Development of A Haptic Steering System for a Low Cost Vehicle Simulator using Proving Ground Test Data

C o p y r ig h t 2 0 0 5 K S A E 1 2 2 5 - 6 3 8 2 / 2 0 0 5 / 0 7 4 - 0 6 T r a ns a c tio ns o f K SA E , V o l. 1 3 , N o . 2 , p p .3 7 -4 3 (2 0 0 5 )

1 . ^{1 )}

.

.

*

T o w h o m c o rr e s p o n d e n c e s h o u ld b e a d d re s s e d . s o o k im @ c n u .a c .k r

.

.

.

-

,

* 1 ) 2 ) 3 )

1) 2) 3)

Development of A Haptic Steering System for a Low Cost Vehicle Simulator using Proving Ground Test Data

Sung-Soo Kim

Sang-Yoon Jeong

Chang-Ho Lee

1,3)

Department of Mechatronics Engineering, Chungnam National University, Daejeon 305-764, Korea

2)

Korea Delphi Automotive Systems Corporation, 395-70 Sindaebang-dong, Dongjak-gu, Seoul 156-010, Korea (Received 28 June 2004 / Accepted 22 December 2004)

A b s trac t : A h a p tic s te e rin g s y s te m w h ic h re fle c ts s te e rin g re a c tio n to rq u e h a s b e e n d e v e lo p e d fo r a fix e d b a s e v e h ic le s im u la to r. T h e h a p tic s te e rin g s y s te m c o n s is ts o f a s te e rin g e ffo rt s e n s o r, M R -c lu tc h , A C s e rv o m o to r a n d c o n tro lle r. In o rd e r to g e n e ra te re a lis tic s te e rin g to rq u e fe e l to d riv e r a n d a t th e s a m e tim e to m e e t re a l-tim e s im u la tio n re q u ire m e n t, 3 D to rq u e m a p is c o n s tru c te d b y e x p e rim e n ta l d a ta a n d to rq u e g e n e ra tio n a lg o rith m u s in g th e to rq u e m a p h a s b e e n a ls o d e v e lo p e d . 3 D to rq u e m a p is c o n s tru c te d u s in g c u rv e fittin g a n d in te rp o la tio n o f th e m e a s u re d v a lu e s o f th e s te e rin g a n g le , v e lo c ity a n d s te e rin g to rq u e fro m a c tu a l s la lo m te s t o n th e p ro v in g g ro u n d . In o rd e r to c a rry o u t p e rfo rm a n c e te s t o f th e d e v e lo p e d h a p tic s te e rin g s y s te m , a fix e d b a s e d v e h ic le s im u la to r is c o n s tru c te d b y in te g ra tin g re a l tim e v e h ic le d y n a m ic s m o d u le , V R -v id e o /a u d io m o d u le , a n d th e h a p tic s te e rin g s y s te m . S te e rin g to rq u e a n d s te e rin g a n g le c u rv e s h a v e b e e n o b ta in e d fro m v irtu a l te s tin g in th e v e h ic le s im u la to r a n d p e rfo rm a n c e o f th e h a p tic s te e rin g s y s te m h a s b e e n e v a lu a te d .

K e y w o rd s : V e h ic le s im u la to r( ), H a p tic s te e rin g s y s te m ( ), R e a l-tim e s im u la tio n

( )

.

,

.

, ,

.

3 ,

.

.

2 .

F ig . 1

(s te e rin g e ffo rt s e n s o r) (m a g n e to - rh e o lo g ic a l flu id ) M R

A C .

4

5 0 N m 1 % F S

.

T a b le 1

.

M R

. , M R

M R ,

. M R

.

A C

, M R A C

. F ig . 2

3 .

3 . F ig . 3

P C

Fig. 1 Haptic steering system

Table 1 Specifications for components of Haptic steering system

T y p e S p e c

A C s e rv o m o to r

Y a s a k a w a C o .

S M M P -0 2 A 3 1 2 S G D A -0 2 A S

(D riv e r)

:0 .6 3 7 N m :3 0 0 0 rp m

M R b ra k e L o a d C o . R o ta ry b ra k e (M R B -2 1 0 7 -3 )

M a x o n -s ta te to rq u e :5 0 in -lb M a x o p e ra tin g s p e e d

:1 0 0 0 rp m G e a r

re d u c e r

H a rm o n ic d riv e

H a rm o n ic d riv e C S R 2 5

R e d u c in g ra tio :1 0 0 /1 M a x a llo w a b le in p u t

v e lo c ity : 4 0 0 0 rp m

Fig. 2 Procedure for torque map generation

Fig. 3 Conceptual flow for haptic steering system of a low cost vehicle simulator

.

, ,

, e

3 .

, M R

, /

. 3

, ,

.

3 .

,

.

, .

S o n a ta F ig . 1

.

“ J A S O C 7 0 6 ”

. 1 0 6 0 K m /h

1 0 K m / h

3 0 m 8

Fig. 4 Slalom test results

Fig. 5 Slalom test results in 3D space

,

V -B o x . F ig . 4

, F ig . 5 ,

, 3

.

