Research On Motion Control And Visualization Of Three-DOF Parallel Driving Simulation Platform

Driving simulators are not only widely used in traditional areas such as automotive product development and driving training,but also bring new possibilities to cutting-edge technologies such as assisted driving and autonomous driving.However,the high production cost and low immersion have become the bottleneck of the development of this technology,making it difficult to be popularized among ordinary users.Therefore,it is of great practical significance to develop a low-cost,dynamic car driving simulator.After analysis,this paper decomposed various motions of car driving into three motions,pitch,roll and lift,or a combination of them,and designed a three-degree-of-freedom parallel motion platform with two degrees of freedom of rotation and one degree of freedom of movement.The key moving parts are analysed and calculated relevantly,and the inverse solution analysis of the mechanism was completed utilizing coordinate transformation.The driving simulator model was built using Solidworks software,and getting the virtual prototype after optimization and importing ADAMS.The kinematics and dynamics simulation analysis of the virtual prototype obtained the kinematic performance of the parallel platform and proved the correctness of the inverse solution calculation equation.With Visual Studio 2013 as the development software,this page designed a vision system for a driving simulator based on the Open GL graphics function library,which is a test site for testing freedom of movement and a realistic campus site.According to the use of the graphics library,the binocular stereo display based on Direct X and Open GL was implemented respectively,and setting appropriate parameters to apply to the virtual scene.Using stereo glasses can provide a driving experience with stereo vision.In order to test the kinematic performance and dynamic experience of the driving simulation platform,a physical prototype was manufactured in this paper.The control algorithm was designed based on the inverse solution calculation.The control program was written using the USB1020 motion control card and its function library to realize the scene-driven platform dynamic feedback.A motor debugging module and a parallel debugging module were added to the visual program for function inspection,and the mechanism limit was implemented from two aspects of software and hardware to ensure safe operation.The picture parameters and motor movement data were obtained from driving in pitch,roll and comprehensive fields at different speeds during the test session ensured the smoothness of the picture and the authenticity of the physical sense.Driving tests were conducted under different parallaxes,and the observations were compared,setting proper parallax can get better visual immersion.Manned experiments showed that the physical prototype developed in this paper has accurate motor movement and good sports performance.The binocular vision system makes the driver get a stronger sense of realism,and has a good reference meaning to the realistic and economical development of the driving simulator.