Performance Identification and Compensation of Simulator Motion Cueing Delays

Abstract

The lag existing between the command and the resulting cockpit motion in a motion-based simulator, commonly referred to as “transport delay”, is actually the sum of a fixed delay and a frequency-dependent phase delay. A measurement procedure for the identification of the overall transfer function of a motion system is first presented, then it is used to design a proportional integral derivative (PID) compensator to reduce the apparent simulator lag in usual driving maneuvers. This procedure is carried out on RENAULT’s ULTIMATE high-performance driving simulator. For the reference driving task considered (slalom driving), this PID corrector is shown to bring a 100–200 ms reduction of the phase delay, which is quite perceivable and preferred by test drivers.