Active pedal simulation system

Abstract

An active pedal simulation system includes a pedal unit, a somatosensory simulation unit, an actuating unit, and a control unit. The pedal unit includes a pedal arm. The somatosensory simulation unit includes a somatosensory simulation module connected to the pedal arm and capable of transmitting somatosensory resistance and motion behavior. The actuating unit includes an actuating module connected to the somatosensory simulation module and capable of driving the somatosensory simulation module to actuate. The control unit includes a control module connected to the actuating unit. The control module controls the actuating module to actuate and correspondingly drives the somatosensory simulation module to actuate according to the pressure dynamic of the somatosensory simulation module, so as to instantaneously feedback the somatosensory resistance and motion behavior to the pedal arm, thereby providing instant and feedback-controlled pedal resistance and motion.

Description

Technical Field

[0001] This utility model relates to a pedal system, and more particularly to an active pedal simulation system that can simulate real body sensation. Background Technology

[0002] While racing simulator pedals offer significant improvements in realism and operational precision compared to traditional controllers, they still suffer from numerous shortcomings in terms of tactile feedback and the detailed representation of pedal dynamics.

[0003] First, existing simulated pedal systems generally lack the technology to accurately detect braking force, causing the system to fail to provide real-time feedback based on the user's actual force, resulting in a stiff and unnatural overall control experience. The user's pedaling intensity cannot realistically correspond to the braking response in the game, making the operation lack fluidity and realism.

[0004] Furthermore, most racing simulator pedals use passive hydraulic systems. While these systems can simulate resistance during pedaling, they cannot realistically reflect changes in road conditions or the force differences generated by vehicle dynamics during braking. This prevents drivers from feeling the road and the real pressure fluctuations brought about by braking, reducing immersion and operational accuracy.

[0005] Furthermore, current vibration motor technology mostly generates vibration effects through linear motion, but its feedback method is too standardized and fails to reproduce the varied and nuanced tactile sensations of real driving. This technology relies on precise oscillators, coils, and sliding mechanisms to operate, which not only increases costs but also limits structural flexibility and adjustability. In precision racing or professional training, these technological limitations prevent simulator pedals from meeting higher standards of tactile feedback, becoming a bottleneck that urgently needs to be overcome in current technological development.

[0006] As can be seen from the above description, existing analog control pedals have the following disadvantages: 1. Unable to provide pressure feedback for the hydraulic damping pedal: Currently, some racing simulators use non-hydraulic pedals, which prevent them from generating pressure-based damping feedback during pedaling. This makes it difficult for drivers to feel the realistic feedback of gradually increasing pressure, resulting in a lack of layering and stability in the pedal feel. This affects the control and judgment of braking force, thereby reducing the precision and realism of the driving process.

[0007] II. Unable to simulate road feel feedback through motor torque: Current simulation systems mostly use vibration motors to simulate road surface changes through vibration, but they fail to employ motor technology with torque control capabilities. The lack of torque feedback means that the system cannot reflect real dynamics such as road friction, braking resistance, or vehicle vibration, which exacerbates the gap between the driver's perception of the road and their ability to accurately identify ground feedback.

[0008] Third, the interaction between the vibration motor and the pedal is insufficient, making it difficult to simulate a realistic driving experience. Currently, vibration motors can only provide vibration in one direction, with limited interaction with the pedal itself, making it impossible to provide real-time and multi-layered vibration changes based on different pedaling situations. This standardized interaction results in overly monotonous feedback felt by the driver when braking, accelerating, or experiencing changes in road surface, making it difficult to reproduce the subtle and dynamic tactile sensations of the feet in real driving. Utility Model Content

[0009] In view of this, the purpose of this utility model is to provide an active pedal simulation system for providing real-time, feedback-controlled pedal resistance and motion. The active pedal simulation system includes a pedaling unit, a motion simulation unit, an actuation unit, and a control unit. The pedaling unit includes a pedal arm. The motion simulation unit includes a motion simulation module connected to the pedal arm and capable of transmitting motion resistance and motion behavior. The actuation unit includes an actuation module connected to the motion simulation module and capable of driving the motion simulation module to actuate. The control unit includes a control module connected to the actuation unit. The control module controls the actuation of the actuation module and can drive the motion simulation module to actuate according to the pressure dynamics of the motion simulation module, so as to provide real-time feedback of motion resistance and motion behavior to the pedal arm.

