捷運已經是許多民眾日常生活不可或缺的交通工具,但一般人卻很難有駕駛的經驗。本研究的目的在利用「虛擬實境」及「動感平台」建置一套捷運駕駛模擬系統,透過對運動系統、視覺系統的整合,建構一個捷運駕駛模擬器,藉由模擬的過程中,賦與駕駛員動感、視覺、及聽覺上的感覺,以期讓使用者能得到和實際駕駛捷運相似的感受。為了達成前述之目的,本研究建立了一個捷運軌道虛擬場景,作為模擬器所要模擬的環境,並將模擬器駕駛員的操控訊號輸入虛擬實境中,根據軌道與地形資訊,計算列車之運動狀態;同時將結果輸入平台控制器利用動感模擬及逆向運動學改變平台動作。 不過,由於史都華平台(動感平台)的工作空間是有限的,無法表現真實動態世界的無限空間,因此本研究使用古典沖淡演算法一方面減少史都華平台的作動量同時保留駕駛者的各種動態感受,在適當的時候將平台帶回到原點附近,以提供較大的工作空間讓平台可以有更多的動感表現。 最後,本研究開發一個嵌入式平台控制器取代先前開發的控制器,以數位訊號處理器作為史都華平台運動控制器核心處理器,配合自製液壓驅動電路,取代合作廠商原有的工業電腦以及液壓驅動控制器,讓整個模擬系統設備功能提升與精簡化,達到降低成本與資源的目的並具備更高的發展性。
Although Mass Rapid Transit (MRT) system has become a daily transportation for people in the metropolitan area, the opportunity to drive it is rare. The present research has aimed at using virtual reality and motion platform to build an interactive MRT driving simulation system. The system is constructed by integrating the motion and visual systems to give the trainees different sensations in the MRT simulation such that they can have a vivid driving experience. To fulfill the above requirement, a virtual MRT railroad model is built as the simulation environment which can interacts with the driver’s control inputs and output the visual effects as the real system. The dynamic motion of the MRT vehicles will also be calculated according to the input, railroad and geographical information in the virtual world, and output the motion data to the Stewart platform motion controller. This in-house developed motion controller can manipulate the Stewart platform with the algorithms of Motion Cues and Inverse Kinematics. As it is impossible to reproduce the unlimited free motion space in the real world with the bounded motion space of the Stewart platform, a classic washout filter has been applied in this research no only to reduce the platform motion but also to enhance the motion effects of the simulation. At the end, an embedded DSP platform motion controller has been developed in this research to replace the existing controller. With the integrated on-board hydraulic driving circuits, this controller has simplified the overall circuits by applying digital control and also reduced the developing resources and cost while have more flexibility of future improvement.