The study of “real-time” simulation of planar curvilinear motion of six-wheel drive vehicle

Abstract

The main focus of this research is to verify the mathematical model of the vehicle motion, which operation is carried out in real time. The subject of this study is the model, which describes planar curvilinear motion of six-wheel drive vehicle. Correct operation of this model is based on the methods and criteria currently used in the foreign and domestic research. The estimating parameters for the model are the linear and angular kinematic characteristics of planar motion of the vehicle. The assessment criterion is the value of relative error no more than 10% when comparing at the same time the parameters of the model with the parameters of the reference model, which correctness of operation is confirmed by the results of experiments on the real object. Research is carried out in several stages at different driving modes and various parameters of the simulation. The duration of the test "races" is 30 sec. At the end of each race the comparison of the results with the data of "reference" model is made and determination of relative error of simulation and its comparison with the established criterion of correctness are done. According to the study was found out that the mentioned real-time verification of the model satisfies a predetermined criterion of verification when using step of no more than 0,001 sec. By increasing the steps of realization there are significant deviations of the model parameters on the results of "reference" model, in this case, the real-time model can be used to address a limited range of purposes. Reducing simulation step facilitates approximation to the behavior of the test object to the "reference" but in real-time operation this approach requires a significant increase in computing power.