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Driver model for a software in the loop simulation tool
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
En förarmodell för ”software in the loop” simuleringsverktyg (Swedish)
Abstract [en]

For this project, a Software-In-the-Loop (SIL) simulation tool is used at Scania (“VTAB” – Virtual Truck and Bus), which simulates the submodels of the mechanical vehicle components together with the real control units. The simulation tool contains the following submodels: Engine model, Drivetrain model, Drive cycle model, Restbus model, and Driver model. The simulated human driver submodel in the restbus model outputs two pedal control signals to the control unit, namely the gas and brake pedals. With these two pedal signals, the control unit decides the modes of mechanical vehicle components. This driver model needs to be reworked to obtain a better velocity following performance.

Two controllers, fuzzy PI anti-windup and backward calculation, are implemented in the driver model and compared by the velocity tracking accuracy and the pedal switching frequency. In the comparison and analysis section, two different cycles and two weights of payload are simulated.

The simulation results demonstrate that both controllers can improve the driver model’s velocity tracing accuracy. Further, the fuzzy PI anti-windup controller is better when considering pedal signals fluctuation frequency and implementation complexity.

Abstract [sv]

För detta projekt används ett simuleringsverktyg Software-In-the-Loop (SIL) på Scania (“VTAB” - Virtual Truck and Bus), vilket simulerar submodellerna för de mekaniska fordonskomponenterna tillsammans med de verkliga styrenheterna. Simuleringsverktyget innehåller följande submodeller: Motormodell, Drivmotormodell, Drivcykelmodell, Restbusmodell och Drivermodell. Den simulerade submodellen för mänsklig förare i restbussmodellen kommer att sända två pedalsstyrsignaler till styrenheten, nämligen gas och broms. Med dessa två pedalsignaler kan styrenheten avgöra lägen av mekaniska fordonskomponenter. Denna drivrutinmodell måste omarbetas för att få en bättre hastighetsspårnings presentationsförmåga.

Två styrenheter, fuzzy PI anti-windup och bakåtberäkning, implementeras i förarmodell och jämförs respektive med hastighetsspårningsnoggrannhet och pedalväxelfrekvens. I jämförelseoch analysavsnittet simuleras två olika cyklar och två nyttolast.

Simuleringsresultaten visar att båda kontrollerna kan förbättra förarmodellens hastighetsspårningskapacitet. Vidare är fuzzy PI-anti-windup-kontroller bättre när man tar hänsyn till pedalsignalernas fluktueringsfrekvens och implementeringskomplexitet

Place, publisher, year, edition, pages
2019. , p. 57
Series
TRITA-ITM-EX ; 2019:663
Keywords [en]
HDV (Heavy duty vehicle), simulation tool, Driver model, longitudinal velocity controller
Keywords [sv]
HDV (tungt fordon), simuleringsverktyg, förarmodell, longitudinell hastighetsregulator
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-265668OAI: oai:DiVA.org:kth-265668DiVA, id: diva2:1380761
External cooperation
Scania AB
Supervisors
Examiners
Available from: 2019-12-19 Created: 2019-12-19 Last updated: 2019-12-19Bibliographically approved

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