Co-simulation methodology for electric vehicles using Matlab and Webots : Case of a golf car

摘要

• Modeling 7-DOF vehicle dynamics model for enhance precision and control of the electric vehicle's propulsion system and Webots for simulating the vehicle's physical dynamics and environment • Yaw rate, lateral and longitudinal velocity estimation and optimisation • to ISO 4138:2004(E) test mode process • Using Open Dynamics Engine (ODE) for physical simulation which Compatible with SUMO for possible microscopic traffic simulations. Research focused on electric vehicles is increasingly numerous, regularly relying on design methods on the traction chain, ergonomics and autonomy, thus undermining the passage necessary for the realization of a prototype that is simulation. This paper propose a methodology for co-simulating electric vehicles in a 3D environment impacting on a traction chain developed in Matlab. According to ISO 4138:2004(E), using open-loop test methods refers to an approach for analyzing vehicle dynamics and performance when maintaining a constant circular trajectory at a steady speed. This work use the constant-speed and varied steering-wheel angle test method, mesure yaw rate, lateral velocity and calculate side slip angle. The simulation results show that the combination of Webots and MATLAB, while adhering to the dynamic modeling of an electric vehicle, is an excellent option for simulation testing. This integration allows for realistic simulations, leveraging Webots' advanced 3D robotics environment and MATLAB's robust computational capabilities, to model vehicle dynamics, control strategies, and performance in diverse scenarios. This co-simulation approach provides a powerful platform for validating and optimizing electric vehicle designs.