應用於三維地形駕駛模擬器之系統設計

System Design of VR-based Motion Simulator for Wheeled Vehicle on 3D Terrain Application

王甦群(Su-Chiun Wang)

指導教授 ： 傅立成

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.00385

摘要

無資料

關鍵字

史都華平台 ； 沖淡濾波器 ； 駕駛模擬器 ； 虛擬實境

並列摘要

This thesis focuses on the construction of driving simulator. The driving simulator is divided into three subsystems which are vehicle dynamics system, washout filter system, and motion platform system respectively. We try to achieve better simulator fidelity by improving the capability and performance of each subsystem.

In this thesis, firstly, we propose a general vehicle modeling approach which adopts the concatenate modeling concept. Such approach is very effective, efficient, and flexible when dealing with the modeling of complex multibody system. Secondly, we propose a new washout filter algorithm which does not focus on parameter tuning but directly manage the platform workspace. Such method is not a substitute of the current washout filter algorithm. Instead, it is compatible with any existing algorithm to attain a better performance. Then, we propose a velocity feed-forward controller for motion platform control. The controller design is based on the linear characteristic of hydraulic actuator. Such control scheme shows satisfactory experimental results and is easy to apply.

After the effectiveness of the design methodologies for each subsystem been verified through related simulations and experiments, we integrate the subsystems into an intact driving simulator. The integrated experiment shows satisfactory results. That is, based on the works done, we successfully achieve a better fidelity of the motion simulator by the improvement made on each simulator subsystem.

並列關鍵字

motion simulator ； washout filter ； Stewart platform ； Virtual reality

參考文獻

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