Development Of Low-cost Vehicle Driving Simulator Based On Pneumatic Artificial Muscles

Vehicle driving simulator can provide drivers with driving experience close to the real environment,which is widely used in vehicle design,driver’s behavior research and other fields.The aim of the project is to develop a low-cost and entertaining vehicle driving simulator.Through the development of data interface software,racing games,game peripherals,and the motion system will be integrated into a driving simulator with somatosensory simulation;for the motion system driven by pneumatic artificial muscles,propose an inverse static open-loop motion control method with feedforward compensation,which aims to reduce the cost of development and later maintenance.The overall technical solution of a low-cost vehicle driving simulator based on pneumatic artificial muscles is developed.The system is divided into driving simulation platform,data interface software,virtual visual and audio system,pneumatic system and other parts,and its hardware composition is introduced;the working principle and process of the entire system are analyzed;the key technologies of the system are summarized: for the existing racing game software,game peripherals are difficult to integrate together to form a driving simulator with somatosensory simulation,the data interface software is proposed;in view of the unstable operation of the current motion control method on the parallel platform driven by pneumatic artificial muscle and the high cost of many sensors,a motion control method based on the inverse statics open-loop is proposed.Develop the data interface software for vehicle dynamics model of driving simulator.Using QT as the GUI framework,C++ language is used to develop the data interface software.As the driver software of the driving simulator,the data interface software combines the racing game software and the motion platform.The software can use the vehicle dynamics model in the virtual scene to obtain information such as acceleration and angular velocity during driving,and it can be transmitted to the motion control software at a rate of 100 Hz to meet the needs of motion control;in addition,the software also has the function of modifying the game configuration which is easy to use.Study the feasibility of applying open-loop control to a vehicle driving simulator driven by pneumatic artificial muscles.By analyzing the mathematical model of the pneumatic artificial muscle,it can be drawn that the air pressure and the force state of the pneumatic artificial muscle can completely determine its position state,the feasibility of applying open-loop control to pneumatic artificial muscle is proposed from the point of view of model.In order to study this feasibility,a simulation model of the motion platform was built in Sim Mechanics,and two motion control methods based on inverse statics closed-loop and open-loop were applied to the simulation model,respectively.The study concluded that under a certain feed-forward compensation,the 6 DOF parallel platform driven by pneumatic artificial muscle can meet the performance requirements of the equipment by using the inverse statics open-loop motion control method.Combined with racing games,data interface software,open-loop motion control methods,etc.,the driving processes such as acceleration and turning were simulated.The commissioning of a vehicle driving simulator driven by pneumatic artificial muscles and experiments under typical driving conditions are completed.To a certain extent,the feasibility of the open loop motion control method based on inverse statics is verified.