Control Design for a Motion Cueing on Driving Simulator

Abstract

A Linear Quadratic Regulator (LQR) has been designed to simulate the pitch and roll vehicle dynamics of a platform which is connected to the real time simulation environment of Dynacar. The motion cueing algorithm translates the movement of the simulated vehicle to the platform using three rotary actuators, by satisfying all actuation boundaries. Experimental results illustrate that the LQR motion cueing algorithm performs satisfactory the tracking control at low frequencies, close to the resonance frequencies of the pitch and roll motion.