Estimation of Rider's Action Force from Measurement of Motion Platform Control Force in the 6 DOF Bicycle Simulator

6 자유도 자전거 시뮬레이터의 운동 장치 제어력을 이용한 운전자의 작용력 추정

One of the challenging problems with bicycle simulators is to deal with the inherent unstable bicycle dynamics that is coupled with rider's motion. For the bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The six control forces of the Stewart platform-based motion system are used for estimation of the rider's action force, which is one of the important control inputs, but of which the direct measurement is impractical. For the effective estimation of the rider's action force, the dynamics model of the motion system is derived incorporated with both analytical and experimental methods and the sliding mode controller with perturbation estimation is developed.