International Journal of Advanced Computer Science, Vol. 2, No. 3, Pp.110-113, Mar. 2012. Manuscript Received: 20, Jun. 2011 Revised: 29,Sep., 2011 Accepted: 25,Feb., 2012 Published:15,Apr., 2012KeywordsSimulink, 6DOF equation of exterior ballistics Virtual Reality Abstract_The course of simulation is establishing mathematics model of exterior ballistics, creating simulation platform using Simulink and establishing 3D visual scene using VRML (Virtual Reality Modeling Language) and V-Realm Build 2.0. The input signal can be accepted by output module of VR Sink, because of the technology of combination of Simulink and VRML. It can display the movement of rocket in the way of virtual reality. The flight trajectory reflects the flight state of rocket. The technology of Virtual Reality is significant for designers to design exterior ballistics of rocket. 1. Introduction VRML (Virtual Reality Modeling Language) is often used for describing virtual reality. The visual world of compute system can be created and experienced by virtual reality which generates 3D space. In the 3D space users can intercommunicate with it. VRML has 6+1 DOF, so we move and rotate images in three directions, also creates 3D space hyperlink [1]. VRML files are text attribute of describing virtual space, which is generated by text editor. The center of browser is default origin. It is X, Y , Z axis positive direction from origin point to right, up, down. If you want to create objects that are in default position, you have to adjust the position of origin. A typical VRML file includes head file, remark, nodes, field, circumstance and route [2]. In the past, high level program language is introduced to solve the traditional exterior ballistics calculation, which emphasizes on the arithmetic of model [3], a great deal of dates are come into being when the simulation ends; Now by the technology of combination of Simulink and VRML, users can not only get the simulation dates, but also observe the virtual movement of rocket. This work was supported by Bei Jing Institute of Technology. Wei-Ling Yang and Chun-Lan Jiang are with Bei Jing Institute of Technology, School of Mechatronical Engineering(share.wish.happy @126.com; jiang.chunwh@bit.edu.cn) 2. 6DOF Equation of Exterior Ballistic All expressions of forces and moments are introduced to general equation of rigid movement. The format of 6DOF equation has been got. This equation is so-called 6D equation [4]. In this paper, we quote equations of exterior ballistics from reference [4]. So, according to our demand we will predigest these equations, and next steps to establish platform of simulation.A. Coordinate system 1) Ground coordinate system o xyz Ground coordinate system linking with earth, which origin is the point at which something begins to move is right-hand right-angle coordinate system. Confirming moving direction is positive, the positive direction of ox -axis, oy -axis, oz-axis is confirmed by right-hand principle. 2) Rocket coordinate system ' o Its origin locates at the center of mass of rocket. Positive direction of ' o -axis is along the positive direction of axis of rocket. ' o-axis and ' o -axis are in the plane which crosses center of mass of rocket and is vertical to axis of rocket. This coordinate system is linked with rocket and reflects space gesture of rocket. 3) Velocity coordinate system 2 2 2 o x y z In velocity coordinate system, origin is the center of mass of rocket, the direction of 2 ox -axis is the same as velocity vector; 2 oy -axis is vertical to 2 ox -axis; 2 oz-axis is confirmed by right-hand principle. This coordinate system is also called natural coordinate system or ballistic coordinate system. The Realization of Virtual Reality of Launching Rocket Based on Simulink and VRML Wei-Ling Yang, & Chun-Lan Jiang
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7/27/2019 The Realization of Virtual Reality of Launching Rocket Based on Simulink and VRML
International Journal of Advanced Computer Science, Vol. 2, No. 3, Pp.110-113, Mar. 2012.
Manuscript Received:20, Jun. 2011
Revised:
29,Sep., 2011
Accepted:25,Feb., 2012
Published: 15,Apr., 2012
Keywords Simulink,
6DOF
equation of
exterior
ballistics
Virtual
Reality
Abstract _ The course of simulation is
establishing mathematics model of exterior
ballistics, creating simulation platform
using Simulink and establishing 3D visual
scene using VRML (Virtual Reality
Modeling Language) and V-Realm Build
2.0. The input signal can be accepted by
output module of VR Sink, because of the
technology of combination of Simulink
and VRML. It can display the movement
of rocket in the way of virtual reality. The
flight trajectory reflects the flight state of
rocket. The technology of Virtual Reality
is significant for designers to design
exterior ballistics of rocket.
1. Introduction
VRML (Virtual Reality Modeling Language) is often
used for describing virtual reality. The visual world of
compute system can be created and experienced by virtual
reality which generates 3D space. In the 3D space users canintercommunicate with it. VRML has 6+1 DOF, so we
move and rotate images in three directions, also creates 3Dspace hyperlink [1].
VRML files are text attribute of describing virtual
space, which is generated by text editor. The center of
browser is default origin. It is X, Y, Z axis positive direction
from origin point to right, up, down. If you want to create
objects that are in default position, you have to adjust the
position of origin.