[0010] In one embodiment, the motion simulation module is selected from one or a combination of a cam mechanism, a crank mechanism, a linear piston mechanism, or a similar mechanism.

[0011] In one embodiment, the control unit further includes a first detection module connected to the control module. The first detection module is used to detect the pressure applied by the pedal arm to the somatosensory simulation module, and the control module controls the actuation module based on the detection data of the first detection module.

[0012] In one embodiment, the motion simulation module has a fluid for transmitting power, and the control unit further includes a second detection module connected to the control module. The second detection module is used to detect the pressure of the fluid, and the control module controls the actuation module based on the detection data of the second detection module, so that the actuation module regulates the pressure dynamics of the fluid in the motion simulation module.

[0013] In one embodiment, the motion simulation module includes a fluid control component selected from one or a combination of a pressure relief valve, an electronically adjustable orifice.

[0014] In one embodiment, the pedal unit further includes a base connected to the pedal arm, the somatosensory simulation module has a first cylinder pivotally connected to the base and connected to the pedal arm, a second cylinder fixed to the base and connected to the first cylinder, and a transmission assembly fixed to the base and connected to the second cylinder. The transmission assembly is connected to the actuation module to transmit the power of the actuation module to the second cylinder.

[0015] In one embodiment, the first cylinder is a pedal cylinder and is extended and retracted by the extension and retraction drive of the second cylinder, which is a servo cylinder and is extended and retracted by the rotation drive of the actuation module.

[0016] In one embodiment, the motion simulation module further includes a connecting pipe disposed between the first cylinder and the second cylinder, and a fluid replenishment assembly disposed in the first cylinder and / or the second cylinder.

[0017] In one embodiment, the first cylinder has a first outer cylinder pivotally connected to the base and a first telescopic rod movably disposed on the first outer cylinder and connected to the pedal arm. The second cylinder has a second outer cylinder fixed to the base and a second telescopic rod movably disposed on the second outer cylinder and connected to the transmission assembly. The transmission assembly has a screw fixed to the base and connected to the actuation module and a slider disposed on the screw and connected to the second cylinder.

[0018] In one embodiment, the first cylinder further has a first venting assembly disposed on the first outer cylinder, and the second cylinder further has a second venting assembly disposed on the second outer cylinder. The first and second venting assemblies are used to communicate the internal space of the first and second outer cylinders with the outside.

[0019] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various embodiments of this utility model. Specifically, the features of the claims of this utility model can be combined with each other in any way.

[0020] The beneficial effects of this utility model are that the motion simulation module uses a hydraulic cylinder to effectively simulate the hydraulic control system of a real car. The actuation module is a servo motor or a brushless DC motor, which can accurately control the speed, steering and torque. The power of the actuation module is transmitted to the pedal arm through the motion simulation module, which can simulate complex nonlinear force feedback in a physical way. Attached Figure Description

[0021] Figure 1This is a perspective view of a first embodiment of the active pedal simulation system of this utility model; Figure 2 This is a side view of the first embodiment without external force. Figure 3 This is a side view of the first embodiment under external force. Figure 4 This is a schematic diagram showing the functional module settings of a control module in the first embodiment; and Figure 5 This is a partial side view schematic diagram of a second embodiment of the active pedal simulation system of this utility model.

[0022] Explanation of markings in the diagram: 21: User; 3: Pedal unit; 31: Pedal arm; 32: Base; 33: Outer cover; 4: Motion-sensing simulation unit; 41: Motion-sensing simulation module; 42: First cylinder block; 421: First outer cylinder; 422: First telescopic pole; 423: First ventilation assembly; 43: Second cylinder block; 431: Second outer cylinder; 432: Second telescopic pole; 433: Second ventilation assembly; 44: Transmission components; 441: Screw; 442: Slider; 443: Slide rail; 45: Fluid control components; 46: Connecting pipe fittings; 47: Fluid replenishment assembly; 48: Multi-port connection component; 5: Actuation unit; 51: Actuation module; 511: Shaft; 6: Control unit; 61: Control module; 62: First detection module; 63: Second detection module. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0024] Please see Figure 1 , Figure 2 and Figure 3 This is a first embodiment of an active pedal simulation system according to the present invention. The active pedal simulation system includes a pedaling unit 3, a motion simulation unit 4, a motion control unit 5, and a control unit 6. The active pedal simulation system is connected to a computer (not shown) to control a racing simulator running on the computer.

