iv
TABLE OF CONTENTS Page
ACKNOWLEDGEMENT i
ABSTRACT ii
ABSTRAK iii
TABLE OF CONTENTS iv-vi
LIST OF TABLES FIGURES vii-viii
LIST OF SYMBOLS ix-x
1.0 CHAPTER 1: INTRODUCTION
1 1.1
Overview 2
1.2 Problem Statement
3 1.3
Background of the Study 4
1.4 Project Objective
4 1.5
Project Scope 4
1.6 Research Planning 5
1.7 Methodology
6 1.8
Methodology Flow Chart 7
2.0
CHAPTER 2: LITERATURE REVIEW 8
2.1 Introduction
8 2.1.1 Type of driving simulator in used
8 2.1.2 The Daimler – Benz Driving Simulator
8-9 2.1.3 National Advanced Driving Simulator
9 2.1.4 Toyota Driving Simulator
10 2.1.5 Square 3-DOF motion platform
10-11 2.1.6 Stewart platform
11 2.1.7 Slider crank mechanism
12 2.1.8 Stepper motor
12 2.1.9 Advantage of Stepper motor
12 2.2
Review of the previous work 13-14
v
2.2.1 Forward kinematics 14
2.2.2 Inverse kinematics 14
3.0 CHAPTER 3:
7 DOF FULL VEHICLE RIDE MODEL AND MODEL VERIFICATION
15 3.1
Introduction 15
3.2 Modeling Assumptions
15 3.3
7-DOF full vehicle ride model 15-22
3.4 Description of the Simulation Model 22-25
3.5 Parameters
26 3.6
Verification with CarSimEd Software 26-27
3.7 Result Output
28-29 3.8
Conclusion 29-30
4.0
CHAPTER 4: SLIDER CRANK AND STEPPER MOTOR MECHANISMS 31 4.1
Introduction 31
4.2 Kinematic Slider Crank
31-32 4.3
Dynamic Slider Crank 33-34
4.4 Stepper Motor
34-37 4.5
Description of Simulation Model of Slider Crank 37
4.6 Description of Simulation Model of Stepper Motor
38-39 4.7
Conclusion 39
5.0 CHAPTER 5: 3-DOF MOTION PLATFORM
40 5.1
Introduction 40
5.2 Equation of Motion of 3-DOF Motion Platform
40-42 5.3
Description of Simulation Model of 3-DOF Motion Platform 42-44
5.4 Develop Control Structure for 3-DOF Motion Platform
44-45 5.5
Conclusion 45
6.0 CHAPTER 6: PID CONTROLLER
46 6.1
Introduction 46
6.2 Controller Structure with PID Controller
46-47 6.3
Simulation Parameters 48
vi
6.4 Simulation Analysis and Performance Evaluation of the 3-DOF Motion
Platform with 7-DOF Full Vehicle Ride Model 48
6.5 Pitch Mode Bump Test
49-50 6.6
Roll Mode Bump Test 50-52
6.7 Conclusion
52
7.0 CONCLUSION AND RECOMMENDATION
