Heason motion control for high-end vehicle simulation

Ansible Motion is a global designer and manufacturer of advanced Driver-in-the-Loop (DIL) simulators. With a company heritage closely associated with the motorsports industry but nowadays also serving major road car and speciality vehicle manufacturers, its DIL simulators are available in a variety of form factors from test bench models with steering force feedback to highly dynamic 6 degree of freedom (6-DOF) simulators combining software, mechatronics, video and audio for an immersive multi-sensory experience.

Ansible's DIL simulators are used for real-time vehicle model development and cross-functional product development through to expert driver evaluation of simulated vehicle dynamics and electronics system tuning. Ansible has chosen Heason Technology as its motion control supply partner for high-specification motors, drives, linear units and precision actuators that enable the simulations expert to deliver the very high specification systems required by the automotive and motorsports industry.

Ansible introduced and patented its "˜stratiform' DIL platform in 2009 from a vision described by Kia Cammaerts, its founder and technical director: "To develop what an automotive style driving simulator should be, and how it should behave." Working from the specific requirements to convince the most experienced test drivers and professionals, the Ansible design team use what they term as "˜cues' that cover all of the haptic, inertial and environmental inputs that are sensed in real time and are essential for completely assured driver perception.

In terms of a road vehicle simulation, this perception needs the hardware and software system to deliver each of these cues with millisecond level response times to the driver's actions. Alternative concepts such as the Stewart Platform or Hexapod structures, though adequate for the relatively slow response times for aircraft simulation or the pseudo-realistic "˜shaking' experience of entertainment motion bases, just cannot deliver this level of accurate dynamic response. Such structures also require complex kinematic transformation algorithms even for simple moves such as straight line horizontal motion.

Mechanical system

Ansible Motion 's stratiform mechanical system is based on a series of stages using linear actuators that can individually deliver the intensity of acceleration and jerk which road level vehicles from racing cars to commercial trucks are subjected to in everyday situations. Each of several ground plane motion cues and other inertial cues are actuated by a separate motor with a typical dynamic simulator system such as Ansible 's Delta series having between 6 and 13 servo motion axes.

Phil Morse, Ansible 's technical liaison engineer explains: "The first three stages of our stratiform deliver Surge, Sway, and Yaw, continuing to work upwards we encounter a 3-DOF parallel machine that addresses the remaining three vehicle motion axes - Heave, Pitch, and Roll. This describes the primary 6-DOF, and the remaining motors (numbers 7-13) are assigned to supplemental cueing devices such as handwheel torque feedback, seatbelt loading, helmet loading (in racing applications), pedal actuators, seat actuators, and so on."

This stacked geometry is essentially an X, Y, Z platform with multiple stages in each axis that move independently or with synchronous compound movements to produce all the motions required for convincing driver perception. Fore and aft movement is from the X axis producing the surge element, side to side motion from the Y axis produces sway, and linear actuators take care of Z axis motion for heave or bounce. The ingenious linear mechanics include actuators to produce rotations around these linear axes to simulate pitch, yaw and roll. As opposed to the previously mentioned hexapod, as many movements are generated from a single axis, the system response is very fast, tethered directly to simulated vehicle physics, and the control is simplified.

Motion system

Ansible Motion developed its own EtherCAT master-based vehicle dynamics hardware and software platform that combines streamed motion commands into the stratiform's servo drives completely coordinated with photorealistic graphic projection and surround sound. The complete system works in combination with multiple sensor inputs from the driver 's interaction - steering, accelerator, brake, clutch, and gear selection etc. - with the capability to adapt the vehicle characteristics with model simulation of factors such as road surface, tyres, suspension or specific on-board electronic control system modelling. In this way, the complete system loop is effectively closed by the driver in the same way as if he or she is driving an actual vehicle.

Ansible Motion's stratiform offers benefits on many levels. For driver evaluation or training, it can combine with inertial measurement units (IMUs) which precisely record the specific force and angular rates in real time to compare actual performance under driver control with the driver's perception of performance. For driver experience and training, a real-time laboratory control environment is made possible, where for instance a skilled racing driver can approach the same area of a circuit repeatedly with perfectly consistent conditions - honing and perfecting expertise, free from unknown factors which an actual race track with its unpredictable environment would not allow.

The benefits of the ability to monitor such an array of measurement channels and system/environment interactions from both the car and drivers point of view are obviously of great interest to the motorsports industry. For automotive vehicle and component manufacturers, using a DIL system has enormous benefits in accelerating product development with faster time to market and the ability to simulate all kinds of functional equipment for new vehicle design, model upgrades or modifications, etc.

Heason Technology - supply partner

Heason Technology's application team has worked closely with Ansible Motion for several years, providing motion control expertise as well as supporting and delivering a wide range of products over many versions of the stratiform DIL simulator during its evolution as an automotive industry tool. As UK distribution partners for a select number of globally recognised motion control companies, the motion systems integrator and component supplier has full design and build capability from its West Sussex facility that includes custom-built mechanics with servo controls for the most demanding applications across industry and research.

For the many varied requirements of Ansible Motion, Heason supplies linear units and linear actuators from Thomson Linear along with both housed AKM series and frameless KBM series Kollmorgen brushless servo motors matched with Kollmorgen S700 EtherCAT networked servo drives, together with custom length motor power and feedback cables, all backed with extensive design and application support from Heason's motion engineering team.

Phil Morse concludes: "Heason Technology 's high level of technical support and the high-quality motion components from Thomson and Kollmorgen that they supply combines for a great working relationship that considerably helps us to deliver fast, responsive, and highly precise DIL simulators to our customers across motorsport and automotive industries."

Jon Howard, Heason 's MD adds: "Working with Ansible on this remarkably interesting application has challenged our motion applications team to the limit from where they have delivered both technically advanced motion equipment and expert technical support to facilitate Ansible delivering world-leading motion platforms to motorsport and road car manufacturers alike. It is a real privilege to work with Ansible 's technical experts to develop such a product."

For further information on Ansible's DIL simulators please visit the website at www.ansiblemotion.com, and for more on advanced motion control systems go to www.heason.com.

Heason Technology Ltd

Motion Solutions Centre
Spring Copse Business Park
Slinfold
RH13 0SZ
UNITED KINGDOM

+44 (0)1403 792300

sales@heason.com

www.heason.com

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