[0025] The pedal unit 3 includes a pedal arm 31 that can move along a predetermined path, a base 32 connected to the pedal arm 31, and an outer cover 33 disposed on the base 32. The pedal arm 31 can pivot relative to the base 32 to perform the pedaling action of the pedal arm 31. The pedal unit 3 can perform pedaling control of the accelerator, brake or clutch.

[0026] The motion simulation unit 4 includes a motion simulation module 41 connected to the pedal arm 31 and capable of transmitting motion resistance and motion behavior. The motion simulation module 41 has a sealed fluid inside and transmits power through the sealed fluid. The motion simulation module 41 is used to provide feedback on various motion sensations from the pedal arm 31.

[0027] The actuation unit 5 includes an actuation module 51 connected to the motion simulation module 41 and capable of driving the motion simulation module 41 to operate. The actuation module 51 is a servo motor or a brushless DC motor, and a drive circuit connected to the servo motor or the brushless DC motor. In actual implementation, the actuation module 51 can also use other electric motors, and should not be limited thereto.

[0028] See also Figure 4 The control unit 6 includes a control module 61 connected to the actuation module 51 and a first detection module 62 connected to the control module 61. The control module 61 is a control circuit connected to the computer, game console, or other car simulation device. In this first embodiment, the control module 61 is a single-chip microcontroller of ESP32. The control module 61 is used to receive analog telemetry data from the computer and control the actuation module 51 to generate variable hydraulic pressure in the motion simulation module 41. In actual implementation, the control module 61 can also use other control circuits, or directly use a computer to directly control the actuation module 51, and should not be limited thereto.

[0029] The motion-sensing module 41 and the actuation module 51 are mounted on the base 32. The base 32 is used to fix the pedal arm 31, the motion-sensing module 41, and the actuation module 51. The outer cover 33 is used to cover part of the motion-sensing module 41 and the actuation module 51 to avoid causing injury to the user when the motion-sensing module 41 and the actuation module 51 are in motion.

[0030] After the computer executes the racing program, it becomes a racing simulator. The active pedal simulation system connected to the computer is used to simulate the control of the brake pedal, accelerator pedal, or clutch pedal. When the user presses the pedal arm 31, the computer controls the control module 61 based on the racing simulator's response, thereby controlling the actuator module 51 to regulate the internal pressure of the motion simulation module 41. The internal pressure of the motion simulation module 41 is then transmitted to the pedal arm 31, thereby providing real-time, feedback control of the pedal resistance and movement.

[0031] The first detection module 62 is used to detect the pressure applied by the pedal arm 31 to the somatosensory simulation module 41. In this first embodiment, the first detection module 62 is disposed between the pedal arm 31 and the somatosensory simulation module 41. In actual implementation, the first detection module 62 can also be disposed in other positions and should not be limited thereto.

[0032] The control module 61 controls the actuation module 51 to operate, and can correspondingly drive the actuation module 41 to operate based on the pressure dynamics of the motion simulation module 41, so as to provide real-time feedback of the tactile resistance and motion behavior to the pedal arm 31. In this first embodiment, the tactile resistance and motion behavior simulate the tactile effects of ABS pulses, brake fade, clutch engagement point, tire lock-up, or load transfer, etc.

[0033] The motion-sensing simulation module 41 includes a fluid for transmitting power. The control module 61 controls the actuation module 51 based on data detected by the first detection module 62, causing the actuation module 51 to regulate the pressure dynamics of the fluid in the motion-sensing simulation module 41. This pressure dynamics are variable hydraulic pressure. For example, when the user 21 presses down on the pedal arm 31, the hydraulic pressure in the motion-sensing simulation module 41 increases; when the user 21 releases the pedal arm 31, the hydraulic pressure decreases. The first detection module 62 detects the hydraulic pressure in the motion-sensing simulation module 41 and controls the actuation module 51 in different ways.

