CN-121980794-A - Railway traffic simulation training system and simulation training method based on VR technology

CN121980794ACN 121980794 ACN121980794 ACN 121980794ACN-121980794-A

Abstract

The invention relates to the technical field of digital data processing, in particular to a railway traffic simulation training system and a simulation training method based on a VR technology. The method comprises the steps of firstly obtaining unconsumed kinetic energy in a network time delay period, superposing the unconsumed kinetic energy into a residual stroke, converting a time sequence problem into an energy problem, counteracting a non-physical kinetic energy error caused by transmission delay, then analyzing executable braking work under double constraint of wheel track adhesion characteristics and braking capacity of a speed reducer to obtain actual execution work, preventing virtual wheel slip or physical engine numerical divergence caused by overcompensation, reducing the actual braking intention of an operator, and finally calculating the compensation type friction coefficient according to the actual execution work to correct the wheel track friction coefficient, converting dimensionless parameters into specific dynamic behaviors, and remarkably improving the stability and reliability of the traffic simulation training.

Inventors

YUAN ZENGHUAN
YANG GANG
CHEN BIN
LI DA

Assignees

湖南三维灵境科技有限责任公司

Dates

Publication Date: 20260505
Application Date: 20260123

Claims (10)

1. The railway traffic simulation training method based on the VR technology is characterized by comprising the following steps of: in the simulation process, acquiring real-time speed of the vehicle when the vehicle enters a braking range and braking distance between the vehicle and a braking end point when braking occurs; Counting network time delay of vehicle response braking, obtaining unconsumed kinetic energy during the time delay based on the network time delay, the real-time speed and the real-time braking capability of the vehicle, analyzing the real-time braking capability of the vehicle according to the braking distance to obtain theoretical braking work, and performing superposition analysis on the unconsumed kinetic energy and the theoretical braking work to obtain total required braking work; The method comprises the steps of obtaining a first braking work determined by the adhesion characteristic of a wheel track and a second braking work determined by the braking capability of a speed reducer, screening between the first braking work and the second braking work to obtain an executable braking work, and comparing and analyzing the executable braking work with a total required braking work to obtain an actual execution work; And (3) reversely calculating based on the actual execution work to obtain a compensation type friction coefficient, applying the compensation type friction coefficient to a simulation engine, and carrying out railway traffic simulation training by combining the degree of difference between the total required braking work and the executable braking work.
2. The VR technology-based railway traffic simulation training method of claim 1, wherein the calculation method of unconsumed kinetic energy during the time delay includes: Based on the unidirectional transmission time consumption, according to a function theorem, combining the real-time braking force of the vehicle, the braking distance between the vehicle and the braking end point when the braking occurs and the real-time speed when the vehicle enters a braking range to obtain the kinetic energy of the vehicle during the unidirectional transmission time consumption, and taking the kinetic energy as unconsumed kinetic energy during the time delay.
3. The VR technology-based railway traffic simulation training method of claim 1, wherein the theoretical braking work calculation method comprises: The method comprises the steps of analyzing a grade field in a braking instruction through a braking system, obtaining vehicle braking force under corresponding grade based on a grade field consulting a mechanical characteristic mapping table to serve as the vehicle real-time braking force, and obtaining theoretical braking work by combining the vehicle real-time braking force and the braking distance between a vehicle and a braking end point when braking occurs according to a functional theorem.
4. The VR technology-based railway traffic simulation training method of claim 1, wherein the first braking effort calculation method comprises: Taking the sum of the wheel-rail dynamic friction coefficient and the exponential decay model as a wheel-rail adhesion coefficient, taking the negative product of the real-time speed and the speed decay constant when the vehicle enters a braking range as an exponential of an exponential function, and taking the difference value of the wheel-rail static friction coefficient and the wheel-rail dynamic friction coefficient as the coefficient of the exponential function; And according to the wheel track adhesion coefficient, the effective distance of the speed reducer and the mass of the vehicle, combining the functional theorem to obtain the first braking work.
5. The VR technology-based railway traffic simulation training method of claim 4, wherein the vehicle mass calculation method comprises: If the simulation engine supports accurate calculation of the single wheel pair, the sum of the mass carried by the wheel pairs entering the effective range of the speed reducer is taken as the mass of the vehicle, and if the simulation engine does not support accurate calculation of the single wheel pair, the total mass of the vehicle is taken as the mass of the vehicle.
6. The VR technology-based railway traffic simulation training method of claim 1, wherein the second braking effort calculation method comprises: And obtaining the second braking work according to the braking force of the speed reducer and the effective distance of the speed reducer and combining the function theorem.
7. The VR technology-based railway traffic simulation training method of claim 1, wherein the method for obtaining the executable braking effort comprises: and acquiring the minimum work in the first braking work and the second braking work, and taking the difference between the minimum work and a preset constant as the executable braking work.
8. The VR technology-based railway traffic simulation training method of claim 1, wherein the method for comparing the executable braking power with the total required braking power to obtain the actual execution power comprises: The minimum value of the executable braking work and the total required braking work is taken as the actual execution work.
9. The VR technology-based railway traffic simulation training method of claim 1, wherein the analysis method of the railway traffic simulation training comprises the steps of: Correcting the wheel rail static friction coefficient and the wheel rail dynamic friction coefficient through the compensation type friction coefficient to obtain the corrected wheel rail static friction coefficient and the wheel rail dynamic friction coefficient, analyzing to obtain the physical cause of the braking effect according to the difference of numerical values between the total required braking work and the executable braking work, and taking the corrected wheel rail static friction coefficient, the corrected wheel rail dynamic friction coefficient and the physical cause of the braking effect as a simulated training result.
10. The railway traffic simulation training system based on the VR technology comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and is characterized in that the steps of the railway traffic simulation training method based on the VR technology are realized when the processor executes the computer program.

