基于VR运动模拟器的体感模拟算法的研究  

Research on Motion Cueing Algorithm Based on VR Motion Simulator

作　　者：李孝禄 闫剑锋 许沧粟[2] 吴宗明 张远辉 朱俊江 Li Xiaolu;Yan Jianfeng;Xu Cangsu;Wu Zongming;Zhang Yuanhui;Zhu Junjiang(College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China;Department of Energy Engineering,Zhejiang University,Hangzhou 310013,China;Hangzhou Huanwei Network Technology Co.Ltd,Hangzhou 310053,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018 [2]浙江大学能源工程系,浙江杭州310013 [3]杭州幻行科技有限公司,浙江杭州310053

出　　处：《系统仿真学报》2020年第2期255-261,共7页Journal of System Simulation

基　　金：浙江省高等教育“十三五”教改项目(jg20180132);浙江省自然科学基金(LQ18F010006)

摘　　要：针对VR(Virtual Reality)运动模拟器使用的经典体感模拟控制算法存在相位延迟、虚假暗示的缺点导致虚实运动一致性不够,引发VR晕动症的问题,提出了一种改进体感模拟算法。改进体感模拟算法在经典模拟算法的基础上加入了前庭感知系统,对算法的输出误差进行反馈,采用模糊控制算法对输入加速度和角速度进行修正和预测,并且对虚拟现实中地形的起伏变化进行模拟。在MATLAB/Simulink中对改进体感模拟算法进行建模仿真,仿真结果表明改进体感模拟算法降低了相位延迟和虚假暗示,提高了虚实运动的一致性。Aiming at the phase delay and the false suggest of the classical motion-sensing simulation algorithm in VR motion simulator that lead to insufficient consistency between virtual and real movement and cause VR motion sickness disease, an improved motion-sensing simulation algorithm is proposed. Based on the classical simulation algorithm, the algorithm compromises the vestibular sensory system, feeds back the output error, and applies the fuzzy control algorithm to modify and forecast the input acceleration and angular velocity. This improved motion-sensing simulation algorithm is trained in the condition of virtual choppy terrain. The MATLAB/Simulink simulation results show that the improved motion-sensing simulation algorithm reduces the phase retardation and false cues, and improves the consistency between virtual and real movement.

关 键 词：VR 运动模拟器 体感模拟算法 前庭感知系统 模糊控制算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]