Development of Real-time Embedded Control System for a VR Motion Simulator

• Main Authors: Chih-Sheng Liao, 廖志昇
• Other Authors: Chin-Teng Lin
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/00065139467325324236

碩士 === 國立交通大學 === 電機與控制工程系 === 90 === This work integrates the hardware and software of embedded control system into a single board with embedded OS for the control of a VR motion simulator. The board is standalone and capable of replacing a control computer directly. Our hardware architecture includes an ARM-based mother board, a set of analog/digital interface, and a TCP/IP ethernet card. The circuit of analog/digital interface was designed by ourselves for transferring digital data to analog or vice versa. This analog/digital converter offers an interface between motion platform and simulation data of the VR Server. The whole embedded control system is responsible for receiving simulation data from VR Server by TCP/IP network interface, and performing some control algorithims to motivate the motion platform through the analog/digital converter. As for the system software, we design an analog/digital device driver for our analog/digital converter, and then port the application of networking and control algorithms in embedded operation system(OS) --ARMLinux. The device driver is developed in module, so we can insert it in the OS kernel without rebooting. In the experiment, we find out using the embedded control system mentioned above has many benefits. Such as modulization, simple hardware, and open source OS. Therefore, we conclude that embedded hardware/software system could be a trend for controlling the motion platform in a VR-based motion simulator.