A New Motorcycle Simulator Platform: Mechatronics Design, Dynamics Modeling and Control

Lamri Nehaoua (1) , Salim Hima (1) , Hichem Arioui (1) , Nicolas Seguy (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents the various stages for the construction of a two wheeled riding simulator. Despite its simplicity, the particularity of this simulator comes from the possibility to reproduce most of the movements and the inertial effects allowing to perceive sensations close to reality cases. This simulator has been developed for three purposes: * as a training tool for new riders in normal traffic environment * sensibilization for dangerous riding situations (avoidance, emergency braking, failling, etc.) * to study riders behaviours in such situations Our studies have lead to an original 5 degrees of freedom (DOF) mechanical platform including a double haptic feedback on the handlebar. The choices of the platform movements and the system actuation are motivated and described. Also, a detailed kinematics and dynamics modeling will be presented. Some results are shown, validating the actutation requirements and platform control.

Mots clés: Modelling; PD controllers; Work in real and virtual environments; Simulation loop; Closed-loop; Driving situations; Dynamics modeling; Global dynamic analysis; Inverse dynamics; Low level control

Domaines: Interface homme-machine [cs.HC]; Automatique; Système multi-agents [cs.MA]

Lamri Nehaoua, Salim Hima, Hichem Arioui, Nicolas Seguy. A New Motorcycle Simulator Platform: Mechatronics Design, Dynamics Modeling and Control. 17th World Congress, International Federation of Automatic Control, IFAC, Jul 2008, Seoul, South Korea. (elec. proc), ⟨10.3182/20080706-5-KR-1001.2588⟩. ⟨hal-00342966⟩