A typical VRML file includes head file, remark, nodes,field, circumstance and route [2].
In the past, high level program language is introduced
to solve the traditional exterior ballistics calculation, whichemphasizes on the arithmetic of model [3], a great deal ofdates are come into being when the simulation ends; Now
by the technology of combination of Simulink and VRML,
users can not only get the simulation dates, but also observe
the virtual movement of rocket.
This work was supported by Bei Jing Institute of Technology.
Wei-Ling Yang and Chun-Lan Jiang are with Bei Jing Institute of
Fig. 2 Model of exterior force and exterior moment
Fig.3 Model of 6DOF Equation
4. Encapsulation of visualization
simulation module
Visualization simulation module (see Fig.4) consists of
exterior forces and moments module, 6DOF dynamics
equation module, XY-Graph module, visualization module.In order to modify variable parameter, all parameters are in
the same M-file [5]. The purpose is to increase readability.
Encapsulation of module has the advantage of
readability and transplant. According to concrete conditions,
adding other module make the result more closed to real
phenomenon.
Fig.4 Visualization simulation
The modules concerning virtual reality toolbox consistof core module, special module, special input module,single module [8]. The core module includes VR Sink and
VR Source, VR Sink module supports the single from
Simulink to virtual reality and VR Source supports
interface technology from virtual reality to Simulink.Virtual reality toolbox can work in two work environment
such as MATLAB interface technology, Simulink interface
technology. Rotation MATRIX2VR can transformorientation cosine matrix to rotation vector. In this paper we
select Simulink interface technology and virtual reality
toolbox.
5. Establish 3D visual scene
3D visual scene (see Fig.5) consists of vehicle, rocket,
radar and background. VRML has difficult in constructing
more complicated 3D model because VRML is strict in
syntax-language and has better function. So in this paper
we can add the Object Library, which is the most important
part of V-Realm Builder, to visual scene, also add the object
that we create to Object Library.The criterion of VRML is that father nodes have child
nodes and child nodes have child nodes. Each node consists
of field, which has specified value, all these values definecharacter of a scene.
Fig.5 3D Visual scene
6. Visual Simulation
In Figure 4, select the VR Sink module, in VR Sink
dialog box, Knock Browse button and select “my .WRL”
file (see Fig.6) and open it. In the right you’ll see
directory tree, then select the rocket, in the subdirectorytree, make a marker on center and rotation. When the modelis run, observers can view from different visual angles (see
Fig.8). We also get the movement curve by XY-Graph
module (see Fig.7).
7/27/2019 The Realization of Virtual Reality of Launching Rocket Based on Simulink and VRML
It is easy to establish simulation model and decrease
amount of work and is also convenient for users to modify
any module in the method mentioned in this paper, so all
factors can be reflected in concrete way. Output result hasthe characteristic of visualization.
In this paper visual simulation reflects trajectory of
rocket directly and characteristics of exterior ballistics. Itaccords with real phenomenon of launching rocket basically.
Visual simulation is significant for designers to design
products.
References
[1] D.W. Long, "6-DOF motion SIMULINK for projectiles based on MATALB/SIMULINK," (2009) Journal ofChongqing Institute of Technology (Natural science), vol. 23,
no.4, pp. 146-147.[2] ZH. JunMin, H. Y. Juan, "The incorporate simulation of the
missile trajectory based on MATALB/SIMULINK,"
(2003) Journal of Projectiles, Rockets, Missiles andGuidance, vol. 21, no.36, pp. 134-138.
[3] M. Works, MATLAB the language of technical computing,
using MATLAB. Release, 2001.[4] H.Z. Peng. "Exterior Ballistics of Projectiles, Rockets and
Missiles" (2008) Press of Beijing institute of Technology, pp.
141-143[5] X.D. Yu, & CH.Y. Quan, "Technology and Application of
system simulation based on MATLAB/SIMULINK," (2006) pp. 36-38
[6] H.H. Rosenbrock, Computer aided control systems design.
London: Academic Press (1973), pp. 442-448[7] L. Hua, CH.W. Wei, Simulation of Trajectory Visualization
Based on VRML Language.[8] H. Quebec, TEQSIM International. Power system block set,
for use with SIMULINK.[9] ZH.J. Xiang, & L. XueShan. "The Plane Flying-off
Simulation Using Virtual Reality Toolbox of MATLAB,"
(2003) Compute Simulation, vol. 10, no. 34, pp. 168-173.
Wei-Ling Yang was born in
ShanDong province, China, in 1981.
He received the B.Sc. and M.Sc.
degrees from North University of
China in 2006 and Bei Jing Institute
of Technology in 2008, respectively.He is the author or coauthor of more
than ten national and international
papers. He is with flight mechanics
Center Group, since 2006. He is
currently pursuing his Ph.D. degree in Bei Jing Institute ofTechnology, School of Mechatronic Engineering. His
current research interests include explosion mechanics,
flight mechanics, engineering mechanics and Numerical