Design and Control of a Mechatronic Vehicle Dynamics Simulator Pitch and Roll Dynamics

摘要

A pitch-roll simulator platform has been designed and built for the validation and analysis of control systems algorithms in vehicle dynamics. The system consists of a real time industrial computer, and an instrumented three degrees of freedom platform. A motion cueing algorithm has the function of translating the movement of a vehicle to the platform, moving three rotary actuators, while satisfying all boundaries. A set of encoders feeds back the actuators angle. Two control strategies has been designed and tested through simulation and experiments. Results show that a simple control scheme allows the driver assess the pitch and roll, however, a better control scheme is needed for vehicle design purposes.