Application of Vehicle Driving simulator Using New Washout Algorithm and Robust Control

A vehicle driving simulator is a virtual reality device which makes a man feel as if he drove an actual vehicle. Unlike actual vehicles, the simulator has limited kinematic workspace and bounded dynamic characteristic. So it is difficult to simulate dynamic motions of a multi-body vehicle model. In order to overcome these problems, a washout algorithm which controls the workspace of the simulator within the kinematic limits is needed. However, a classical washout algorithm contains several problems such as generation of wrong sensation of motions by filters. This paper apply new tilt coordination method of an algorithm which gives more accurate sensations to drivers and sliding mode control with sliding perturbation observer(SMCSPO) for robust control of vehicle driving simulator. SMCSPO shows high accuracy and performance. These enhance reality of vehicle driving simulator and reduce simulator sickness