Abstract

KADER, T; STOPFORTH, R  and  BRIGHT, G. Simulation system to aid in vehicle simulator design. R&D j. (Matieland, Online) [online]. 2017, vol.33, pp.1-8. ISSN 2309-8988.

Vehicle simulators aim to provide the user with a driving experience that replicates the sensations experienced in a real vehicle. An important aspect is the replication of motion cues. The replication of motion cues in the vehicle simulator is limited by platform workspace and the selected position control systems performance. In this work a Matlab/Simulink setup that incorporates the various aspects involved in replication of motion sensations was created. This includes input data scaling, classical washout algorithm and inverse kinematic implementations. By adjusting the input data scaling and classical washout algorithm filter parameters platform motion that adheres to the actuator motion constraints was assured. Therefore this simulation system makes the design process easier since no parameter adjusting was done on the actual motion platform. This simulation system also ensures safe operation of the vehicle simulator system for the user and ensures safety of the vehicle simulator mechanical structure. Additionally the system allowed for the derived inverse kinematic equations to be verified and evaluated the effectiveness of the classical washout motion cueing algorithm.

Keywords : Parallel manipulator; Inverse kinematics; Motion cueing; Vehicle simulator.

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