Vi-CarrealTime软件资料Event.

©VI-grade.Allrightsreserved.2007-2013VI-CarRealTimeTraining仿真工况Events在VI-CarRealTime中的仿真工况是按照对象的方式定义的，一个对象定义一系列同类型的仿真工况Availableevents:VI-DriverVI-SafetyVI-SpeedGenVI-TestRigXternalADAMSCar工况Commoneventproperties:RoadSettings路面设置RoadDataFileRoadGraphicsFileLapSensorPathFileSolverSettings求解器设置IntegrationTimeSetepOutputTimeStepIntegratorModeofSimulationTireLimitsVIDriverEventsCornering:BrakingInTurnConstantRadiusCorneringCourseEvents:MaxPerformancePathCompensationPressManeuvresFileDrivenOpenLoopSteering:ImpulseSteerSineSteerStability:FishhookJTurnStraightLine:StraightAccelerationStraightBrakingStepSteerSweptSteerSineWithDwellEventsEventsStraightLineevents:StraightAcceleration直线加速Themaneuverconsistsinapplyingarampaccelerationinopenorclosedloop.参数:减速度开环或闭环控制RampUpTime加载时间（open有效）油门开度制动减速度StraightLineevents:StraightBrakingEventsCorneringevent:BrakingInTurnBrakingDeceleration制动减速度TurnRadius转动半径InitialVelocityandGear初始速度与档位EventsCorneringevent:ConstantRadiusCornering（稳态回转）TurnRadiusandDirection半径与转动方向InitialVelocityandGear初始速度与档位FinalVelocity结束速度OpenLoopSteeringevent:ImpulseSteer（脉冲转向）Themaneuverconsistsinaimpulseappliedtothesteeringsystem.Parameters:ImpulseDurationInitialSteerImpulseAmplitudeEventsOpenLoopSteeringevent:ImpulseSteer脉冲转向Themaneuverconsistsinaimpulseappliedtothesteeringsystem.Parameters:ImpulseDurationInitialSteerImpulseAmplitudeOpenLoopSteeringevent:SweepSteer扫频转向Themaneuverconsistsinsweepingwiththesteeringarangeoffrequencyforacertainsteeringamplitude.Parameters:SweepAmplitudeInitialFrequencyFinalFrequencyFrequencyRateSweepPhaseEventsOpenLoopSteeringevent:SineSteerInitialSteerSineAmplitudeSineFrequencySinePhaseThemaneuverconsistsinasinewaveappliedtothesteeringsystem.Parameters:OpenLoopSteeringevent:StepSteerThemaneuverconsistsinastepappliedtothesteeringsystem.Parameters:StepDurationInitialSteerFinalSteerEventsCourseEvents:MaxPerformanceMaxPerformance工况用于确定在指定的运行轨迹下，车辆最大的通过速度。MaxPerformance会在首先使用静态（稳态）求解器VI-SpeedGen对车辆进行静态求解，MaxPerformance会计算出一个可行的速度与轨迹规划，然后用动态求解器进行验证。如果上一步确定的速度与轨迹规划无法满足收敛性要求，软件会重新用静态求解器规划轨迹与速度，注意静态求解器重新规划仿真失败的轨迹附近的轨迹点与速度点。整个仿真过程会在优化目标得到满足后自动停止仿真用于静态求解的求解器是没有悬架与惯量部件的。这样主要就是为了保证仿真的效率。Events路径文件（drd文件）初始速度InitialGearFlyingLap更新RideHeightMap车辆必须沿着该轨迹行驶.当Flyinglap激活时无效当Flyinglap激活时无效.结束时的速度与开始速度一致UsedbythestaticsolvertocomputethedependencyofRideHeight(andAeroForces)onvehiclevelocity,sincethevehiclemodelinthestaticsolverhasnosuspensions.CourseEvents:MaxPerformanceEvents仿真使用的vdf文件，这个vdf文件必须包含指定一个drd文件，这个drd文件必须包括道路轨迹与速度序列。