[0034] The control module 61 adjusts the torque of the actuation module 51 and the hydraulic pressure of the motion simulation module 41 in response to the detection data of the first detection module 62 and the simulated telemetry data of the computer. The first detection module 62 is a piezoelectric element that can detect the force of the user stepping on the pedal arm 31 and transmit the detection data to the control module 61. The control module 61 controls the rotation of the actuation module 51 based on the detection data of the first detection module 62. The control module 61 adjusts the torque of the actuation module 51 and the fluid pressure of the motion simulation module 41 in response to the detection data of the first detection module 62 and the simulated telemetry data of the computer. The simulated telemetry data refers to real-time or recorded data generated from the computer and / or the control module 61, which is used to reflect the state and changes of various parameters during the simulation process. This data usually comes from simulation software, such as racing simulators or other simulation systems.

[0035] For example, the greater the force applied to the pedal arm 31, the greater the force the actuation module 51 controls the somatosensory simulation module 41 to feed back to the pedal arm 31; conversely, the less force applied to the pedal arm 31, the less force the actuation module 51 controls the somatosensory simulation module 41 to feed back to the pedal arm 31. However, in actual implementation, the specific calculation data further includes vehicle speed, engine speed, acceleration, engine torque, braking force, tire grip, vehicle position, steering wheel angle, throttle / brake opening, and the physical state of the simulated environment (such as terrain, resistance, and temperature), and should not be limited to the above examples.

[0036] In actual operation, the user controls the active pedal simulation system to execute a racing simulator. The simulated telemetry data may include the vehicle turning, speed of 150km / h, engine torque of 300Nm, front wheel brake pressure of 70%, and accelerator pedal being pressed 60%. The computer performs calculations based on the simulated telemetry data and controls the control module 61 so that the active pedal simulation system can provide a more realistic operating experience.

[0037] In this first embodiment, the motion-sensing simulation module 41 uses a hydraulic cylinder. In some embodiments, the motion-sensing simulation module 41 may also use a pneumatic cylinder, a hydraulic cylinder, or other cylinder structures. In other words, the fluid sealed inside the motion-sensing simulation module 41 may be air, liquid, oil, or other fluids, and should not be limited thereto.

[0038] In this first embodiment, the motion simulation module 41 has a first cylinder 42 pivotally connected to the base 32 and connected to the pedal arm 31, a second cylinder 43 fixed to the base 32 and connected to the first cylinder 42, and a transmission assembly 44 fixed to the base 32 and connected to the second cylinder 43. The transmission assembly 44 is connected to the actuation module 51 to transmit the power of the actuation module 51 to the second cylinder 43.

[0039] review Figure 1 and Figure 2 The outer cover 33 shields the second cylinder 43 and the transmission assembly 44. The first cylinder 42 is disposed above the outer cover 33. The right side of the base 32 extends upward and the first cylinder 42 is pivotally connected to the right side of the base 32. The second cylinder 43 is fixed to the right side of the base 32. The actuation module 51 is fixed to the bottom of the base 32. The second cylinder 43 is located above the actuation module 51. The first cylinder 42 is located above the second cylinder 43. The transmission assembly 44 is located to the left of the actuation module 51 and the second cylinder 43.

[0040] The first cylinder 42 is a pedal cylinder, which extends and retracts under the extension and retraction drive of the second cylinder 43. The second cylinder 43 is a servo cylinder, which extends and retracts under the rotation drive of the actuation module 51. The control module 61 receives analog telemetry data from the computer and controls the actuation module 51 to generate variable hydraulic pressure in the second cylinder 43 (servo cylinder) of the motion simulation module 41, which in turn affects the first cylinder 42 (pedal cylinder). The first cylinder 42 (pedal cylinder) transmits force to the pedal arm 31 according to the fluid pressure, thereby providing instantaneous, feedback-controlled pedal resistance and movement.

[0041] The first cylinder body 42 has a first outer cylinder 421 pivotally connected to the base 32, and a first telescopic rod 422 movably disposed on the first outer cylinder 421, the first telescopic rod 422 being connected to the pedal arm 31.

[0042] The second cylinder body 43 has a second outer cylinder 431 fixed to the base 32, and a second telescopic rod 432 movably disposed on the second outer cylinder 431. The internal spaces of the first outer cylinder 421 and the second outer cylinder 431 are connected by a connecting pipe 46 (e.g., Figure 5 (as shown) are interconnected so that fluid can flow between the first outer cylinder 421 and the second outer cylinder 431.

