Deployment of motion platform control architecture for a high-fidelity driving experience in simulators
Realistic driving experience in motion simulators is a key element for the impressiveness of the VR based simulators. In the driving simulator the free motion of the vehicle is mapped to a motion platform with limited workspace by filtering out the motion and scaling it down with a motion cueing algorithm. These algorithms should be designed in such a way to give a feeling to the users as if they are driving a real vehicle.
The output of the previous stage needs to be fed to actuators of a simulator so that they can apply the required forces and torques to the system to generate the desired motion cues to the user. However, these forces are felt by the user in terms of accelerations and the media between the user and the actuators is the structure and dynamics of the simulator. Therefore, one needs to know the model of the simulator. Then, there is a need to interpret these desired feelings by the user in terms of the actuator forces and motor torques which are obtained by a set of secondary control filters. Therefore, we need to first identify a mathematical model of the platform and tune its parameters.