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Synthesis of numerical integrators for the real-time digital simulation of continuous systems
Title
Synthesis of numerical integrators for the real-time digital simulation of continuous systems.
Creator
Panzitta, Michael James, Klee, Harold I., Engineering
Abstract / Description
University of Central Florida College of Engineering Thesis; Real-time digital simulation is a powerful means for engineers and scientists in government, industry, and academia to perform research and training as well as serving as a basis for many commercial applications. Due to the special constraints imposed by digitally simulating continuous systems in real time, however, many of these systems either require costly high-speed components or are unable to provide suitable performance...
Show moreUniversity of Central Florida College of Engineering Thesis; Real-time digital simulation is a powerful means for engineers and scientists in government, industry, and academia to perform research and training as well as serving as a basis for many commercial applications. Due to the special constraints imposed by digitally simulating continuous systems in real time, however, many of these systems either require costly high-speed components or are unable to provide suitable performance characteristics using affordable computers. This dissertation describes a new technique for the synthesis of numerical integrators specifically designed for the real-time digital simulation of continuous systems. This methodology is based upon the fact that the state derivatives in a simulation model typically have a significantly limited bandwidth. This information is exploited to improve the efficiency of numerical integrators by selecting the coefficients of a general-form integrator such that it approximates an ideal integrator over the limited frequency spectrum of the state derivative.
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Date Issued
1994
Identifier
CFR0001376, ucf:52923
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFR0001376
Measuring and compensating for transport delay in real-time interactive driving simulation
Title
Measuring and compensating for transport delay in real-time interactive driving simulation.
Creator
Dumas, Joseph D., Klee, Harold I., Engineering
Abstract / Description
University of Central Florida College of Engineering Thesis; Real-time, man-in-the-loop simulators are important tools for operator training as well as human performance research. Simulator implementation using digital computers offers many important advantages but may also cause problems. One of the most significant and troublesome artifacts of digital computer simulation is the presence of transport delays in the operator/vehicle control loop. Transport delays have been shown to destabilize...
Show moreUniversity of Central Florida College of Engineering Thesis; Real-time, man-in-the-loop simulators are important tools for operator training as well as human performance research. Simulator implementation using digital computers offers many important advantages but may also cause problems. One of the most significant and troublesome artifacts of digital computer simulation is the presence of transport delays in the operator/vehicle control loop. Transport delays have been shown to destabilize the system, resulting in poorer control of the simulated vehicle. They may also contribute to an increased likelihood of simulator sickness in human operators. Therefore, it is desirable to be able to quantify simulator transport delays and to compensate the system in such a way that delay effects on operator performance and well-being are minimized. The research presented in this dissertation involved the measurement of simulator transport delay using two different methods: a time-domain approach involving the detection of a response to a simulated step control input, and a frequency-domain approach involving the measurement of phase shift from a simulated sinusoidal input. Algorithmic compensators (digital filters) were developed to provide phase lead to counteract the system transport delay. Two compensators designed using approaches previously described in the literature canceled out delay reasonably well; however, a new compensator design developed by the author provided more nearly ideal phase performance without introducing unwanted side effects such as visual jitter. The transport delay measurement and compensation techniques were applied to a low-cost, real-time interactive automobile driving simulator developed at the University of Central Florida. The investigations using both measurement techniques revealed that a substantial amount of delay was present in the system. The three delay compensators implemented in the simulator were found (by reapplication of the frequency-domain or steady-state delay measurement technique) to operate approximately as designed. Finally, a driver-in-the-loop experiment was conducted to assess the effect of delay compensation on driver/vehicle performance. While the small size of the experiment allowed no definite conclusions to be drawn regarding the efficacy of compensation, trends in the data were generally indicative of better performance with compensation.
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Date Issued
1993
Identifier
CFR0000192, ucf:52933
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFR0000192