Description

Railway traffic simulation training system and simulation training method based on VR technology Technical Field The invention relates to the technical field of digital data processing, in particular to a railway traffic simulation training system and a simulation training method based on a VR technology. Background In a railway traffic simulation training system based on a Virtual Reality (VR) technology, a distributed architecture is generally adopted, wherein a server is responsible for vehicle dynamics calculation, and a client is responsible for view rendering and user interaction. In a local or wide area network environment, there is an objective network delay (typically tens to hundreds of milliseconds) for command transmission. Although this time delay may only appear visually as a slight picture out of sync, in high-precision physics simulations, since the vehicle retarder braking range is short (typically only tens of meters) and the braking force is large, a time-series lag of tens of milliseconds means that the vehicle misses a critical braking window in the physics simulation world. The prior art adopts a position interpolation method to correct visual deviation or uses simple proportional gain to amplify braking force to compensate, the former can not ensure physical energy conservation, the latter can easily break through wheel track adhesion limit (caused by skidding) or equipment mechanical limit due to overlarge request braking force when the residual braking distance is extremely short, and the physical engine numerical value divergence or abnormal vehicle dynamics behavior (such as bump and ejection) can not meet the stability requirement of high-fidelity simulation practical training. Disclosure of Invention In order to solve the technical problem that the fidelity of the simulation training is low due to the fact that the error accumulation in the braking process caused by network time delay cannot be well corrected by adopting a position interpolation method or proportional gain amplification in the prior art, the invention aims to provide a railway traffic simulation training system and a simulation training method based on a VR technology, and the adopted technical scheme is as follows: The invention provides a railway traffic simulation training method based on VR technology, which comprises the following steps: in the simulation process, acquiring real-time speed of the vehicle when the vehicle enters a braking range and braking distance between the vehicle and a braking end point when braking occurs; Counting network time delay of vehicle response braking, obtaining unconsumed kinetic energy during the time delay based on the network time delay, the real-time speed and the real-time braking capability of the vehicle, analyzing the real-time braking capability of the vehicle according to the braking distance to obtain theoretical braking work, and performing superposition analysis on the unconsumed kinetic energy and the theoretical braking work to obtain total required braking work; The method comprises the steps of obtaining a first braking work determined by the adhesion characteristic of a wheel track and a second braking work determined by the braking capability of a speed reducer, screening between the first braking work and the second braking work to obtain an executable braking work, and comparing and analyzing the executable braking work with a total required braking work to obtain an actual execution work; And (3) reversely calculating based on the actual execution work to obtain a compensation type friction coefficient, applying the compensation type friction coefficient to a simulation engine, and carrying out railway traffic simulation training by combining the degree of difference between the total required braking work and the executable braking work. Further, the method for calculating the unconsumed kinetic energy during the time delay comprises the following steps: Based on the unidirectional transmission time consumption, according to a function theorem, combining the real-time braking force of the vehicle, the braking distance between the vehicle and the braking end point when the braking occurs and the real-time speed when the vehicle enters a braking range to obtain the kinetic energy of the vehicle during the unidirectional transmission time consumption, and taking the kinetic energy as unconsumed kinetic energy during the time delay. Further, the calculation method of the theoretical braking work comprises the following steps: The method comprises the steps of analyzing a grade field in a braking instruction through a braking system, obtaining vehicle braking force under corresponding grade based on a grade field consulting a mechanical characteristic mapping table to serve as the vehicle real-time braking force, and obtaining theoretical braking work by combining the vehicle real-time braking force and the braking distance between a vehicle and a braking e