Study of Interactive Bicycle Simulator in Application of Virtual Reality

• Main Authors: Fong-Jie Chen, 陳峰傑
• Other Authors: Jung-Tang Huang
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/9p5q95

碩士 === 國立臺北科技大學 === 機電整合研究所 === 95 === The concept of this study is a use of cable driven parallel mechanism with worm and worm-gear reducer on the three degrees-of-freedom dynamic platform. Furthermore, LQG/LTR control (LQR, State Estimate using Kalman Filter and Loop Transfer Recovery) and PID control are used as the control law for dynamic platform. In addition, ARMAX of Model Structure is used for system identification. In this study, Microchip PIC18F452 and FT232BL USB Control Chip of FTDI are applied to bulid the embedded system. This embedded system and computer-controlled systems with LabJack U12 DAQ serve as the control interface of servo control for dynamic platform. Electromagnetic powder clutch is adopted as the loading in rear wheel resistance system. Through the use of Virtools SDK, we also obtain the bicycle motion equation, self-stabilization and yaw angle motion equation, handlebar-torque-estimator, rear wheel of bicycle torque estimator, and road condition estimator of bicycle dynamics. This study has developed a successful interactive capability bicycles simulator through efficient integration of Virtools SDK, embedded system and computer-controlled system.