modelCruiseControl
Simple cruise control model
Extends from Modelica.Icons.RoundSensor (Icon representing a round measurement device).
Information
Gets information from the driver interface:
- reference speed
- preview of reference speed (the preview time is communicated via the driver interface to the driving cycle.
- actual speed
- actual acceleration
A PI-controller reacts on the control error = vRef(t + tPreview) - ( v(t) + a(t)*tPreview ). This signal is split into the throttle and the brake signal.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Units.SI.Time | T | Time constant of torque rise | |
| Modelica.Units.SI.Torque | tauMax | Maximal torque of motor | |
| Modelica.Units.SI.Inertia | J | Moment of inertia of motor | |
| Modelica.Units.SI.Length | Rsub | Substitute wheel radius motor - track | |
| Modelica.Units.SI.Mass | mDyn | Substitute (dynamic) mass | |
| Real | kp | (mDyn + J/Rsub^2)/(2*T)/(tauMax/Rsub) | Proportional gain of speed controller |
| Modelica.Units.SI.Time | Ti | 4*T | Integral time constant of speed controller |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.DriverInterface | driverInterface |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Continuous.LimPID | PID | ||
| Modelica.Blocks.Sources.Constant | tPreviewDummy | ||
| Components.SplitPI | splitPI |