MotionView User's Guide

Additional Altair Driver File Blocks

Additional Altair Driver File Blocks

 Previous topic Next topic No expanding text in this topic  

Additional Altair Driver File Blocks

 Previous topic Next topic JavaScript is required for expanding text JavaScript is required for the print function  

The following sections are either required or optional to the Altair Driver File:

Header

$-------------------------ALTAIR_HEADER

[ALTAIR_HEADER]

FILE_TYPE          = 'ADF'

FILE_VERSION       = 1.0

FILE_FORMAT        = 'ASCII'

 

Type

Requirement

[HEADER]                                    REQUIRED

BLOCK NAME

String

REQUIRED

FILE_TYPE

Attr-String

REQUIRED

•Read and extract information
•Multiple file format support

FILE_VERSION

Attr-Real

REQUIRED = 1.0

FILE_FORMAT

Attr-String

OPTIONAL

Optional currently, required for future enhancement.

Units

[UNITS]

(BASE)

{length   force      angle       mass    time}

'meter'   'newton'   'radians'   'kg'    'sec'

•Units are not case sensitive – meter, Meter, METER, or MeTer are all interpreted same.
•Units block is required for all types of data files to be read by the driver.

Dimension

Options

Conversion factor to SI

Length

meter or meters or m

foot or feet or ft

mile or miles

millimeter or millimeters or mm

inch or inches or in

1.0

0.3048

1609.344

0..001

0.0254

Force

Newton

Dyne

KNewton

Ounce_Force

Kilogram_Force or Kgf

KPound_Force

Pound_Force or lbf

1.0

0.00001

1000

0.27801

9.80665

4448.2216

4.4482216

Angle

Radian or radians or rad or r

Degrees or degree or deg or d

1.00

0.017453

Mass

Kg or kilogram or kilograms

G or gram or grams

Pound or pounds or lb or lbs

1.0

0.001

0.453592

Time

sec or second or seconds

milliseconds or millisecond or millisec or millisecs or ms

1.0

0.001

Signal_Global_settings

[THROTTLE_STANDARD]

MAX_VALUE           = 1

MIN_VALUE           = 0

SCALING_FACTOR      = 1

SMOOTHING_FREQUENCY = 5

INITIAL_VALUE       = 0.0

 

Type

Requirement & Comments

[STEERING_STANDARD]                                  OPTIONAL

BLOCK NAME

String

Required

Global settings on steer output.

MAX_VALUE

Attr - real

Optional

Upper bound

MIN_VALUE

Attr - real

Optional

Lower bound

SMOOTHING_FREQUENCY

Attr - real

Optional

Cuts changes to the signal above this frequency (low-pass filter).

$---------------------------STEERING_STANDARD

[STEER_STANDARD]

MAX_VALUE                =  6.28

MIN_VALUE                = -6.28

SMOOTHING_FREQUENCY = 5

INITIAL_VALUE       = 0.0

$----------------------------THROTTLE_STANDARD

[THROTTLE_STANDARD]

MAX_VALUE           = 1

MIN_VALUE           = 0

SMOOTHING_FREQUENCY = 5

INITIAL_VALUE       = 0.0

$----------------------------BRAKING_STANDARD

[BRAKE_STANDARD]

MAX_VALUE           = 1

MIN_VALUE           = 0

SMOOTHING_FREQUENCY = 5

INITIAL_VALUE       = 0.0

$----------------------------GEAR_STANDARD

[GEAR_STANDARD]

MAX_VALUE           = 6

MIN_VALUE           = 1

INITIAL_VALUE       = 1

$----------------------------CLUTCH_STANDARD

[CLUTCH_STANDARD]

MAX_VALUE           = 1

MIN_VALUE           = 0

INITIAL_VALUE       = 0.0

Type

Requirement & Comments

[THROTTLE_STANDARD]

OPTIONAL

Parameters similar to STEERING_STANDARD block.

[BRAKE_STANDARD]

OPTIONAL

Parameters similar to STEERING_STANDARD block.

[CLUTCH_STANDARD]

OPTIONAL

Parameters similar to STEERING_STANDARD block.

[GEAR_STANDARD]

OPTIONAL

Parameters similar to STEERING_STANDARD block.

Exceptions:

GEAR_STANDARD does not have SCALING_FACTOR, SMOOTHING, and FEEDBACK_FREQUENCY attributes

MANEUVERS_LIST

$------------------------------------------MANEUVERS_LIST

[MANEUVERS_LIST]

{name            simulation_time   h_max   print_interval}

'GO_STRAIGHT'    2.0               0.001   0.01

'LEFT_TURN'      12.0              0.001   0.01

'RIGHT_TURN'     10.0              0.001   0.01

 

Type

Requirement & Comments

[MANEUVERS_LIST]                                 REQUIRED

BLOCK NAME

String

REQUIRED

<MANEUVERS_LIST>

MANEUVERS_TABLE

Table

REQUIRED

Size number of maneuvers * 4

MANEUVERS_TABLE

COLUMN 1

Attr - string

REQUIRED

<name>

List of block names of the maneuver information

COLUMN 2

Attr - real

REQUIRED

<simulation_time>

Simulation time at which the maneuver transition takes place.  In case none of the end conditions hold true or no end condition is defined.

COLUMN 3

Attr – real

REQUIRED

<h_max>

Maximum solver step size for the maneuver.

COLUMN 4

Attr-real

REQUIRED

<print_interval>

Print interval for the maneuver.

