Implementation of a Classic Washout Filter for Robotic Large Range Motion Simulator using Cylindrical Coordinate System

摘要

The study describes the implementation and analysis of two motion cueing algorithms on a robotic large range motion simulator. The authors compared the classic washout filter with its extended version utilizing cylindrical coordinates. Input data for the driving simulator was obtained in a real car with a body motion parameters acquisition system. Then both washout filters produced motion cues for the robotic simulator. Finally, the body motion parameter acquisition system and a backup accelerometer were placed in the simulator and recorded actual accelerations were. The focus of the study is to verify the precision of simulated specific forces compared to actual accelerations in the simulator's cabin. Additionally, some other parameters of washout filters were analyzed: human sensed specific forces using otolith transfer function, tilt rate-limiting impact on motion cues, power consumption of the robotic simulator.