Novel model predictive control-based motion cueing algorithm for compensating centrifugal acceleration in KUKA robocoaster-based driving simulators

Abstract

The washout motion cueing algorithm (MCA) is a critical element in driving simulators, designed to faithfully reproduce precise motion cues while minimizing false cues during simulation processes, particularly deceptive translational and rotational cues. To enhance motion sensation accuracy and optimize the use of available workspace, model predictive control (MPC) has been employed to develop innovative motion cueing algorithms. While most MCAs have been tailored for the Steward motion platform, there has been a recent adoption of the motion platform based on KUKA Robocoaster as an economical option for driving simulators. However, leveraging the full potential of the KUKA Robocoaster requires trajectory conversion of the motion base. Thus, this research proposes a novel MCA specifically designed for the KUKA Robocoaster-based motion platform, utilizing large planar circular motion to simulate lateral movement for drivers. Nonetheless, circular motion introduces disruptive centrifugal forces, which can be mitigated through proper pitch-tilted angles. The novel MPC generates simulated motion that accurately follows the lateral specific force target and effectively maintains the roll angular velocity below its threshold value. Additionally, it compensates for disturbing centrifugal acceleration by implementing pitch rotational motion, ensuring the pitch angular velocity remains below its threshold. Simulation tasks conducted on the motion platform, focusing solely on lateral acceleration, demonstrate the successful elimination of false motion cues in both the roll/sway and pitch/surge channels. The proposed innovative MPC solution offers an original approach to motion cueing algorithms in KUKA Robocoaster-based driving simulators. It enables the exploitation of the KUKA Robocoaster platform's capabilities while delivering accurate and immersive motion cues to drivers during simulation experiences.