MinimalDriver.mof

class VehicleInterfaces.Drivers.MinimalDriver "Constant acceleration Driver"
  VehicleInterfaces.Mechanics.NormalisedRotational.Interfaces.Flange driverInterface.steeringWheel "virtual variable in expandable connector";
  VehicleInterfaces.Mechanics.NormalisedTranslational.Interfaces.Flange driverInterface.acceleratorPedal "virtual variable in expandable connector";
  VehicleInterfaces.Mechanics.NormalisedTranslational.Interfaces.Flange driverInterface.brakePedal "virtual variable in expandable connector";
  Integer driverInterface.ignition "virtual variable in expandable connector";
  Integer driverInterface.requestedGear "virtual variable in expandable connector";
  Integer driverInterface.gearboxMode "virtual variable in expandable connector";
  parameter Real initialAccelRequest(min = 0.0, max = 1.0) = 1.0 "Initial accelerator pedal position";
  parameter Real initialBrakeRequest(min = 0.0, max = 1.0) = 0.0 "Initial brake pedal position";
  parameter Real finalAccelRequest(min = 0.0, max = 1.0) = 1.0 "Final accelerator pedal position";
  parameter Real finalBrakeRequest(min = 0.0, max = 1.0) = 0.0 "Final brake pedal position";
  parameter Real accelTime(quantity = "Time", unit = "s") = 10.0 "Time of accel apply";
  parameter Real brakeTime(quantity = "Time", unit = "s") = 10.0 "Time of brake apply";
  parameter Integer selectedGearboxMode(min = 1, max = 6) = 2 "Current gearbox mode";
  parameter Integer manualGearRequest(quantity = "gear") = 0 "Requested gear in manual mode";
  parameter Real brakeDemand.height = finalBrakeRequest "Height of step";
  Real brakeDemand.y "Connector of Real output signal";
  parameter Real brakeDemand.offset = initialBrakeRequest "Offset of output signal y";
  parameter Real brakeDemand.startTime(quantity = "Time", unit = "s") = brakeTime "Output y = offset for time < startTime";
  parameter Real acceleratorDemand.height = finalAccelRequest "Height of step";
  Real acceleratorDemand.y "Connector of Real output signal";
  parameter Real acceleratorDemand.offset = initialAccelRequest "Offset of output signal y";
  parameter Real acceleratorDemand.startTime(quantity = "Time", unit = "s") = accelTime "Output y = offset for time < startTime";
  parameter Real steeringAngle.k(start = 1.0) = 0.0 "Constant output value";
  Real steeringAngle.y "Connector of Real output signal";
  parameter Integer gearboxMode.k(start = 1) = selectedGearboxMode "Constant output value";
  Integer gearboxMode.y "Connector of Integer output signal";
  parameter Integer requestedGear.k(start = 1) = manualGearRequest "Constant output value";
  Integer requestedGear.y "Connector of Integer output signal";
  final parameter Boolean steeringWheelAngle.exact = true "True/false exact treatment/filtering the input signal";
  parameter Real steeringWheelAngle.f_crit(quantity = "Frequency", unit = "Hz") = 50.0 "If exact=false: critical frequency of filter to filter input signal";
  Real steeringWheelAngle.flange_b.phi(quantity = "", unit = "1", displayUnit = "1", min = 0.0, max = 1.0) "Normalized rotation of flange";
  Real steeringWheelAngle.flange_b.tau(quantity = "Torque", unit = "N.m") "Cut torque directed in the flange";
  Real steeringWheelAngle.phi_ref "position to be applied";
  Real steeringWheelAngle.phi(quantity = "", unit = "1", displayUnit = "1", min = 0.0, max = 1.0);
  protected parameter Real steeringWheelAngle.w_crit = 6.283185307179586 * steeringWheelAngle.f_crit "critical frequency in [1/s]";
  protected constant Real steeringWheelAngle.af = 1.3617 "Coefficient s   of Bessel filter";
  protected constant Real steeringWheelAngle.bf = 0.618 "Coefficient s*s of Bessel filter";
  protected Real steeringWheelAngle.w;
  protected Real steeringWheelAngle.a;
  final parameter Boolean brakePosition.exact = true "True/false exact treatment/filtering the input signal";
  parameter Real brakePosition.f_crit(quantity = "Frequency", unit = "Hz") = 50.0 "If exact=false: critical frequency of filter to filter input signal";
