Driver model for WLTC-3 cycle (PI controller)#
Block appearance in REPEAT VISION#
This unit is a vehicle speed control system for precise following of a given driving cycle.
Basic operating principle:
The unit generates a command signal for acceleration or braking, aiming to minimize the error between the current vehicle speed and the target speed according to the WLTC Class 3 cycle. The control algorithm is implemented based on a proportional-integral (PI) controller.
Key customizable settings and features:
The PI controller parameters, the proportional gain (Kp) and the integral gain (Ki), are adjustable to optimize the system response (speed, overshoot, accuracy).
Integral Component Limiting (Anti-Windup): The integrator has adjustable saturation limits (Maximum and Minimum). This prevents unwanted error accumulation (the “windup” effect) and improves operational stability.
Integrator Reset: The integral component can be instantly reset to zero via the external “Integrator Reset” input signal.
Error signal filtering: The speed error signal is passed through a first-order filter with an adjustable time constant before being fed to the controller. This smooths out sudden changes and reduces the impact of measurement noise on controller operation.
Fixed setpoint: The target speed profile corresponds to the standard WLTC Class 3 driving cycle and cannot be changed by the user.
1. Properties#
Property |
Default Value |
Description |
Units of measurement |
|---|---|---|---|
Proportional coefficient |
0.6 |
Proportional link constant |
– |
Integral coefficient |
0.8 |
Constant of the integrating link |
– |
Upper integral limit |
1 |
Maximum output signal of the integrating element |
– |
Lower integral limit |
-1 |
Minimum output signal of the integrating element |
– |
Error filter time constant |
0.01 |
– |
s |
2. Inputs and outputs#
Parameters |
Input/Output |
Description |
Units of measurement |
Port type |
|---|---|---|---|---|
Velocity |
Input |
– |
km/h |
Automation |
Integrator reset |
Input |
– |
– |
Automation |
Command signal (-1…1) |
Output |
– |
– |
Automation |
WLTC-3 velocity |
Output |
– |
km/h |
Automation |
In order to see the connection capabilities of the block, you need to go to page Description of block ports