具有力回饋控制之汽車駕駛模擬器方向盤研究開發

Developing a force feedback control algorithms for the steering wheel in the vehicle driving simulator

鄭旭明(Hsu-ming Cheng)

指導教授 ： 曾百由

國立臺北科技大學/機電學院/機電整合研究所/碩士(2014年)

摘要

在汽車駕駛模擬器的系統中，因缺乏實際道路負載，使模擬器中的方向盤缺乏虛擬的方向盤轉向扭矩。汽車駕駛模擬器中方向盤轉向扭矩產生及回正動態模擬的效果應受到了車速、方向盤轉向角度所影響，但缺乏力回饋控制的方向盤轉動將間接的影響駕駛者操控行為。本研究為了模擬出實際汽車駕駛方向盤的操作情境，透過駕駛模擬器所給予的車輛車速和方向盤轉向角度資訊，使用微控制器(Microcontroller , MCU)控制伺服馬達扭矩，做為駕駛模擬器方向盤的力矩回饋，並滿足方向盤轉向扭矩動態模擬的需求。

關鍵字

虛擬駕駛；力回饋；回正控制

並列摘要

In vehicle driving simulator, there isn’t steering torque on the steering wheel since the tires don’t have load of road. Change of steering torque and speed of wheel returning could influence the behavior of driver when the speed of vehicle and the steering angle vary. The purpose of the study is to simulate the hand sense feedback from steering wheel when driving vehicle. According to the information of speed of vehicle and the steering angle which feedback from vehicle driving simulator, using MCU to control the torque of servo motor to simulate the returning torque. And then fulfill the needs of the dynamic simulation of steering wheel torque.

並列關鍵字

Driving simulator ； Force Feedback ； Return control

參考文獻

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