Template Simple

This template shows how to simulate a simple vehicle and plot the results.

Contents

Simulation models and parameters

First, all classes of the package are imported with

clear ; close all ; clc

import VehicleDynamicsLateral.*

Choosing tire and vehicle model.

% Choosing tire
TireModel = TirePacejka();
% Choosing vehicle
VehicleModel = VehicleSimpleNonlinear();

In this case, no parameter is defined. So the default values are used.

The System is completely defined once we atribute the chosen tire model to the vehicle object.

VehicleModel.tire = TireModel;

Choosing simulation time span

T       = 6;                        % Total simulation time         [s]
resol   = 50;                       % Resolution
TSPAN   = 0:T/resol:T;              % Time span                     [s]

To define a simulation object (simulator) the arguments must be the vehicle object and the time span.

simulator = Simulator(VehicleModel, TSPAN);

Changing initial conditions of the simulation object

simulator.ALPHAT0   = -0.2;         % Initial side slip angle       [rad]
simulator.dPSI0     = 0.7;          % Initial yaw rate              [rad/s]

Run simulation

To simulate the system we run the Simulate method of the simulation object.

simulator.Simulate();

Results

The time series of each state is stored in separate variables. Retrieving states

XT      = simulator.XT;
YT      = simulator.YT;
PSI     = simulator.PSI;
VEL     = simulator.VEL;
ALPHAT  = simulator.ALPHAT;
dPSI    = simulator.dPSI;

Plotting the states

figure(1)
hold on ; grid on ; box on
plot(TSPAN,XT)
xlabel('time [s]')
ylabel('Distance in the x direction [m]')

figure(2)
hold on ; grid on ; box on
plot(TSPAN,YT)
xlabel('time [s]')
ylabel('Distance in the y direction [m]')

figure(3)
hold on ; grid on ; box on
plot(TSPAN,PSI)
xlabel('time [s]')
ylabel('Yaw angle [rad]')

figure(4)
hold on ; grid on ; box on
plot(TSPAN,VEL)
xlabel('time [s]')
ylabel('Velocity [m/s]')

figure(5)
hold on ; grid on ; box on
plot(TSPAN,ALPHAT)
xlabel('time [s]')
ylabel('Vehicle slip angle [rad/s]')

figure(6)
hold on ; grid on ; box on
plot(TSPAN,dPSI)
xlabel('time [s]')
ylabel('Yaw rate [rad/s]')

Frame and animation

g = Graphics(simulator);
g.TractorColor = 'r';

g.Frame();
g.Animation();
% g.Animation('html/TemplateSimple');       % Uncomment to save animation gif

See Also

Home | Template Articulated

Published with MATLAB® R2019b