20 research outputs found
Enhancing human motion perception in model predictive motion cueing algorithm
In this research, the predictive motion cueing algorithm has been optimized for improving a human driver sensation based on the mathematical model. The Model Predictive Control cost function and the prediction and control horizons are optimized. The future trajectory is predicted by artificial intelligence and the related control actions are applied beforehand in real-time
Motion Cueing Algorithm for Effective Motion Perception: A frequency-splitting MPC Approach
Model predictive control (MPC) is a promising technique for motion cueing in
driving simulators, but its high computation time limits widespread real-time
application. This paper proposes a hybrid algorithm that combines filter-based
and MPC-based techniques to improve specific force tracking while reducing
computation time. The proposed algorithm divides the reference acceleration
into low-frequency and high-frequency components. The high-frequency component
serves as a reference for translational motion to avoid workspace limit
violations, while the low-frequency component is for tilt coordination. The
total acceleration serves as a reference for combined specific force with the
highest priority to enable compensation of deviations from its reference
values. The algorithm uses constraints in the MPC formulation to account for
workspace limits and workspace management is applied. The investigated
scenarios were a step signal, a multi-sine wave and a recorded real-drive
slalom maneuver. Based on the conducted simulations, the algorithm produces
approximately 15% smaller root means squared error (RMSE) for the step signal
compared to the state-of-the-art. Around 16% improvement is observed when the
real-drive scenario is used as the simulation scenario, and for the multi-sine
wave, 90% improvement is observed. At higher prediction horizons the algorithm
matches the performance of a state-of-the-art MPC-based motion cueing
algorithm. Finally, for all prediction horizons, the frequency-splitting
algorithm produced faster results. The pre-generated references reduce the
required prediction horizon and computational complexity while improving
tracking performance. Hence, the proposed frequency-splitting algorithm
outperforms state-of-the-art MPC-based algorithm and offers promise for
real-time application in driving simulators.Comment: 8 pages, 10 figures, 3 tables, conference (DSC 2023
Driving Simulator Motion Cueing Assessment: A Platform Design Perspective
The overall aim of this thesis was to study the effects of a simulator’s motion system on vestibular motion cueing fidelity in different contexts, evaluated in terms of drivers’ perception and behaviour, in low and high road friction conditions. The effects of manipulating the motion cueing algorithm (MCA), was found to be a function of the vehicle motion in a manoeuvre, and significant effects were observed.
The applicability of simulators for the assessment of vehicle driven attribute qualities such as ride, steering and handling were studied by manipulating vehicle ride height (RH). The differences between the RHs were subjectively distinguishable by the drivers in the simulator. Incongruities between the subjective preferences and objective performances were observed in both of the independent comparisons of the MCAs and RHs.
The effects of motion platform (MP) workspace size were found to be dependent on the manoeuvres and road friction level. In the low-friction condition, with the increase of MP size, two opposite effects were observed on drivers’ preferences and their performances, depending on the manoeuvre. In high-friction, in most of the handling and steering qualities, a direct relation was found between the MP size and appropriate vehicle RH.
Furthermore, the optimal tuning of the MCAs and optimisation of the MP workspace size was introduced. A conservative motion cueing fidelity criteria was defined. A multi-layered optimisation method was developed that uses the optimal setting of the MCA, to address the MP translational workspace size, and to meet the fidelity criteria; applicable for different manoeuvres. This method was tested on the drivers’ performance data collected from the experiments in the simulator
Automatic Flight Control Systems
The history of flight control is inseparably linked to the history of aviation itself. Since the early days, the concept of automatic flight control systems has evolved from mechanical control systems to highly advanced automatic fly-by-wire flight control systems which can be found nowadays in military jets and civil airliners. Even today, many research efforts are made for the further development of these flight control systems in various aspects. Recent new developments in this field focus on a wealth of different aspects. This book focuses on a selection of key research areas, such as inertial navigation, control of unmanned aircraft and helicopters, trajectory control of an unmanned space re-entry vehicle, aeroservoelastic control, adaptive flight control, and fault tolerant flight control. This book consists of two major sections. The first section focuses on a literature review and some recent theoretical developments in flight control systems. The second section discusses some concepts of adaptive and fault-tolerant flight control systems. Each technique discussed in this book is illustrated by a relevant example