4 .

4 .1 3

S u n g - S o o K im S an g - Y o o n Je o n g C h an g - H o L e e

3

. 1 0 k m /h

(to rq u e s u rfa c e ) .

j  & d 6 .

C u rv e fittin g M a tla b

M o d e l b a s e d C a lib ra tio n .

(p o ly n o m ia l) (1 )

> ^{3 3}

(2 ) (5 )

. (1 ) R M S

.

* * * ⁽¹⁾

(2)

(3)

(4)

(5)

to rq u e s u rfa c e

x y z

F ig . 6 . F ig . 6

. ( d

)

( j  & 6

 d

)) .

,

1 0 k m /h 6 0 k m /h

.

8 0 8 0

, 1 0 K m /h

6 0 K m /h .

Fig. 6 Three dimensional torque map

.

s la lo m ,

, 3

.

4 .2 3

3

, F ig . 6 .

,

. F ig . 7 3

.

, (

) .

(1 ) .

.

lo w p a ss .

,

.

-8 0 8 0 d e g

D e v e lo p m e n t o f A H ap tic S te e rin g S y s te m f o r a L o w C o s t V e h ic le S im u lato r u s in g P ro v in g G ro u n d T e s t D ata

Fig. 7 Torque generation algorithm

.

, ,

,

. 2

M R

, M R . M R

, .

,

, (re le a s e m o d e ) ,

,

.

. ,

.

,

M R .

5 .

, 3

PC OpenGL

.

Fig. 8 .

II ,

H M M W V

6 )

.

.

,

, .

R M S . T a b le 2 F ig . 9

Fig. 8 Virtual Slalom test Table 2 RMSE in virtual test

V e h ic le

v e lo c ity (K m /h ) 1 0 2 0 3 0 4 0 5 0 6 0

R M S E 0 .4 5 4 2 0 .3 2 7 5 0 .4 1 0 2 0 .3 9 5 9 0 .2 9 6 7 0 .3 9 5 8

Fig. 9 Comparison with real data and simulation data

. R M S 0 .3 8 0 0 5

. R M S

.

6 .

, , , M R

, A C

.

, ,

. 3

.

, R M S

0 .3 8 0 8 .

.

( )

, 3

, , ,

.

.

R e fe re nc e s

1 ) B .- S . S o h n , “ D e v e lo p m e n t o f A H u m a n - M a c h in e I n te r f a c e a n d A F o r c e R e f le c tiv e S te e r in g S y s te m M o d e l f o r L o w C o s t P r iv in g S im u la to r ,” M S T h e s is G r a d u a te S c h o o l, C h u n g n a m N a tio n a l U n iv e r s ity , 2 0 0 2 .

2 ) S .- S . K im , M - C . W o n , J .- Y . H u h , K .- J S o n g a n d S - Y . J u n g , “ S te e r in g W h e e l S e n s o r D e s ig n a n d P e r f o r m a n c e T e s t,” 2 0 0 3 K S A E S p r in g C o n f e r e n c e P r o c e e d in g s , p p .6 8 2 - 6 8 7 , 2 0 0 3 . 3 ) C .- H . L e e , Y .- G . B a e a n d S .- S . K im ,

“ D e v e lo p m e n t o f A P C b a s e d L o w C o s t V ir tu a l R e a lity D r iv in g S im u la to r f o r D r iv in g P ra c - tic e ,” 2 0 0 3 K S A E F a ll C o n f e r e n c e P r o c e e d in g s , p p . 1 0 9 7 - 1 1 0 2 , 2 0 0 3 .

4 ) S .- S . K im , “ A S u b s y s te m S y n th e s is M e th o d f o r E f f ic ie n t V e h ic le M u ltib o d y D y n a m ic s ,” M u lti- b o d y S y s te m D y n a m ic 7 , p p .1 8 9 - 2 0 7 , 2 0 0 2 . 5 ) S .- Y . J e o n g , “ T h e D e v e lo p m e n t o f A H a p tic

S te e r in g S y s te m f o r V e h ic le S im u la to r ,” M S T h e s is G r a d u a te S c h o o l, C h u n g n a m N a tio n a l U n iv e r s ity , 2 0 0 4 .

6 ) Y .- S . O h a n d S .- S . K im , “ A R e a l- tim e M u lti- b o d y V e h ic le D y n a m ic s M o d e l u s in g a S u b - s y s te m S y n th e s is M e th o d ,” P r o c e e d in g s o f 2 0 0 1 A S M E . D e s ig n E n g in e e r in g T e c h n ic a l C o n f e r e n c e , S e p te m b e r 9 - 1 2 , 2 0 0 1 .

7 ) C .- S . H a h n , M .- H . R h e e , H . P a r k a n d J .- E . O h ,

“ D e v e lo p m e n t o f S im u la to r f o r P e r f o r m a n c e

T e s t o f E le c tr ic P o w e r S te e r in g o f L ig h t

W e ig h t V e h ic le ,” K S M E J o u r n a l A , V o l.2 5 ,

N o .6 , p p .9 2 3 - 9 2 9 , 2 0 0 1 .