  Real brakePosition.flange_b.s(quantity = "", unit = "1", displayUnit = "1", min = 0.0, max = 1.0) "Normalized position of flange";
  Real brakePosition.flange_b.f(quantity = "Force", unit = "N") "Cut force directed into flange";
  Real brakePosition.position "position to be applied";
  Real brakePosition.s(quantity = "", unit = "1", displayUnit = "1", min = 0.0, max = 1.0) "Normalized position";
  protected parameter Real brakePosition.w_crit = 6.283185307179586 * brakePosition.f_crit "Critical frequency in [1/s]";
  protected constant Real brakePosition.af = 1.3617 "Coefficient s   of Bessel filter";
  protected constant Real brakePosition.bf = 0.618 "Coefficient s*s of Bessel filter";
  protected Real brakePosition.v;
  protected Real brakePosition.a;
  final parameter Boolean acceleratorPosition.exact = true "True/false exact treatment/filtering the input signal";
  parameter Real acceleratorPosition.f_crit(quantity = "Frequency", unit = "Hz") = 50.0 "If exact=false: critical frequency of filter to filter input signal";
  Real acceleratorPosition.flange_b.s(quantity = "", unit = "1", displayUnit = "1", min = 0.0, max = 1.0) "Normalized position of flange";
  Real acceleratorPosition.flange_b.f(quantity = "Force", unit = "N") "Cut force directed into flange";
  Real acceleratorPosition.position "position to be applied";
  Real acceleratorPosition.s(quantity = "", unit = "1", displayUnit = "1", min = 0.0, max = 1.0) "Normalized position";
  protected parameter Real acceleratorPosition.w_crit = 6.283185307179586 * acceleratorPosition.f_crit "Critical frequency in [1/s]";
  protected constant Real acceleratorPosition.af = 1.3617 "Coefficient s   of Bessel filter";
  protected constant Real acceleratorPosition.bf = 0.618 "Coefficient s*s of Bessel filter";
  protected Real acceleratorPosition.v;
  protected Real acceleratorPosition.a;
  parameter Integer ignition.height = -1 "Height of step";
  Integer ignition.y "Connector of Integer output signal";
  parameter Integer ignition.offset = 3 "Offset of output signal y";
  parameter Real ignition.startTime(quantity = "Time", unit = "s") = 0.5 "Output y = offset for time < startTime";
equation
  steeringAngle.y = steeringWheelAngle.phi_ref;
  brakeDemand.y = brakePosition.position;
  acceleratorDemand.y = acceleratorPosition.position;
  gearboxMode.y = driverInterface.gearboxMode;
  requestedGear.y = driverInterface.requestedGear;
  ignition.y = driverInterface.ignition;
  brakePosition.flange_b.s = driverInterface.brakePedal.s;
  acceleratorPosition.flange_b.s = driverInterface.acceleratorPedal.s;
  steeringWheelAngle.flange_b.phi = driverInterface.steeringWheel.phi;
  steeringWheelAngle.flange_b.tau + (-driverInterface.steeringWheel.tau) = 0.0;
  brakePosition.flange_b.f + (-driverInterface.brakePedal.f) = 0.0;
  acceleratorPosition.flange_b.f + (-driverInterface.acceleratorPedal.f) = 0.0;
  brakeDemand.y = brakeDemand.offset + (if time < brakeDemand.startTime then 0.0 else brakeDemand.height);
  acceleratorDemand.y = acceleratorDemand.offset + (if time < acceleratorDemand.startTime then 0.0 else acceleratorDemand.height);
  steeringAngle.y = steeringAngle.k;
  gearboxMode.y = gearboxMode.k;
  requestedGear.y = requestedGear.k;
  steeringWheelAngle.phi = steeringWheelAngle.flange_b.phi;
  steeringWheelAngle.w = der(steeringWheelAngle.phi);
  steeringWheelAngle.a = der(steeringWheelAngle.w);
  steeringWheelAngle.phi = steeringWheelAngle.phi_ref;
  brakePosition.s = brakePosition.flange_b.s;
  brakePosition.s = brakePosition.position;
  brakePosition.v = 0.0;
  brakePosition.a = 0.0;
  acceleratorPosition.s = acceleratorPosition.flange_b.s;
  acceleratorPosition.s = acceleratorPosition.position;
  acceleratorPosition.v = 0.0;
  acceleratorPosition.a = 0.0;
  ignition.y = ignition.offset + (if time < ignition.startTime then 0 else ignition.height);
end VehicleInterfaces.Drivers.MinimalDriver;