Research On Washout Filter Algorithm Of Vehicle Driving Simulator

Vehicle driving simulator is a kind of simulation equipment which can simulate real vehicle movement in limited space.It has the advantages of good test repeatability,convenient setting of driving conditions,high safety and reliability,and plays an important role in driver training,new car research and development test,etc.Washout filtering algorithm is a kind of algorithm which can simulate real vehicle motion in a limited working space of vehicle simulator.The quality of wash out filtering algorithm directly affects the fidelity of vehicle driving simulator,so the core content of this paper is to optimize the wash out filtering algorithm to improve the fidelity of dynamic simulation of vehicle driving.Firstly,this paper introduces the structure of the moving platform prototype of the vehicle driving simulator and establishes the corresponding coordinate system.The inverse kinematics solution and forward kinematics solution of the platform prototype were solved.Solve the workspace of the platform prototype.Secondly,the working principle of human perception system is introduced,and the perception model is given.The structure of the classical wash filter algorithm,coordinate transformation of the input link and input specific force are analyzed.On the basis of the classical washing filter algorithm,the parameters of the filter were optimized by the penalty function particle swarm optimization algorithm to improve the fidelity of the vehicle driving simulator.The classical filter algorithm with optimized parameters is simulated and analyzed.In view of the shortcomings of the classical washout filter algorithm with fixed parameters,this paper adopts an adaptive washout filter algorithm which can adjust the filter parameters in real time with the change of the input signal.The reason of the divergence of the output of the adaptive washout filter algorithm is analyzed.Aiming at the problem that the input amplitude affects the output stability,the adaptive law is improved to improve the output stability.The structure of the adaptive washout filter algorithm is improved,and the input signal is processed in sections to improve the fidelity of motion simulation.The optimized adaptive wash filtering algorithm is simulated and analyzed.Finally,the washing filtering algorithm is verified by the vehicle driving simulator in the laboratory.The composition of the vehicle simulator system and the functions of each subsystem are introduced.The process of transforming from analog filter to digital filter is deduced.The verisimilitude of the optimized adaptive wash filtering algorithm is verified by simulating driving conditions.