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Swept Sine Reference Generator

Generate swept-sine maneuver reference signals

Description

The Swept Sine Reference Generator block sets the parameters that configure the swept-sine maneuver. Once the vehicle reaches the target longitudinal velocity, the block generates a sinusoidal steering command with linearly increasing frequency, up to the maximum specified in the allotted time.

Use the Steady-state initial conditions parameter to specify the initial conditions for the maneuver. By default, the parameter is set to Initialize from model, and the simulation starts with the vehicle at rest at the specified initial position. If you want to start the simulation at the non-zero steady-state velocity:

  1. Set Steady-state initial conditions to Solve using block parameters.

  2. On the Steady-State Solver tab, specify the initial conditions, workspace variable, and solver settings. Click Generate steady state solution.

  3. After the simulation completes, set Steady-state initial conditions to Resume from a workspace variable.

  4. Set Steady-state solution to start from, ssVar to the workspace variable you specified in step 2.

  5. Run the simulation.

Ports

Input

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Bus containing vehicle feedback signals, including velocity, acceleration, and steering wheel torque.

Output

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Bus containing the vehicle reference signals, including longitudinal and lateral displacement, and steering.

Parameters

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Maneuver

Use the Steady-state initial conditions parameter to specify the steady-state initial conditions for the maneuver. By default, the simulation will not find or start the simulation at the steady-state operating points.

SettingDescription
Initialize from model

Simulation starts maneuver at the simulation start time specified by Maneuver start time, t_start at longitudinal velocity of 0.

Solve using block parameters

Simulation finds the steady-state operating points using the parameters on the Steady-State Solver tab.

Resume from a workspace variable

Simulation starts at the steady-state operating points workspace variable specified by Steady-state solution to start from, ssVar.

Workspace variable containing the steady-state operating points.

Dependencies

To enable this parameter, set Steady-state initial conditions to Resume from a workspace variable.

Maneuver start time, in s.

Dependencies

To enable this parameter, set Steady-state initial conditions to Initialize from model.

Target velocity.

Units for target velocity.

Sinusoidal steering amplitude, in deg.

Cut off frequency to stop the maneuver, in Hz.

Sweep time, in s.

Steady-State Solver

Initial vehicle CG position along the earth-fixed X-axis, in m.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Initial vehicle CG position along the earth-fixed Y-axis, in m.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Initial vehicle yaw angle about the earth-fixed Z-axis, in rad.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Steady-state solver velocity tolerance.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Maximum simulated time to reach steady-state, in s.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Name of workspace variable containing steady-state operating points.

Dependencies

To enable this parameter, set Steady-state initial conditions to Solve using block parameters.

Introduced in R2019a