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Research Papers

Performance Identification and Compensation of Simulator Motion Cueing Delays

[+] Author and Article Information
Zhou Fang, Gilles Reymond

Andras Kemeny

RENAULT,  Technical Center for Simulation, TCR AVA 0 13, 1, Avenue du golf – 78288 Guyancourt, Franceandras.kemeny@renault.com

www.scanersimulation.com

J. Comput. Inf. Sci. Eng 11(4), 041003 (Sep 13, 2011) (4 pages) doi:10.1115/1.3622751 History: Received September 30, 2010; Revised May 31, 2011; Published September 13, 2011; Online September 13, 2011

The lag existing between the command and the resulting cockpit motion in a motion-based simulator, commonly referred to as “transport delay”, is actually the sum of a fixed delay and a frequency-dependent phase delay. A measurement procedure for the identification of the overall transfer function of a motion system is first presented, then it is used to design a proportional integral derivative (PID) compensator to reduce the apparent simulator lag in usual driving maneuvers. This procedure is carried out on RENAULT’s ULTIMATE high-performance driving simulator. For the reference driving task considered (slalom driving), this PID corrector is shown to bring a 100–200 ms reduction of the phase delay, which is quite perceivable and preferred by test drivers.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Example of identification output signal (top), comparison of model predictions versus measurements (middle), and acceleration spectral distribution (bottom), for a pseudo-white noise

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Figure 2

Simulation of PID compensator performance for a swept sine 0.1–3 Hz (top), focus on high frequencies (middle), and PSD results comparison (below)

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Figure 3

Structure of the proposed delay compensator

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Figure 4

Comparison of off-line simulation of platform lateral motion with and without PID compensation

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Figure 5

Measurements of a slalom driving session, with an estimation of the delay reduction

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