汽车模拟器体感模拟滤波算法数字化实现  

Realization of Digital Filter Based on Poprioceptive Simulation Algorithm for Driving Simulator

作　　者：唐毅[1,2] 张学玲[2] 王建中[1] 

机构地区：[1]北京理工大学宇航科学技术学院,北京100081 [2]天津军事交通学院装运机械系,天津300161

出　　处：《计算机仿真》2009年第7期270-273,共4页Computer Simulation

摘　　要：为在汽车模拟器上实现运动感觉,需要将汽车运动的线加速度、角速度参数通过体感模拟算法滤波处理。为满足编程要求,需将该算法经过数字化实现。根据经典体感模拟算法原理,针对大型特种车的运动特点,推导了体感模拟算法的滤波器传递函数及其阶次;采用双线性变换方法,将模拟滤波器的频率映射为数字滤波器频率,并将其传递函数推导为差分方程表达式,实现了数字滤波。应用此数字滤波器对模拟信号和虚拟车输出的数字信号进行了滤波,结果表明该数字滤波器能够将高频与低频信号分离,并满足滤波精度和实时性要求,达到了预期的滤波效果。In order to realize the motion sense for driving simulator, the signals of linear acceleration and angular velocity of running automobile need to be filtered by poprioceptive simulation algorithm. The algorithm needs to be digitized to meet the requirement of programing. Based on classic poprioceptive simulation algorithm, the filter trans- form function and its degree of poprioceptive simulation algorithm are deduced according to the motion characteristic of special heavy vehicle. Then, the frequency of analog filter is mapped into digital frequency, and the transform func- tion is written as difference equation by using bi - linear transformation method to realize digital filtering. Finally, analog signals and signals output by virtual vehicle are filtered with the approach, which shows that the digital filter can separate the high and low frequency signal. The digital filter can meet the demand of real - time and precision and get a favorable result.

关 键 词：驾驶模拟器 体感模拟 滤波算法 双线性变换 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TH139[自动化与计算机技术—计算机科学与技术]