2-DOF Proprioseptive Simulation System Design In Vehicle Driving Simulator

The vehicle driving simulator is a simulation equipment,which simulate vehicle movement status and enable driver to get vehicle driving propioception, it is commonly used in vehicle research and development, traffic safety, driver training and other areas.The vehicle driving simulator simulate mainly from two aspects of vehicle performance and driving conditions.Proprioceptive simulation system is an important part of the driving environment simulation,which simulate vehicle movement proprioception by the motion platform.The proprioceptive simulation system is an important significance for improving the realism of the vehicle driving simulator.The common vehicle driving simulator motion platform use the parallel mechanism driven with electric, hydraulic, etc.The range of motion freedom is from three degrees of freedom to eight degrees of freedom.These motion platforms commonly used in scientific research areas,which have complex structure and larger bulk,but they are difficult popularity on the application in the field of driver training.According to the characteristics of the vehicle driving simulation,this paper analyze the training simulator needs.Design a structure is relatively simple,economical and pratical2-DOF proprioceptive simulation system in vehicle driving simulator.The system uses two sets of devices driven by AC servo motor driven electric cylinder. The system achieve the simulation of the vehicle longitudinal, lateral acceleration and the vehicle pose by pitch, roll two degrees of freedom of movement. The main work of the paper as follows:(1) Analyse mechanism relations of two degree of freedom motion platform.According to the described in the RPY angle,establish the inverse position model of two degree of freedom motion platform.Design the forward positon algorithm based on the Newton-Raphson method.(2) Establish a2-DOF motion platform kinematics model based on the simplified vehicle dynamic model and the motion influence coefficients.Research on the relations between the motion platform command and pose parameters by the MATLAB.(3) On the basis of the analysis requirements of Proprioceptive simulation system of vehicle driving simulator,design software and hardware systems of motion platform. Select the hardware facilities and experimental test equipment in line with this system.Design Proprioceptive simulation system software by the Visual Studio2005software development environment.(4) Establish a2-DOF vehicle driving simulator proprioceptive simulation system,carry out typical operating conditions experiments of vehicle driving, and compared with the measurement data of the real vehicle.Experiment results show that the2-DOF proprioceptive simulation system can realistically simulate vehicle motion effects,and verify the exactness of the forward position algorithm,the inverse position algorithm and the motion platform kinematic model.