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?