[0043] The transmission assembly 44 has a screw 441 connected to the actuation module 51, a slider 442 disposed on the screw 441, and a slide rail 443 connected to the slider 442. The slider 442 is connected to the second telescopic rod 432 of the second cylinder 43. The rotating shaft 511 of the actuation module 51 is connected to the screw 441. The rotating shaft 511 rotates synchronously with the screw 441. The slide rail 443 is arranged parallel to the screw 441.

[0044] The control module 61 controls the rotation of the actuation module 51 to control the fluid pressure sealed inside the motion simulation module 41, and the fluid pressure sealed inside the motion simulation module 41 is transmitted to the pedal arm 31, thereby enabling the active pedal simulation system to provide instant, feedback control of pedal resistance and motion.

[0045] See Figure 2 When the actuation module 51 drives the screw 441 to rotate forward, the slider 442 moves closer to the actuation module 51, the second telescopic rod 432 is pushed into the second outer cylinder 431, and the fluid in the second outer cylinder 431 enters the first outer cylinder 421 to push the first telescopic rod 422 outward from the inside of the first outer cylinder 421. The somatosensory simulation module 41 applies a thrust to the pedal arm 31.

[0046] See Figure 3 When the actuation module 51 drives the screw 441 to reverse, the slider 442 moves away from the actuation module 51, the second telescopic rod 432 is pulled out from the inside of the second outer cylinder 431, and the fluid inside the first outer cylinder 421 is drawn into the inside of the second outer cylinder 431 to pull the first telescopic rod 422 into the inside of the first outer cylinder 421. The somatosensory simulation module 41 applies a pulling force to the pedal arm 31.

[0047] The control module 61 controls the rotating shaft 511 of the actuation module 51 to rotate forward or backward, so that the motion simulation module 41 can apply pushing, pulling or vibration force to the pedal arm 31, so that the user can feel the real motion from the pedal arm 31 when playing the racing simulator.

[0048] The motion simulation module 41 is composed of a first cylinder 42 and a second cylinder 43. The second cylinder 43 is arranged parallel to the actuation module 51 and fixed to the base 32 so that the transmission component 44 transmits the power of the actuation module 51 to the second cylinder 43. The first cylinder 42 is pivotally connected to the base 32 so that the first cylinder 42 can pivot along the movement path of the pedal arm 31.

[0049] The actuation module 51 is a brushless DC motor or servo motor coupled to the motion simulation module 41 via the transmission component 44. In this first embodiment, the transmission component 44 used by the actuation module 51 and the second cylinder 43 is a linear piston mechanism, which is used to convert the rotational motion of the actuation module 51 into the fluid displacement of the motion simulation module 41. In actual implementation, the transmission component 44 can also use a cam mechanism or a crank mechanism, or a mechanical structure composed of the linear piston mechanism, the cam mechanism and the crank mechanism, and should not be limited to the example of this embodiment.

[0050] The motion simulation module 41 includes a fluid control component 45 for simulating compliance, decay, or hysteresis when the pedal arm 31 is stepped on. The fluid control component 45 is selected from one or a combination of a pressure relief valve, an electronically adjustable orifice, or other similar components.

[0051] Pedal compliance refers to the ability of a pedal to deform under pressure, or the softness of the pedal in response to pressure applied. High compliance means the pedal is easy to press down, while low compliance means the pedal is harder and requires more force to press down. Compliance varies with the amount of force applied.

[0052] The term "fade" refers to the gradual weakening of the pedal's feedback force after prolonged or repeated pedaling, resulting in less resistance felt by the user. This phenomenon is commonly seen in real racing cars when the braking system overheats.

[0053] The hysteresis effect refers to the phenomenon that the feedback force is inconsistent during the pressing and releasing of the pedal; even if the same force is applied, the feedback may be different.

[0054] A connecting pipe 46 for fluid flow is provided between the first cylinder 42 and the second cylinder 43. The fluid control component 45 is disposed on the connecting pipe 46. In actual implementation, the fluid control component 45 can also be directly disposed on the first cylinder 42 or the second cylinder 43, and should not be limited thereto.

