Research On Motion Control Of Parallel 6-DOF Vehicle Simulator

For harsh driving conditions,terrain and special conditions of the driving simulator and the need for research on automotive safety,comfort and performance,using in labs have set up parallel on the basis of the 6-DOF parallel platform,to study the motion control of vehicle simulators and simulation and experimental analysis.The main contents are as follows:First,the lab has built a platform,based on analysis of its freedom and its inverse,for positive solutions in order to improve the efficiency of proposed Netwon law.6-DOF parallel platform are calculated working space under the platform in some specific location,is derived using the influence coefficient method for the platform's speed and acceleration.According to the needs of vehicle motion simulation,given its control flow.Secondly,the classical washout algorithms composition including its signal input needed for coordinate transformation,analyzed high acceleration and angular velocity Channel order effect of the filtering process,determine the order of these channels,inclined channel for the coordination and analysis of the mechanism of action.Classic based on washout algorithm leads to the Adaptive washout algorithm,method for constructing Adaptive cost function is introduced.Then,we build a sense of human body model analyzed washout algorithm of filter effects of various parameters on vehicle motion simulation results,select the appropriate filter parameters.Analysis of the Adaptive weights,Washout algorithm is presented in the debugging process.Use of Sim Mechanics laboratory platform for modeling and analysis of dynamic characteristics of the movement simulation,based on analysis of the specific signal observed dynamic characteristics of the Simulator.Finally,G29 connect controller and Unity3 D,improving the authenticity of a driving simulator.Through dynamic link library written in C++,Unity3 D and Labview real-time data sharing is achieved.Using the Unity3 D and SimMechanics model and analysis of two kinds of typical terrain Simulator motion.On a platform built in the laboratory,analyzed the car starting and braking,and SimMechanics model for comparative analysis.