modelDriver
Simple driver model
Extends from VehicleInterfaces.Icons.Driver (Icon for a driver subsystem).
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 | TPreview | 0.75 | Preview time for reference speed |
| Real | kp | 1 | Proportional gain of PI driver controller |
| Modelica.Units.SI.Time | Ti | 0.1 | Integral time constant of PI driver controller |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.DriverInterface | driverInterface |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Blocks.Continuous.LimPID | PID | ||
| Modelica.Blocks.Math.Add | add | ||
| Modelica.Blocks.Math.Product | product | ||
| Modelica.Blocks.Sources.Constant | tPreview | ||
| Components.SplitPI | splitPI |