Design and implementation of a re-configurable driving simulator prototype

Abstract

"The present work aims to develop an implement a Re-configurable Driving Simulator Prototype. Driving simulators are tools that allow to perform various tasks, like training new drivers or performing tests in a controlled environment that would otherwise be dangerous or expensive to perform on a real vehicle. the concept of a re-configurable driving simulator is centered in the fact that all the components of a driving simulator must be easily interconnected and replaced, along that, new features must be easily added and connected with the existing components. The implemented system consist of a scale 3DOF parallel manipulator, a 3D simulated environment, a moderator software and input devices (steering wheel, pedals and a button panel). To control the scale platform’s position, the moderator software performs a classic filter-based motion cueing algorithm (MCA) to translate the IMU signals from the simulated vehicle to a platform’s desired position reference signal. After that a algebraic inverse kinematics calculates the actuators desired position form the platform’s position reference. Finally, a embedded control uses a control strategy (ADRC) con control the position of three rotatory electrical actuators. The embedded control control runs on a 32bit ARM MCU programed using the MicroPython interpreter".