MANEUVERS

[LEFT_TURN]

TASK = 'STANDARD'

(CONTROLLERS)

{DRIVER_SIGNAL      PRIMARY_CONTROLLER        ADDITIONAL_CONTROLLER}

STEER              OL_LEFT_STEER             NONE

THROTTLE           FEED_FORWARD_TRACTION     NONE

BRAKE              FEED_FORWARD_TRACTION     NONE

(END_CONDITIONS)

{SIGNAL       GROUP   ABS   OPERATOR   VALUE   TOLERANCE   WATCH_TIME}

ROLL_ANGLE   0       Y     SS         0       0.05        0.5

TIME         0       N     GT         12      0.001       0.0

STEER        1       Y     GT         6.0     0.001       0.0

$------------------------------------------------------------------------

 

Type

Requirement & Comments

[{MANEUVERS_TABLE(0 ,0)}]               REQUIRED

BLOCK NAME

String

REQUIRED

TASK

Attr String

OPTIONAL

Place holder for future development for different types of maneuvers.

(CONTROLLERS)

Sub-block

REQUIRED

Contains table with list of required controllers for the maneuver.

(CONTROLLERS)                                  REQUIRED

Map of driver signals and controllers to be assigned to them:

DRIVER_SIGNAL

CONTROLLER_NAME

Map

Table

REQUIRED

COLUMN 1

Attr - string

<DRIVER_SIGNAL>

List of active driver output signals. List should contain:

Primary required signals

-STEER
-THROTTLE
-BRAKE

Primary optional signals

(Required only for manual transmission)

-GEAR
-CLUTCH

Additional controllers can be switched with name ADDITIONAL.

List can have only one instance of primary signals and multiple instances of ADDITIONAL.

COLUMN 2

Attr - real

<PRIMARY_CONTROLLER >

Block names of the primary controllers.

Primary controllers are in charge of populating the driver signal output.

COLUMN 3

Attr - real

<ADDITIONAL_CONTROLLER >

Block names of the additional controllers.

*Not every controller can be added as additional controller.

*Example:  PID with Feedforward traction controller.

END_CONDITIONS

SubBlock

REQUIRED

SUB_BLOCK_NAME

String

REQUIRED

Name should be “END_CONDITIONS”.

TABLE

String

REQUIRED

End conditions for the maneuver.

COLUMN1

String

REQUIRED

<SIGNAL>

Key word for the signal name.

COLUMN2

Integer

REQUIRED

<GROUP>

Unique number for the group. Same group signals are OR-ed together whereas different group number signals are AND-ed together.

COLUMN3

Bool

REQUIRED

<ABS>

Absolute value.

If true absolute value of the signal is compared.

COLUMN4

String

REQUIRED

<OPERATOR>

<LT> for “Less than” operation

<GT> for “Greater than” operation

<ET> for “Equal to” operation

<SS> for “Steady state” operation

COLUMN5

Real

REQUIRED

<VALUE>

Compare value

COLUMN6

Real

REQUIRED

<TOLERANCE>

Comparison tolerance

COLUMN7

Real

REQUIRED

<WATCH TIME>

All sensors are watched for this value of specified time as soon as the condition is true for the very first time. Sensor gets actuated when the condition is true continuously for watch time.

$Example ADF end conditions block

(END_CONDITIONS)

{SIGNAL    GROUP   ABS   OPERATOR   VALUE   TOLERANCE   WATCH_TIME}

 LONG_VEL    0     Y      LT        15.0     0.001      0.50

 ROLL_ANGLE  1     Y      SS         0.0     0.0001     1.50

 PITCH_ANGLE 1     Y      ET         0.0     0.0001     2.0

 TIME        2     N      GT         3.0      0.001    0.00

$-----------------------------------------------------------------------

The end conditions specified above mean that driver should end the maneuver when:

altair_driver_end_conditions_formula_mv

Signal Names

Meaning

Output Request ID

Comment

Component

TIME

Simulation Time

NA

NA

NA

DIS

Distance Traveled

REQ/70000066

Driver Outputs

F2

LONG_VEL

Longitudinal Velocity

REQ/70000068

Driver Inputs (2)

F2

LAT_VEL

Lateral Velocity

REQ/70000068

Driver Inputs (2)

F3

LONG_ACC

Longitudinal Acceleration

REQ/70000069

Driver Inputs (3)

F2

LAT_ACC

Lateral Acceleration

REQ/70000069

Driver Inputs (3)

F3

YAW_RATE

Yaw rate

REQ/70000068

Driver Inputs (2)

F4

ROLL_RATE

Roll rate

REQ/70000068

Driver Inputs (2)

F6

PITCH_RATE

Pitch rate

REQ/70000068

Driver Inputs (2)

F7

CG_X

Vehicle CG X

REQ/70000067

Driver Inputs (1)

F2

CG_Y

Vehicle CG Y

REQ/70000067

Driver Inputs (1)

F3

CG_Z

Vehicle CG Z

REQ/70000067

Driver Inputs (1)

F4

ROLL_ANGLE

Roll Angle

REQ/70000067

Driver Inputs (1)

F6

YAW_ANGLE

Yaw Angle

REQ/70000067

Driver Inputs (1)

F4

PITCH_ANGLE

Pitch Angle

REQ/70000067

Driver Inputs (1)

F7

ENG_SPD

Engine Speed

REQ/70000068

Driver Inputs (2)

F8

STEER

Steer Angle

REQ/70000066

Driver Outputs

F2

THROTTLE

Throttle Signal

REQ/70000066

Driver Outputs

F3

BRAKE

Brake Signal

REQ/70000066

Driver Outputs

F4

GEAR

Gear Signal

REQ/70000066

Driver Outputs

F6

CLUTCH

Clutch Signal

REQ/70000066

Driver Outputs

F7