Download - Fontys Driving Simulator for Fontys
Ben Pyman
Contents
• Project Overview
• Preparation and Reparation
• Force Feedback System Improvement
• PreScan Implementation
• Conclusion
Project Overview
• Improve force feedback system (initial main assignment)
• Install and integrate PreScan with the system so that custom courses, such as actual towns can be implemented and driven
• Improve aesthetics and organisation of simulator and area generally
Force Feedback• Force feedback is an important haptic cue used in driving simulators
• Enables greater immersion
• Enables more accurate and easy steering control
• Important for steer-by-wire systems in real cars
• Fidelity level is proportional to both driver performance and immersion level
Force Feedback• Three options for mechanical connection
• Belt drive connection
• Direct connection
• Direct replacement of previous motor
• Direction connection chose and required two new parts to be made
Attaching Force Feedback Motor to
Steering Column Option 1 Option 2 Option 3
Cost 3 4 1
Ease of Installation 1 3 5
Ease of Future Alterations (new motor etc.) 2 4 3
Simplicity 2 5 4
Time to Implement 2 3 3
Total 10 19 16
Force Feedback• Power supply replaced
• Obtained new motor and controller from Smart
• Changed PC104 Simulink model
• Removed existing motor and steering rack
Force FeedbackAn Unexpected Problem
• Noticeable ‘ticks’ when trying to steer precisely at low speeds
• Due to limits in both motor and gearbox
• Solution identified to replace gearbox
Force FeedbackProblems (Opportunities for Learning)
• Removal of steering motor and controller from Smart
• Installation and mounting of new motor
• Connecting and testing of new controller to system
• Definition of parts
• Simulates using advanced Simulink models
• Allows creation of custom environments and vehicle physics
PreScanIntroduction
PreScanControlling with the Driving Simulator
• Joystick input block from Simulink 3D toolbox
• Signals changed to suit PreScan’s expected inputs
PreScanControlling with the Driving Simulator
• MATLAB function for counting gears
function state_out = gear_num(push,pull,state_in)
if push == 1 & pull == 1
state_out = -1;
else
if push == 1
if state_in > 0
state_out = state_in - 1;
else
state_out = state_in
end
elseif pull == 1
if state_in < 6
state_out = state_in + 1;
else
state_out = state_in
end
else
state_out = state_in;
end
PreScanControlling the Dashboard, Force Feedback and Hexapod
• Outputs from PreScan Simulink dynamics model
• Muxed and sent over UDP to PC104 model
• Joystick input from Windows into Simulink model
• Making a guide
PreScanProblems (Opportunities for Learning)
Summary
• Successful internship despite changing main assignment
• Great fun and learning experience
• Force Feedback hardware changed, waiting on a replacement gearbox
• PreScan implemented and integrated
• Good base for future improvements
QUESTIONS?