CarSim simulation quick start (XII) - Driver Model (2)

Embedded closed-loop speed controller

CarSim and TruckSim It includes a built-in closed-loop speed controller （SC）, It will adjust the throttle and brake as needed , In response to the target speed or acceleration . If there is no powertrain （OPT_PT = 0, chart 20）, be SC A simple model will be used to generate wheel torque , The model has parameters of available power and driver torque distribution on the axle .

chart 20. Simple powertrain options for speed control

Install the speed controller

The speed controller was not originally installed ; You have to use the command INSTALL_SPEED_CONTROLLER Installation .

in the majority of cases , By linking to the speed controller in one of the three libraries described later in this section Speed Controller Data set or in “RunControl” Specify the target speed on the interface to install the speed controller . however , In some cases , The simulation will start with setting the throttle to open loop mode , And then by triggering VS Event switch to use speed control . The speed controller cannot be installed after the simulation starts （ Install differential equations ）.

For not using at the beginning SC However, it will be used in future operations SC The simulation of , have access to Vehicle Check box on the interface （ chart 21） To ensure that when simulating this particular vehicle SC Always available . Another option is to change the command INSTALL_SPEED_CONTROLLER Put in “Run Control or Procedure In other yellow fields of the dataset .

chart