The paper encompasses the overview of hardware architecture and the systems characteristics of the Fraunhofer driving simulator. First, the requirements of the real-time model and the real-time calculation hardware are defined and discussed in detail. Aspects like transport delay and the parallel computation of complex real-time models are presented. In addition, the interfacing of the models with the simulator system is shown. Two simulator driving tests, including a fully interactive rough terrain driving with a wheeled excavator and a test drive with a passenger car, are set to demonstrate system characteristics. Furthermore, the simulator characteristics are of practical significance, such as simulator response time delay, simulator acceleration signal bandwidth obtained from artificial excitation and from the simulator driving test will be presented and discussed. All core components such as the vehicle model, the motion compression, the NVH simulation, the interfacing as well as the graphic engine are in-house developments with the full access to the source code. Commercial engines or simulation tools are also applicable as far as they allow a real time simulation. The motion feedback requires a real-time response to have a smooth simulator motion without excessive filtering. For the visual feedback there is no need for a hard real-time, a frame rate of 120 Hz allows an optimal performance and guarantees a low motion blurring. On the other hand, commercial simulation solutions allow an efficient state-of-the-art model coupled with the simulator.


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    Title :

    Real-time human in the loop MBS simulation in the Fraunhofer robot-based driving simulator


    Contributors:
    Kleer, M. (author) / Gizatullin, A. (author) / Dreßler, K. (author) / Müller, S. (author)

    Published in:

    Publication date :

    2014


    Size :

    14 Seiten, Bilder, 13 Quellen



    Type of media :

    Report


    Type of material :

    Print


    Language :

    English




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    Fraunhofer-Institut für Techno- und Wirtschaftsmathematik | TIBKAT | 2014




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