第一次仿真使用vdf文件每进行一次仿真Vi-CarRealTime都会更新一次drd文件，保证下一次比本次轨迹完整的更精确。接下来一个新的vdf文件被建立出来，同时Vi-CarRealTime会适当更新速度时间历程。当然路径按照上一步的drd文件指定。用新生成的vdf文件进行仿真。CourseEvents:PathCompensationPathCompensation用于调整实际的行驶轨迹，使得车辆相对于目标轨迹偏移最小。这一过程使用的是VI-Driver驾驶员模型。EventsVI-DriverInputFile使用VI-Driver模型SmoothingLength如果在赛道的开始阶段就出现一个急转弯，这让车辆容易失去稳定，软件会将车辆从起始位置向后拉一定的距离UsevdfFileDriverParameters是否使用vdf文件中驾驶员模型参数如果这个复选框被选中，仿真事件将选用vdf文件中驾驶员模型参数，而不是CourseEvents:PathCompensationEvents使用VI-Driver模型寻找通过通过当前轨迹的最大速度是多少。软件会创建一个参考传动系，使得车辆达到所需的动力性能标桩被被放置在行驶轨迹两边，软件使用遗传算法来寻找最优轨迹，PressManeuvers是以速度恒定为目标来进行寻优的每一次迭代之后，coneinterference用于检查车辆当前的轨迹是否可行。当所有设定的轨迹全部仿真一遍之后，车辆的速度将会提升，然后，在仿真一遍，直到找到最高车速PressManeuvers会在找到了最快速度通过的轨迹后停止，通过的过程中，车辆不能撞到标桩上。CourseEvents:PressManeuversEventsInitialVelocity初始速度InitialGear初始档位Type仿真工况•DLC(DoubleLineChange)双移线•DLC-CR(DoubleLineChangeConsumerReport)有报告的双移线•ObstacleAvoidance紧急避障•Slalom蛇形穿桩RefinementsVehicleSize车辆尺寸遗传算法的代数CheckUseBodyChassisGraphicboxtoautomaticallycomputevehiclesizefromthegraphicshell.Otherwisesetthefollowingparameters:•Width车宽•CGToFrontDistance前轴距•CGToRearDistance后轴距CourseEvents:PressManeuversEventsTestthatstressestherollovertendencyofvehiclesbyinducingitwithatypicalemergencymaneuver.Maneuversteps:Initialsteeringinput:Thepeakvalueisthesteeringanglewhichgivesalateralaccelerationof0.3g.Maintainpeakvalueofsteeringanglefor0.25secondsormaintainpeakvalueofsteeringangleuntiltherollratefallsbelow1.5deg/secdependingonwhetherFixedTimeorRollRateFeedbackfieldisselectedinSteeringActuationMethodtextbox.Steeringintheoppositedirectionuntiltheoppositevalueofpeaksteeringangleisreached.Maintainthelatterpeakvalueofsteeringanglefor3seconds.Steeringbackuntilthesteeringanglebringsbackto0degrees.Stability:FishhookEventsParameters:EndTimeInitialVelocityInitialGearSteeringActuationMethodFixedTimeRollRateFeedbackStability:FishhookEventsStability:JTurnTestthelateraltransientresponseofthevehicle.Maneuversteps:Thesteeringrateintheincreasingpartisequalto17.45rad/secandthepeakvalueAisdefinedastheproductbetweenacoefficient(8.0)andthehandwheelanglecorrespondingtoalateralaccelerationof0.3g.Whenthispeakisreached,thesteeringangleismaintainedforatimeT1=4seconds.Duringthistime,afullbrakefor0.5secondsisperformed.Finallyacountersteeringwitharateof8.25rad/secisdoneuntilthehandwheelanglereaches0degrees.EventsStability:SineWithDwellStabilitytestwhichstressesthelateraldynamicofthevehicle.I