TUMRoboraceTeam软件堆栈-车辆模拟_MATLAB_C++_下载.zip

# Package overview The *vehicledynamics* folder contains all source code and models which is related to the vehicle dynamics simulation. This includes e.g. chassis models like the nonlinear single-track model and the nonlinear double-track model as well as tire models like the Pacejka model. Furthermore, some test cases are included to evaluate the vehicle dynamics models given a predefined input, the tire model in detail or to compare both model variants. The nonlinear single-track model `nonlinearstm.slx` considers the following effects: * Position of the center of gravity and wheelbase * Steering wheel angle at the front axle * Mass and Yaw inertia * Nonlinear tire forces based on a simple Pacejka model * Transient behavior for tire slips (modeled via simple first order low passes) * Aerodynamic drag and lift * Wheel rotational dynamics for longitudinal slip * Position dynamics based on standard kinematic equations The nonlinear double-track model extends the single-track model in several aspects. There are two implementations available: `VDBS_PassVeh14DOF.slx` utilizes the examples provided by the Vehicle Dynamics Blockset of Mathworks and only adjusts a few key parameters. In `nonlineardtm.slx` a customized version targeted at race-car vehicle dynamics is implemented. The double-track model in general considers vehicle dynamics including vertical dynamics, roll and pitch, dynamic changes in wheel loads and degressive tire behavior. The implemented vehicle dynamics model pays particular attention to the following points: * Modeling of the vehicle behavior with consideration of the vehicle vertical dynamics * Consideration of a three dimensional roadway profile with road longitudinal and lateral inclination * Modeling of road unevenness and consideration of variable friction coefficients * Transformation of the sensor position and orientation of vehicle sensors depending on the vehicle body movement * Implementation of an extended Pacejka tire model ### datadict This folder contains the data dictionaries handed to the specific vehicle dynamics model. These data dictionaries aggregate several data dictionaries which are necessary for running the simulation (e.g. vehicle parameters and bus definitions). The parameters itself can be found in `./sim_vehicle_dynamics/parameters`. * `nonlineardtm.sldd` aggregates all data dictionaries necessary to run the nonlinear double-track model (customized) * `nonlinearstm.sldd` aggregates all data dictionaries necessary to run the nonlinear single-track model * `VDBS_PassVeh14DOF.sldd` aggregates all data dictionaries necessary to run the nonlinear double-track model (Vehicle Dynamics Blockset Standard) ### models * `nonlineardtm.slx` is the nonlinear double-track model implementation (all parameters and initial states are imported via the above mentioned data dictionary) * `nonlinearstm.slx` is the nonlinear single-track model implementation (only position states are handed via the above mentioned data dictionary; parameters are imported from `./sim_vehicle_dynamics/parameters` folder directly) * `VDBS_PassVeh14DOF.slx` is the standard nonlinear double-track model implementation of the MathWorks [*Vehicle Dynamics Blockset*] The nonlinear double-track model was set up using the MathWorks [*Vehicle Dynamics Blockset*](https://de.mathworks.com/products/vehicle-dynamics/features.html#full-vehicle-simulation). Therefore, a detailed overview and explanation of the nonlinear double-track model can be found consulting the Documentation within Matlab. ### source This folder contains all scripts necessary to calculate the vehicle dynamics equations for both models (single-track and double-track). For more detailed information see the documentation in the header of each individual script. ### test This folder contains various Simulink models to test both vehicle dynamics models and to compare them. * `check_modelcompare` provides a set of different tests to compare the single-track and double-track model * `check_ndtm` provides a set of different tests to evaluate the nonlinear double-track model in detail * `check_nstm` provides a test to evaluate the nonlinear single-track model * `check_tiredata` provides a set of different tests to evaluate the tire model only #### setting up a new test case To set up a new, customized test just copy one of the existing Simulink models (ending with `.slx`). Now you can use available Simulink blocks to set up your own inputs and output handling. # Parameter settings If you like to change vehicle parameters, go to `./sim_vehicle_dynamics/parameters` folder. # Model Topology The single-track model is implemented by only using Matlab-scripts which are located in the source ("src") folder. The double-track model is way more complicated in it's structure. Therefore, an extensive description is provided below. If you want to use the single-track model only you can jump the model topology description and go to *Coordinate Systems* directly. The Simulink nonlinear double-track model comes along with a modular model topology. The implemented nonlinear double-track model incorporates and extends the following modules from Matlab's Vehicle Dynamics Blockset by user-defined modules and subfunctions: * Vehicle Body * Suspension * Wheels and Tires The modular structure of the nonlinear double-track model in Simulink is shown below. The Vehicle Dynamics Modules build up the core of the nonlinear double-track model. The model is based on a vehicle body model with six degrees of freedom, different suspensions on front and rear axle and different wheel, tire and brake characteristics on front and rear axle considering combined slip operating conditions.  The _Vehicle Body_ subsystem represents the vehicle kinetics considering inertia, gravitation, aerodynamics, suspension forces and moments as well as extern forces and moments. Output variables are the position, orientation and velocity of the vehicle body along the inertial axis system and the velocity, angular velocity and acceleration of the vehicle body in the vehicle fixed coordinate system. Additionally, position and velocities of the hardpoint locations are provided. For analysis purposes, there is force and moment information available. The _Suspension subsystem_ comprises the transformation of tire forces and moments to the vehicle body hardpoint locations as well as the formulation of the vehicle vertical dynamics on the basis of the relative vertical position and velocity from wheels and vehicle body. There is an anti-rollbar model inherent. Relative suspension heights are provided as outputs for analysis purposes. If the suspension characteristic values (camber, caster and toe angles) for the reference state and their relative rates of changes depending on the steering angle and the relative suspension height are available, the suspension subsystem considers the influence of wheel kinematics. The suspensions are modeled separately for the front and the rear axle. The _Wheel, Tire and Brake subsystem_ computes the tire behaviour for given control input and road influence on the basis of a drive model and the MF-Tire model (Pacejka's formulas). The block provides information about the tire forces and moments, the relative vertical wheel position and velocity as well as the wheel rotational velocity about the wheel spin axis. Necessary input signals are the translational tire velocities in longitudinal and lateral tire direction, the tire yaw rate, the wheel normal force, wheel camber, inflation pressure and vertical road displacement. The effective wheel radius, longitudinal slip and slip angle are available for further analysis. There is a drive model and a brake model inherent. The wheels are modeled separately to do justice to the different wheel, tire and brake construction on front and rear axle and to enable wheel selective control inputs for the drive