[[alternative]]The Research and Construction of Driving Simulator with Five-cylinder Motion Platform

碩士工業教育與技術學系[[abstract]]本研究的目的是在研製一套車輛動態特性分析及駕駛模擬系統，嘗試以PC-Based的架構，結合車輛動態特性理論並整合各項軟硬體設備，完成具有車輛力學理論的多功駕駛模擬器。 本駕駛模擬器以五支油壓缸架構成平台，可模擬車輛在空間五自由度之運動，而縱方向自由度將以壓力背心配合虛擬實境畫面模擬出來。宥於人力的限制，本研究目前只完成車輛側向速度(v)和搖擺速度(r)二個方向的自由度的控制模擬。車輛動態特性以二自由度自行車模式為基礎，加入輪胎、轉向系統和懸吊系統並推導其運動方程式，再以MATLAB數值分析軟體撰寫程式，並藉由MIDEVA軟體的m-file編譯器及開發環境轉換為C++程式碼，然後在C++Builder的整合開發環境發展平台控制程式。 在C++的程式中，透過界面技術，擷取角度電位計(方向盤角度)和線性位移電位計(油門開度)的電壓訊號，經類比/數位轉換後，送到車輛動態系統分析運算出車輛側向速度和搖擺速度，再經數位/類比轉換輸出，作為上平台二支油壓缸的入力信號而模擬出側向和搖擺二個方向的運動。未來並將進一步擴充控制程式，使能驅動下平台三支油壓缸，並配合壓力背心產生加減速的感覺，以建構完整之五油壓缸(軸)六自由度駕駛模擬系統。[[abstract]]The purpose of this research is to construct a driving simulator with five-cylinder motion platform. In this research the author combines vehicle dynamics system and hardware/software equipments into a PC-Based, multi-function driving simulator. The driving simulator is constructed by five hydraulic cylinders and can simulate five D.O.F. motions, and the longitudinal translation can be simulated by virtual reality technology, as well as pressure vest if equipped. The initial stage is limited on controlling vehicle lateral velocity and yaw rate. The mathematical equations of vehicle dynamics are derived from the two D.O.F. bicycle model and incorporated with the tire, steering system and suspension system. The vehicle dynamics equations are then programmed by MATLAB, compiled in the MIDEVA environment, and further developed into motion platform control program in the C++Builder. In the C++ code, the author utilizes the interface technology to acquire the voltages of angular potentiometer (steering wheel angle) and linear motion potentiometer (throttle valve position). The signals are sent to vehicle dynamics analysis program and the vehicle lateral and yaw rate are thus calculated out, and converted into analog signals, sent to two upper cylinders to actuate the motion platform. In the future, the system will be extended to further control the other three cylinders, and the pressure vest will be added. By doing these, a complete six-degree-of-freedom driving simulator will be finished