[0055] When the motion simulation module 41 uses the pressure relief valve, it can control the maximum pressure inside the first cylinder 42 and / or the second cylinder 43. For example, when the internal pressure of the first cylinder 42 and / or the second cylinder 43 exceeds the pressure set by the pressure relief valve, the internal fluid will be released to prevent the internal pressure of the first cylinder 42 and / or the second cylinder 43 from becoming too high.

[0056] When the motion-sensing simulation module 41 uses an electronically adjustable orifice, the flow rate of the fluid within it can be controlled. For example, expanding the orifice increases the fluid flow rate, simulating a pedaling feel with low resistance. Conversely, conversely, reducing the orifice decreases the flow rate, simulating a pedaling feel with high resistance. In practical applications, the electronically adjustable orifice can also be used to control other pedal sensations and should not be limited to this function.

[0057] In some embodiments, the fluid control component 45 is connected to the control module 61 so that the control module 61 can automatically control the fluid control component 45. In some embodiments, the fluid control component 45 is a manually controlled structure to allow the user to manually adjust it.

[0058] Please see Figure 5 This is a second embodiment of the active pedal simulation system of the present invention. The second embodiment is largely the same as the first embodiment, and the similarities will not be described in detail here. The difference is that the control unit 6 in the above scheme further includes a second detection module 63 connected to the control module 61.

[0059] The second detection module 63 is a fluid pressure detector used to detect the internal pressure of the fluid in the first cylinder 42 and the second cylinder 43. The control module 61 controls the actuation module 51 based on the detection data of the first detection module 62 and the second detection module 63, so that the actuation module 51 regulates the pressure dynamics of the fluid inside the somatosensory simulation module 41.

[0060] The first detection module 62 is directly connected to the pedal arm 31 and can directly reflect the pressure applied by the pedal arm 31. The second detection module 63 can immediately reflect the pressure applied by the pedal arm 31 through the fluid in the first cylinder 42 and the second cylinder 43. Therefore, the control module 61 can have more data analysis of the user's operation and game reaction through the detection data of the two pressure sensors (the first detection module 62 and the second detection module 63), and more accurately control the action of the actuation module 51 to provide the user with a more realistic operating experience.

[0061] The motion simulation module 41 further includes a connecting pipe 46 disposed between the first cylinder 42 and the second cylinder 43, and a fluid replenishment component 47 disposed in the first cylinder 42 and / or the second cylinder 43.

[0062] The connecting pipe 46 is used to connect the internal spaces of the first cylinder 42 and the second cylinder 43, so that fluid can flow between the first cylinder 42 and the second cylinder 43 through the connecting pipe 46. When the first telescopic rod 422 compresses the fluid inside the first outer cylinder 421, the fluid inside the first outer cylinder 421 flows into the second outer cylinder 431 through the connecting pipe 46, so that the second telescopic rod 432 is pushed out of the second outer cylinder 431, and vice versa.

[0063] The fluid replenishment assembly 47 is used to replenish the fluid inside the first cylinder 42 and the second cylinder 43. In this second embodiment, the fluid replenishment assembly 47 is a quick connector that can be connected to a pressure pump to inject fluid into the first cylinder 42 and the second cylinder 43, but it is not limited thereto. When the fluid inside the first cylinder 42 and the second cylinder 43 is insufficient, the fluid replenishment assembly 47 can be used to replenish the fluid inside the first cylinder 42 and the second cylinder 43.

[0064] In this second embodiment, a multi-port connection assembly 48 is provided on the connecting pipe 46 to provide mounting for the fluid replenishment assembly 47 and the second detection module 63. The multi-port connection assembly 48 has multiple ports, and the first outer cylinder 421, the connecting pipe 46, the fluid replenishment assembly 47, and the second detection module 63 are respectively connected to the multiple ports of the multi-port connection assembly 48. The connecting pipe 46 is connected to the second outer cylinder 431, so that the fluid replenishment assembly 47 can replenish the fluid inside the first outer cylinder 421 and the second outer cylinder 431, and the second detection module 63 can detect the fluid pressure inside the first outer cylinder 421 and the second outer cylinder 431. The fluid replenishment assembly 47 is connected to both the first cylinder 42 and the second cylinder 43 simultaneously through the multi-port connection assembly 48 on the connecting pipe 46. In actual implementation, the fluid replenishment assembly 47 can also be connected to either the first cylinder 42 or the second cylinder 43 separately, and should not be limited thereto.

