Co-simulation system with delay compensation and method for control of co-simulation system
AssigneeVolvo Car Corporation
InventorEdo Drenth
Life of this patent
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Abstract
A method of providing stable communication between subsystems in a co-simulation system, including providing a signal S1 describing an output angular velocity of a rotating body of the first physical system; filtering the signal S1 using a continuous moving average, CMA, filter; and forming a time discrete first output signal S1*. In a second subsystem the signal S1* is received and the angular velocity described by S1* is applied to the second physical system. A response signal S2* describes a torque generated by the second subsystem. The response signal S2* is received by the first subsystem where a time discrete feedback signal SF* is formed based on the difference between the response signal S2* and a time discrete damping signal SD*.
Claims15
A method of providing stable communication between subsystems in a co-simulation system comprising a plurality of subsystems, each subsystem representing a physical system of a vehicle, the method comprising:
- in a first subsystem of the co-simulation system, simulating a first physical system, providing a first time continuous signal S1 describing a first output angular velocity of a rotating body of the first physical system;
- filtering the first time continuous signal S1 using a continuous moving average, CMA, filter and forming a time discrete first output signal S1*;
- in a second subsystem of the co-simulation system, simulating a second physical system, receiving the time discrete first output signal S1* from the first subsystem, applying the angular velocity described by the time discrete first output signal S1* to the second physical system, and providing a time discrete response signal S2* from the second subsystem describing a torque generated by the second subsystem;
- in the first subsystem, receiving the response signal S2* and forming a time discrete feedback signal SF* based on the difference between the response signal S2* and a time discrete damping signal SD*, wherein forming the damping signal SD* comprises applying an inertia to the rotating body of the first physical system, resulting in a time continuous damping signal SD representing a torque, followed by filtering the time continuous damping signal SD using a CMA-filter and applying a unit delay to form the time discrete damping signal SD*, thereby synchronizing SD* with S2*;
- and
- applying the time discrete feedback signal SF* as a torque to the rotating body.
A co-simulation system comprising a plurality of subsystems, each subsystem representing a physical system of a vehicle, the co-simulation system comprising:
- a first subsystem of the co-simulation system, configured to simulate a first physical system, providing a first time continuous signal S1 describing a first output angular velocity of a rotating body of the first physical system;
- a continuous moving average, CMA, filter configured to filter the first time continuous signal S1 to form a time discrete first output signal S1*;
- a second subsystem of the co-simulation system, configured to simulate a second physical system, the second subsystem being configured to receive the time discrete first output signal S1* from the first subsystem, apply the angular velocity described by the time discrete first output signal S1* to the second physical system, and to provide a time discrete response signal S2* from the second subsystem describing a torque generated by the second subsystem;
- the first subsystem being further configured to:
- receive the response signal S2* and to form a time discrete feedback signal SF* based on the difference between the response signal S2* and a time discrete damping signal SD*, wherein the damping signal SD* is formed by applying an inertia to the rotating body of the first physical system, resulting in a time continuous damping signal SD representing a torque, followed by filtering the time continuous damping signal SD using a CMA-filter and applying a unit delay to form the time discrete damping signal SD*, thereby synchronizing SD* with S2*;
- and
- apply the time discrete feedback signal SF* as a torque to the rotating body.
Dependencies are inferred from the claim text.