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‎+VehicleDynamicsLongitudinal/@Simulator/Simulator.m

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classdef Simulator<handle
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% Simulator Vehicle dynamics simulator
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% The simulator receives a vehicle object that inherits from VehicleSimple, simulates its behavior during a given time span and provides its behavior during time via its properties. Each property is a (timespan, 1) vector in which each value represents that parameter's value in time.
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methods
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% Constructor
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function self = Simulator(vehicle, tspan)
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self.Vehicle = vehicle;
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self.TSpan = tspan;
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% Initial conditions
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self.X0 = 0;
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self.V0 = 20;
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end
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function f = getInitialState(self)
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% Transforms properties into a vector so it can be used by the integrator
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f = [self.X0 self.V0];
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end
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function Simulate(self)
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options = odeset('AbsTol',1e-6,'RelTol',1e-6)
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[TOUT, XOUT] = ode45(@(t, estados) self.Vehicle.Model(t, estados,self.TSpan), self.TSpan, self.getInitialState(),options);
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% retrieve states exclusive to the vehicle
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self.X = XOUT(:, 1);
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self.V = XOUT(:, 2);
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% TSpan and TOUT contain the same values, but the first is passed in columns, while the second is a vector
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self.TSpan = TOUT;
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end
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end
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properties
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Vehicle % Vehicle model to be used in the simulation
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TSpan % a vector indicating the intervals in which the simulation steps will be conducted
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X0 % Initial position [m]
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V0 % Initial speed [m/s]
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X % Longitudinal position [m]
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V % Longitudinal speed [m/s]
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end
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end
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%% See Also
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%
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% <../../index.html Home>
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%

‎+VehicleDynamicsLongitudinal/@VehicleModel/VehicleModel.m

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classdef (Abstract) VehicleModel
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% VehicleModel Simple vehicle abstract class.
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%
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% Abstract class representing a simple vehicle.
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%
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% Extend this class in order to create a new vehicle model to be used with the simulator.
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methods(Abstract)
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Model(self, t, estados)
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end
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properties
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m % Mass of the vehicle [kg]
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Ft % Traction force [N]
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Fb % Brake force [N]
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Rx % Rolling resistance [N]
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Dx % Drag force [N]
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Gx % Gravity force [N]
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end
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methods
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end
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end
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%% See Also
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%
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% <../../index.html Home>
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%

‎+VehicleDynamicsLongitudinal/@VehicleModelNonlinear/VehicleModelNonlinear.asv

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classdef VehicleModelNonlinear < VehicleDynamicsLongitudinal.VehicleModel
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% VehicleSimpleNonlinear Nonlinear vehicle model.
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%
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% It inherits properties from VehicleModel.
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methods
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% Constructor
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function self = VehicleModelNonlinear()
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self.m = 1000; % Mass of the vehicle [kg]
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self.Ft = 133.7000; % Traction force [N]
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self.Fb = 0; % Brake force [N]
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end
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function dx = Model(self, t, states,~)
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% Parameters
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m = self.m;
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g = 9.81; % Gravity [m/s2]
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Cd = 0.3; % Drag coefficient [-]
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A = 2; % Frontal area [m2]
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rho = 1; % Air density [kg/m2]
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% States
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X = states(1);
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V = states(2);
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% Drag resistance
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C = 0.5*rho*Cd*A;
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Dx = 0.5*rho*Cd*A*V^2;
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% Rolling resistance
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vKPH = V*3.6;
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W = m*g; % Weight [N]
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vMPH = vKPH/1.609; % Velocidade [mph]
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% Model 1 - Tire pressure (28 psi)
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f0 = 0.012;
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fs = 0.007;
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fr = f0 + 3.24*fs*(vMPH/100).^2.5;
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Rx = fr*W; % [N]
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% Gravity
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Gx = 0;
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% Traction force
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% TODO:
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% if isa(self.Ft,'function_handle')
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% Ft = self.Ft([X;V],t);
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% elseif length(self.Ft)>1
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% Ft = interp1(tspan,self.Ft,t);
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% else
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% Ft = self.Ft;
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% end
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Kp = 100;
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Ki = 0.03;
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vOp = 90/3.6; % Ref. speed [m/s]
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Clinear = 2*C*vOp;
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Ft = Kp*(vOp-V)+Ki*(vOp*t - X) + C*vOp^2 + (V - vOp)*Clinear;
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% Dynamics
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dx(1,1) = V;
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dx(2,1) = (Ft - Dx - Rx - Gx)/m;
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end
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end
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end
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%% See Also
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%
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% <../../index.html Home>
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%

