Dynamic modelling, control and simulation environment development for an eight wheel vehicle

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dc.contributor.author Janse van Rensburg, Tersia
dc.date.accessioned 2008-08-25T06:27:56Z
dc.date.available 2008-08-25T06:27:56Z
dc.date.issued 2008-08-25T06:27:56Z
dc.identifier.uri http://hdl.handle.net/10210/907
dc.description.abstract A driving simulator reproduces the essential features of a vehicle and provides an interface for direct human operation. It provides a safe and less expensive way of training people how to drive. Against the backdrop of a comprehensive literature survey on driving simulators and their applications, this thesis endeavours to make five unique contributions. Many of the military armoured vehicles have eight wheels, are able to cross trenches of approximately two meters, and can climb steps of as high as one meter. Available research, however, focuses primarily on the vehicle dynamics modelling of commercial four wheel vehicles. In this thesis, a mathematical model is given for simulating the vehicle dynamics of an eight wheel vehicle over rough terrain, taking into account the limitations of real-time driving simulation. A discussion of the model by Janse van Rensburg et al. is contained in a paper which is currently under review by the International Journal of Modern Physics C (IJMPC). To prove the validity of a vehicle model, it is necessary to provide a method of testing the model. Detail about the vehicle dynamics model used is not always available when developed by a third party. This thesis describes a “black box” testing method for the verification of a vehicle dynamics model. An article regarding this matter by Janse van Rensburg et al. has been submitted to the IJMPC and is currently under review. Normally, the focus on driving simulators is on the modelling of realistic vehicle dynamics models. However, the design of a realistic simulation environment is of equal importance. A human driver usually steers one vehicle, but the rest of the vehicles used in the simulation should be managed by a computer program. An automatic driver model is described to be used within the simulation environment. The current presentation is based on the published paper [86] by Janse van Rensburg et al. (IJMPC, 16(6):895-908, 2005). An understanding of three-dimensional coordinate system transformations is one of the most important parts of a flight or driving simulator. Although the procedure of using Euler angles for coordinate system transformations is nothing new, almost no literature is available of how it can be applied on more complex situations. This thesis supplies more information on how a program language such as C++ could be used to apply more complex coordinate transformations in real-life situations. Results appeared in the published paper by Janse van Rensburg et al. (IJMPC, 16(6):909-920, 2005). Finally the use of vocoders is proposed for the modelling of engine sound. For a driving simulator which should be an exact replica of a certain vehicle, an accurate sound model is of extreme importance. By using vocoders, a technique used for the manipulation of voice, a higher level of accuracy and realism can be obtained than with the methods currently discussed in literature. A paper on this matter, compiled by Janse van Rensburg et al. is currently under review by the IJMPC. en
dc.description.sponsorship Prof. M. A. van Wyk en
dc.language.iso en en
dc.subject Motor vehicles dynamics en
dc.subject Motor vehicle driving en
dc.title Dynamic modelling, control and simulation environment development for an eight wheel vehicle en
dc.type Thesis en

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