his attention from observing the direction of movement, sees the readings of the LEDs in the field of view of the observation device and can independently control the correctness of his actions, as well as practice the techniques of driving a tracked vehicle on overall obstacles.

Similar information about the trainee's actions can be seen by the instructor of the simulator by the indicators of his device located on the instructor's control panel, urging him to timely and objectively influence the actions of the trainee - the driver, and at the end of the training to draw a conclusion about the skill achieved by the trainee and the realization of the capabilities on the tracked simulator. cars.

Theoretical and experimental data indicate that the use of this simulator will provide the trainee with a rapid development of a sense of visual eye when orienting and correcting the movement of a tracked vehicle. This is natural, because the signals given to the student in the observation device force him to make appropriate corrections (corrections) in his actions faster and more timely. And if the trainees who were trained on a conventional simulator had driving accuracy, which averaged a deviation of 80 cm from the middle of the passage in a limited passage 100 m long (that is, they saw it only when it became large), then the trainees, trained on the proposed simulator increased the accuracy of driving by almost 2 times, and the intensity of their actions to control the movement of the car at the same time increased by almost 3 times. That is, they made appropriate amendments and adjustments to their actions faster and more timely.

In general, the use of the simulator increased the quality of mastering the tracked vehicle by 30% while reducing the training time by 15% and reducing the consumption of motor resources by 12%.

Claims (1)

A tracked vehicle driving training simulator, containing an electric hydraulic drive of the oscillatory movement of the cabin, a block for modeling the dynamics of movement and a block for simulating the visual situation connected in series to it by the first outputs, the second outputs of which are connected to the first and second inputs of the instructor's control panel, a power supply unit, a time counter, an evaluation unit and an LED bar located in the field of view of the tracked vehicle driver’s viewing device, characterized in that it additionally includes a “right deviation” level setter, an amplifier-detector, a “left deviation” level setter, a group of “left deviation” shapers, an inverter, a group of “deviations to the right” shapers, the first element 2I-NOT, a blinking generator, the second element 2I-NOT, a trigger, an emitter follower of small and medium deviations to the left, an emitter follower of small and medium deviations to the right, LED indicators of limit, small and medium deviations, at this amp-det The vector, the input of which is the third output of the motion dynamics modeling block, and the first output is the input of the time counter, is connected by the second output to the direct inputs of the "deviation to the left" group of shapers and through the inverter to the group of "deviations to the right" shapers, the inverse inputs of the groups of shapers are connected to the setpoints levels of "deviation to the left" and "deviation to the right", and the first outputs of the groups of shapers are connected to the first inputs of the first and second elements 2I-NOT, the other inputs of which are connected to the flashing generator, which is connected to the power supply, and the outputs of the 2I-NOT elements through the emitter the repeaters are connected to the indicators of small and medium deviations to the left and right, the second outputs of the groups of shapers are connected to the indicators of the maximum deviation and through the trigger to the evaluation unit, which has feedback from the third input of the instructor's control panel.

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