[0065] The first cylinder 42 further has a first venting assembly 423 disposed on the first outer cylinder 421, and the second cylinder 43 further has a second venting assembly 433 disposed on the second outer cylinder 431. The first venting assembly 423 is used to connect the internal space of the first outer cylinder 421 with the outside to release the internal pressure of the first outer cylinder 421, and the second venting assembly 433 is used to connect the internal space of the second outer cylinder 431 with the outside to release the internal pressure of the second outer cylinder 431.

[0066] In the second embodiment, the first ventilation component 423 and the second ventilation component 433 are provided with filters so that when air enters and exits the first outer cylinder 421 and the second outer cylinder 431, debris is blocked from entering the interior of the first outer cylinder 421 and the second outer cylinder 431.

[0067] The first venting assembly 423 and the connecting pipe 46 are disposed at opposite ends of the first outer cylinder 421, and the second venting assembly 433 and the connecting pipe 46 are disposed at opposite ends of the second outer cylinder 431. The first venting assembly 423 and the second venting assembly 433 are used to conduct air.

[0068] The first outer cylinder 421 and the second outer cylinder 431 are equipped with pistons (not shown in the diagram). Fluid is disposed on one side of the piston, driving the movement of the first telescopic rod 422 and the second telescopic rod 432. An air chamber is disposed on the other side of the piston. To prevent the air pressure in the air chamber from affecting the fluid pressure, the first venting assembly 423 and the second venting assembly 433 are used to release the internal air pressure of the first outer cylinder 421 and the second outer cylinder 431, ensuring smooth movement of the first telescopic rod 422 and the second telescopic rod 432. In actual implementation, the air chamber can also contain fluid other than air, and the first venting assembly 423 and the second venting assembly 433 can be used to release the internal pressure of the first outer cylinder 421 and the second outer cylinder 431; this should not be a limitation.

[0069] This utility model relates to a pedal system for racing simulators, and in particular to an active force feedback pedal system using a hydraulic coupling drive mechanism. The main technology lies in using a hydraulic cylinder motion simulation module 41 to connect the rotation of the actuation module 51 with the displacement of the pedal arm 31, so that the system as a whole can simulate complex nonlinear force feedback in a physically realistic way.

[0070] Unlike traditional pedals that rely solely on electricity or passive hydraulic systems, this system uses an electrically driven hydraulic circuit (including the first cylinder 42 and the second cylinder 43) to transmit dynamic force feedback to the pedal surface. Additionally, an electric motor (such as a servo motor or brushless DC motor) drives a rotary or linear pump, crank, cam, or linear piston mechanism to pressurize and seal the hydraulic circuit inside the second cylinder 43 and connect it to the first cylinder 42. This causes the first cylinder 42 to drive the pedal arm 31, generating dynamically varying force feedback.

[0071] The real-time data from the racing simulator and the input data from the user control are processed in real time by the computer and / or the control module 61 to adjust the torque of the actuator module 51, thereby simulating the tactile resistance and motion behavior (tactile effect) of ABS pulse, brake fade, clutch engagement point, tire lock-up or load transfer, etc.

[0072] As can be seen from the above description, the active pedal simulation system of this utility model does indeed have the following effects: I. Provides a more realistic car handling experience: The hydraulic cylinder used in the motion simulation module 41 is similar to the hydraulic damping structure in a car. The motion simulation module 41 can realistically simulate the action of the hydraulic damping pedal and the accumulation of pressure by the flow of fluid in the cylinder, making the control of the racing simulator more realistic.

[0073] II. Controlling torque for active force feedback: The real-time data from the racing simulator and the input data from the user control are processed in real time by the control module 61, and the torque of the actuation module 51 is adjusted to drive the motion simulation module 41 to feed the force back to the pedal arm 31, so that the system can perform active force feedback control.

