Vehicle Modelling and Washout Filter Tuning for the Chalmers Vehicle Simulator

In this work three washout filters [1][3][4][5] originally developed for NASA airplane simulators are considered for the Chalmers Vehicle Simulator (CVS). The Classical and Optimal washout filters are implemented for real-time use, while the Adaptive washout filter is tested only by off-line simulation. The washout filter parameters are tuned by optimization algorithms. A Genetic Algorithm is used to find a starting point in the parameter space for the ensuing local optimization where a Riccati Algebraic Solver and the Steepest Descent Method are used. The optimization is performed on a computer simulation model of the CVS, taking standard driving manoeuvres as inputs. The obtained Classical and Optimal washout filters were tested in real time on the CVS with several “test drivers”. During all the tests, the platform never hit the physical boundaries, but moved very close to them, thus using most of the actuator’s movement. According to the test drivers’ impressions, the washout filters produced realistic driving experience.