Simulation model: Environment

Simulation model : Environment

Author

Description

  • Environment model

Update

  • [18/05/31] - Initial release - kyunghan
class py_sim.model_environment.Mod_Env(road_array_x_in, road_array_y_in, start_road_len=0)[source]

Bases: object

Module description here

ConfigVariables:
  • conf_rw_wheel
  • conf_jw_body
  • conf_brk_coef
  • conf_acc_coef
  • conf_veh_len
  • …
Submodules:
  • Body_config:
  • Dyn_config:
  • Lon_driven_in:
  • …
Operation:

Description operation here:

!!!Make operation diagram here!!!
# Module_name(in//out)
Motor_control(t_mot, w_mot // des_torque)
    >> Motor_driven(t_mot, w_mot // v_mot)
        >> Motor_elec_dynamics, Motor_mech_dynamics, Drive_shaft_dynamics
    >> Motor_torque_system(v_mot // des_torque)
Obj_add(object_in, object_param_in, object_s_location)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Road_config(start_road_len=0)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Road_curve_def(road_array_x_in, road_array_y_in, loc_env_road_s, conf_curve_val=0.001)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
Vehicle_init_config(veh_mod, road_index=0)[source]

Function overview here

Functional description

Code example wirght follows:

>>> [w_mot, t_mot, t_load] = Motor_control(t_mot_des)
...
Args:
  • Input parameters here
  • t_mot_des:
  • w_shaft:
  • …
returns:
  • Return of function here
  • w_mot: motor rotational speed [rad/s]
  • t_load: load torque from body model [Nm]
py_sim.model_environment.Ts = 0.01

global vairable: simulation sampling timeself.

you can declare other sampling time in application as vairable Ts