Fast MPC based motion cueing algorithm for a 9DOF driving simulator with yaw table
Authors:
Zhou Fang, Masashi Tsushima, Eiichi Kitahara, Naoya Machida, Didier Wautier, Andras Kemeny
Keywords:
motion control, motion cueing algorithm, 9DOF driving simulator, real-time control, yaw table
Abstract:
In the last decade, the model predictive control (MPC) technique has been successfully applied in the motion cueing algorithm (MCA) design. Two categories of MPC based MCA have been developed. One is the real-time MPC algorithm and another is the offline optimization which aims to provide the best motion cueing strategy for passive driving test. Generally, in the hexapod-based driving simulator where the yaw angle is supposed to be small, the multi-axes coupled motion cueing problem is treated as an independent mono-axis MCA by using 2DOF tilt-coordination technique. However, for the yaw table based driving simulator, the small yaw angle based design method needs to be reviewed not only for the motion cueing model but also for the MPC numerical technique. In the present study, two fast MPC based MCA have been investigated. The first is a simplified model and the second, a complete 4DOF tilt-coordination + 1DOF yaw motion model. Compared to the offline optimization which is a non-linear model, the proposed model is a linear but time-varying output system. By adopting this approach, the real-time performance is enhanced. Thanks to some new numerical techniques developed by the authors, the proposed MCA can meet the real-time requirement for a 9 DOF driving simulator with yaw table.
Cite this article
Fang Z.; Tsushima M.; Kitahara E.; Machida N.; Wautier D. and Kemeny A. Fast MPC based motion cueing algorithm for a 9DOF driving simulator with yaw table In: Proceedings of the Driving Simulation Conference 2017 Europe VR, Driving Simulation Association, Stuttgart, Germany, 2017, pp. 73-80
@inproceedings{Fang2017,
title = {Fast MPC based motion cueing algorithm for a 9DOF driving simulator with yaw table},
author = {Zhou Fang and Masashi Tsushima and Eiichi Kitahara and Naoya Machida and Didier Wautier and Andras Kemeny},
editor = {Andras Kemeny and Florent Colombet and Frédéric Merienne and Stéphane Espié},
issn = {0769-0266},
year = {2017},
date = {2017-09-06},
booktitle = {Proceedings of the Driving Simulation Conference 2017 Europe VR},
pages = {73-80},
address = {Stuttgart, Germany},
organization = {Driving Simulation Association},
abstract = {In the last decade, the model predictive control (MPC) technique has been successfully applied in the motion cueing algorithm (MCA) design. Two categories of MPC based MCA have been developed. One is the real-time MPC algorithm and another is the offline optimization which aims to provide the best motion cueing strategy for passive driving test. Generally, in the hexapod-based driving simulator where the yaw angle is supposed to be small, the multi-axes coupled motion cueing problem is treated as an independent mono-axis MCA by using 2DOF tilt-coordination technique. However, for the yaw table based driving simulator, the small yaw angle based design method needs to be reviewed not only for the motion cueing model but also for the MPC numerical technique. In the present study, two fast MPC based MCA have been investigated. The first is a simplified model and the second, a complete 4DOF tilt-coordination + 1DOF yaw motion model. Compared to the offline optimization which is a non-linear model, the proposed model is a linear but time-varying output system. By adopting this approach, the real-time performance is enhanced. Thanks to some new numerical techniques developed by the authors, the proposed MCA can meet the real-time requirement for a 9 DOF driving simulator with yaw table.},
keywords = {9DOF driving simulator, motion control, motion cueing algorithm, real-time control, yaw table},
}
TY - CONF TI - Fast MPC based motion cueing algorithm for a 9DOF driving simulator with yaw table AU - Fang, Zhou AU - Tsushima, Masashi AU - Kitahara, Eiichi AU - Machida, Naoya AU - Wautier, Didier AU - Kemeny, Andras C1 - Stuttgart, Germany C3 - Proceedings of the Driving Simulation Conference 2017 Europe VR DA - 2017/09/06 PY - 2017 SP - 73 EP - 80 LA - en-US PB - Driving Simulation Association SN - 0769-0266 L2 - https://proceedings.driving-simulation.org/proceeding/dsc-2017/fast-mpc-based-motion-cueing-algorithm-for-a-9dof-driving-simulator-with-yaw-table ER -
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