基于半物理仿真的盾构机临境化虚拟训练系统

针对目前盾构机操作人员在实际施工环境下进行操作训练的不切实际性，而大多数虚拟训练系统又仅体现出演示性系统运动，却不能实现基于系统运动学及动力学进行真实训练的现状，提出基于半物理仿真的盾构机虚拟训练系统构架。建立以盾构机动力学模型为核心的虚拟样机模型，将STM32作为系统的控制器，用信号转换器完成信号的转换。采用半物理仿真的方法，用户可以通过在人机界面上进行盾构机的模拟训练，并可以临境化进入盾构机内部，以不同角度查看虚拟训练的效果，最终借助Unity3d实现盾构机的运动系统的展示。

The TBM Virtual Training System of Immersive Based on Semi-Physical Simullation

Nowdays, it＇s unrealistic to train the TBM operator in the actual construction environment, most of the virtual training systems only demonstrate the movement of mechanical system, and fail to reflect the real training environment based on kinematics and dynamics system. To solve these problems, a new TBM immersive virtual training system based on semi-physical simulation is proposed. A virtual prototype model which takes TBM dynamics model as core is built,which takes the STM32 as the system controller and completes conversion of the signal by the signal converter. Using the semi-physical simallation method, users can carry out machine simulation training on human-machine interface, enter into the virtual environment of TBM and view the TBM internal operation in different angles. The ultimate showcase of TBM motion system is completed in the Unity3d.