Research On Motion Simulation Technology Of Vehicle Simulator

Vehicle simulator has the advantage of setting working condition conveniently test repeatability and high safety, therefore it plays an important role in driver training research and development of new vehicles and human-vehicle-environment (HVE) closed-loop system experimental investigation.Vehicle motion simulate technology is the basis of high fidelity vehicle simulator and is an important requirement for validation of HVE experimental investigation results using vehicle simulator.This thesis based on vehicle HVE simulator project, taking3-D virtual road modeling, vehicle dynamic modeling and simulation and simulator motion cueing algorithm as research contents. Method generateing random excitations road profiles3-D elevation data is proposed, flow modeling vehicle dynamic model especially the way of setting suspension parameters in Vortex is elaborate, and then some examples of vehicle dynamic simulation are presented. A new motion cueing strategy based on the lengths of legs of the stewart platform is proposed, at last, A co-simulation system which bounds of vehcile dynamic system motion cueing algorithm is builded for vehcile simulator development. This thesis is of important theoretical significance and engineering value for high fidelity vehicle simulator.The composition and working principle of vehicle simulator are presented, the mechanism of vehicle simulator simulating motion of actual vehicle is expounded, the motion system of the simulator is introduced explicitly, These introduction establish the foundation of motion simulation technology for vehicle simulator.Method generating road profile elevation data which is the resource of data for3-D virtual road modeling is proposed. Based on2-D power spectral density (PSD) of road surface roughness, the principle generating3-D road elevation data making use of2-D inverse Fourier transform is proposed. The property of PSD and isotropic of generated data are superior to data generated with traditional ways, method generating transient randomly disturbted in the road surface profile is proposed. Method for3-D curve road modeling is presented based on road character and a method called line cutted with terrain was proposed. Method and flow of building vehicle dynamic model in Vortex. The preliminary stiff parameters of vheicle suspension are fixed according to the theory of design on vehicle suspension. Ride and stability of the vehicle are tested in Vortex, basing the test results the optimalizing damp coefficiense is fixed. Vehicle working in typical condition is simulated in vortex, and the simulate data is obtained for analysis and design for motion cueing algorithm.Owing to parameters in classic motion cueing algorithm can not be adjusted adaptive in real time, the usage of workspace of stewart platform is very low in some conditions. This paper propos a new fuzzy adaptive motion cueing algorithm which turning parameters due to the leg’s length of the stewart platform based on classic motion cueing algorithm and existing fuzzy adaptive which turning parameters due to single degree of freedom displacement of the Stewart platform. At first, some basic problems are resolved such as preprocess of input signals, the limitation of coordination tilt channel and decoupling about motion in six degree of freedom of stewart platform, and then, the principle and fuzzy rule of the proposed fuzzy adaptive motion cueing algorithm are presented. The proposed algorithm and contrastive algorithm are simulated in simulink, the simulated results showing that the fidelity of motion simulation is increased.A co-simulation system which bounds of vehcile dynamic system motion cueing algorithm is builded with vortex simulin and adams. The composition working principle and significance of co-simulation system is presented, after that the virtual prototype of the stewart platform is builded in ADAMS, and the prototype is connected with simulink model of motion cueing algorithm and inverse kinematic. Take visualization of platform simulating vehicle motion and special motion cueing algorithm of vehicle for pylon course testing as an example to illustrate the application of the co-simulation system.