A Frequency-Aware Model Predictive Control Motion Cueing Algorithm
M.J.C. Kolff (TU Delft - Intelligent Vehicles)
Robert Jacumet (BMW Group, Technische Universität München)
Sebastian Wagner (BMW Group)
Dirk Wollherr (Technische Universität München)
Marion Leibold (Technische Universität München)
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Abstract
This paper presents a Model Predictive Control framework for driving simulator motion cueing including effective control of the frequency-domain characteristics of the simulator motion. By transforming the predicted output sequence using the Discrete Fourier Transform (DFT) matrix method, the controller can penalize or amplify specific frequency components. The method is first demonstrated using a discrete-frequency multisine reference use-case, followed by a realistic multi degree-of-freedom driving simulation use-case. Although its inclusion adds
additional constraints on the prediction horizon and the simulation sample time, the frequency-aware motion cueing algorithm enhances the frequency response in both use-cases, thus providing an effective control over the frequency characteristics of the simulator motion. This leads to a better integration of frequency-dependent motion characteristics, a more effective use of the simulator motion workspace, and is expected to provide an improved human perception of the motion.
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