Implementation of a latency controller in an 8-DOF driving simulator: A Latency controller based on the Otto-Smith predictor, with a model developed using System Identification
Examensarbete för masterexamen
Systems, control and mechatronics (MPSYS), MSc
In all driving simulators delays will be present. These delays are in all parts of the system. Delays in the driving simulator have according to previous studies both effects on the driving performance and the risk of experience simulator sickness. This thesis focused on the acceleration in the Motion System, and no other delays were investigated. The aim was to investigate the accelerations in Sim IV with an IMU and use the IMU-data to develop a dynamic model of the longitudinal dynamics of the XY-table. This model should then be used to better control the acceleration against the Motion Cueing reference. The controller is partially an Otto-Smith predictor. The result of this thesis is a lowered acceleration latency with both synthetic and driving data as input. More tests with actual driving need to be done for evaluating if the controller has an impact on the driver’s experience. This controller was implemented for longitudinal dynamics with the XY-table, in the future it could be implemented for the other seven degrees of freedom.
Driving Simulator , Latency, Control system , Smith-Predictor , System Identification , IMU , Accelerometer , Raspberry Pi