[0074] 3. Provides a smoother and more realistic pedaling experience: The motion simulation module 41 connects the pedal arm 31 to the actuation module 51 to transmit the power output by the actuation module 51 to the pedal arm 31. Through the buffering effect of the fluid in the motion simulation module 41, the pedaling force of the user 21 is not directly transmitted to the actuation module 51, and the force output by the actuation module 51 is not directly fed back to the user 21, thereby providing a smoother and more realistic pedaling sensation and optimizing the user 21's gaming experience.

[0075] In summary, the actuation module 51 is an electric motor that can precisely control speed, steering, and torque. The motion simulation module 41 has two hydraulic cylinders that can realistically simulate the action and pressure accumulation of the hydraulic damping pedal in a car. The actuation module 51 and the motion simulation module 41 work together to form an active force feedback pedal system, which effectively transmits the force of the actuation module 51 to the pedal arm 31 to simulate complex nonlinear force feedback, thereby generating a realistic motion sensation. Therefore, the purpose of this utility model can indeed be achieved.

[0076] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model, or reasonable combinations of features and solutions from various embodiments, are all within the protection scope of the present utility model.

[0077] The scope of protection of this utility model is not limited to the specific embodiments described above, but also includes any combination of the technical features in the above specific embodiments to form the implementation scheme.

Claims

1. An active pedal simulation system, characterized in that, Include: A pedal unit, including a pedal arm; The integrated motion simulation unit includes a motion simulation module connected to the pedal arm and capable of transmitting motion resistance and motion behavior. An actuation unit includes an actuation module connected to the somatosensory simulation module and capable of driving the somatosensory simulation module to actuate; and A control unit includes a control module connected to the actuation unit, the control module controlling the actuation module to operate.

2. The active pedal simulation system as described in claim 1, characterized in that, The motion simulation module is selected from one or a combination of cam mechanism, crank mechanism, and linear piston mechanism.

3. The active pedal simulation system as described in claim 1, characterized in that, The control unit further includes a first detection module connected to the control module. The first detection module is used to detect the pressure applied by the pedal arm to the motion simulation module. The control module controls the actuation module based on the detection data of the first detection module.

4. The active pedal simulation system as described in claim 1, characterized in that, The motion simulation module includes a fluid for transmitting power. The control unit further includes a second detection module connected to the control module. The second detection module is used to detect the pressure of the fluid. The control module controls the actuation module based on the detection data of the second detection module, so that the actuation module regulates the pressure dynamics of the fluid in the motion simulation module.

5. The active pedal simulation system as described in claim 1, characterized in that, The somatosensory simulation module includes a fluid control component, which is selected from one or a combination of a pressure relief valve and an electronically adjustable orifice.

6. The active pedal simulation system as described in claim 1, characterized in that, The pedal unit further includes a base connected to the pedal arm. The somatosensory simulation module has a first cylinder pivotally connected to the base and connected to the pedal arm, a second cylinder fixed to the base and connected to the first cylinder, and a transmission assembly fixed to the base and connected to the second cylinder. The transmission assembly is connected to the actuation module to transmit the power of the actuation module to the second cylinder.

7. The active pedal simulation system as described in claim 6, characterized in that, The first cylinder is a pedal cylinder, which extends and retracts under the drive of the extension and retraction of the second cylinder. The second cylinder is a servo cylinder, which extends and retracts under the drive of the rotation of the actuation module.

8. The active pedal simulation system as described in claim 6, characterized in that, The motion simulation module further includes a connecting pipe disposed between the first cylinder and the second cylinder, and a fluid replenishment component disposed in the first cylinder and / or the second cylinder.

9. The active pedal simulation system as described in claim 6, characterized in that, The first cylinder has a first outer cylinder pivotally connected to the base, and a first telescopic rod movably disposed on the first outer cylinder and connected to the pedal arm. The second cylinder has a second outer cylinder fixed to the base, and a second telescopic rod movably disposed on the second outer cylinder and connected to the transmission assembly. The transmission assembly has a screw fixed to the base and connected to the actuation module, and a slider disposed on the screw and connected to the second cylinder.

10. The active pedal simulation system as described in claim 9, characterized in that, The first cylinder body further has a first venting assembly disposed on the first outer cylinder, and the second cylinder body further has a second venting assembly disposed on the second outer cylinder. The first venting assembly and the second venting assembly are used to connect the internal space of the first outer cylinder and the second outer cylinder with the outside.

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