‎+VehicleDynamicsLongitudinal/@VehicleModelNonlinear/VehicleModelNonlinear.m

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classdef VehicleModelNonlinear < VehicleDynamicsLongitudinal.VehicleModel
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% VehicleSimpleNonlinear Nonlinear vehicle model.
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%
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% It inherits properties from VehicleModel.
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methods
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% Constructor
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function self = VehicleModelNonlinear()
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self.m = 1000; % Mass of the vehicle [kg]
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self.Ft = 133.7000; % Traction force [N]
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self.Fb = 0; % Brake force [N]
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end
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function dx = Model(self, t, states,~)
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% Parameters
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m = self.m;
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g = 9.81; % Gravity [m/s2]
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Cd = 0.3; % Drag coefficient [-]
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A = 2; % Frontal area [m2]
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rho = 1; % Air density [kg/m2]
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% States
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X = states(1);
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V = states(2);
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% Drag resistance
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C = 0.5*rho*Cd*A;
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Dx = 0.5*rho*Cd*A*V^2;
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% Rolling resistance
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% vKPH = V*3.6;
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% W = m*g; % Weight [N]
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% vMPH = vKPH/1.609; % Velocidade [mph]
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% % Model 1 - Tire pressure (28 psi)
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% f0 = 0.012;
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% fs = 0.007;
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% fr = f0 + 3.24*fs*(vMPH/100).^2.5;
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% Rx = fr*W; % [N]
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Rx=0;
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% Gravity force
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Gx = 0;
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if t > 20
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theta = 2*pi/180; % Slope [rad]
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Gx = m*g*sin(theta); % Gravity force [N]
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end
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% Traction force
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% TODO: PI control as Ft model using function handle.
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% if isa(self.Ft,'function_handle')
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% Ft = self.Ft([X;V],t);
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% elseif length(self.Ft)>1
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% Ft = interp1(tspan,self.Ft,t);
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% else
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% Ft = self.Ft;
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% end
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Kp = 300;
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Ki = 100;
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vOp = 72/3.6; % Ref. speed [m/s]
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Clinear = 2*C*vOp;
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Ft = Kp*(vOp-V)+Ki*(vOp*t - X) + C*vOp^2 + (V - vOp)*Clinear;
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% Dynamics
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dx(1,1) = V;
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dx(2,1) = (Ft - Dx - Rx - Gx)/m;
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end
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end
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end
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%% See Also
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%
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% <../../index.html Home>
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%

‎Examples/TemplateSimple/TemplateSimple.m

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%% Template Simplified
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% This template shows how to simulate a simple vehicle and plot the
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% results.
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%
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%% Simulation models and parameters
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% First, all classes of the package are imported with
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clear ; close all ; clc
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import VehicleDynamicsLongitudinal.*
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%%
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% Choosing vehicle model.
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% Choosing vehicle
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VehicleModel = VehicleModelNonlinear();
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%%
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% Choosing simulation time span
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T = 70; % Total simulation time [s]
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resol = 100; % Resolution
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TSPAN = 0:T/resol:T; % Time span [s]
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%%
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% To define a simulation object (simulator) the arguments must be the
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% vehicle object and the time span.
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simulator = Simulator(VehicleModel, TSPAN);
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%% Run simulation
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% To simulate the system we run the Simulate method of the simulation
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% object.
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simulator.Simulate();
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%% Results
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% The time series of each state is stored in separate variables. Retrieving
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% states
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X = simulator.X;
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V = simulator.V;
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%%
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% Plotting the states
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figure
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hold on ; grid on ; box on
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plot(TSPAN,V)
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xlabel('Time [s]')
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ylabel('Speed [m/s]')
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%% See Also
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%
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% <../../../index.html Home>
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%

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