block diagram cooperative adaptive cruise control
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massimiliano frasca
on 22 Jun 2022
Commented: massimiliano frasca
on 22 Jun 2022
hi everyone, I'm trying to realize the following block diagram on simulink
where:
H=h*s+1;
G=1/(s^2*(tau*s+1));
K=kp+kd*s+kdd*s^2;
I realized this block diagram on simulink
is it correct how I represented the improper function?
when I run the simulation, I receive this message:
A valid state attribute should be a non-missing string array, a character vector, a cell array or a valid MATLAB structure.
thanks for your help!!
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Accepted Answer
Sam Chak
on 22 Jun 2022
Actually, I have trouble reading that conference article. If authors set to prevent jerk, why did they propose in the first place? Anyhow, here is my attempt, which may not reflect the authors did (cause I don't how they did it). The and may actually refer to the vehicles behind the CCAC-equiped vehicle. I avoid using the derivative block, especially the Double-D blocks.
3 Comments
Sam Chak
on 22 Jun 2022
Ya, most papers don't state the obvious for some unknown reasons, either they don't want to let young people or they simply follow others in the literature. In Simulink or in Transfer Function mode (as per Fig. 3), one definitely cannot enter Eq.(8) just like that. So, we have to integrate Eq.8 to obtain
This approach can take care of simultaneously.
How do get the errors and without using the Derivative Block?
This sentence states that can be obtained from ,. If and we assume that or a slow-varying reference, then and thus, . That's why I tapped this after Integrator2 block and multiplied it with the Kd block and changed the sign to minus '–' at the summation point. So, I can avoid using the Derivative block. Do it similarly for , this can be tapped from the acceleration output .
Also, I didn't use Eq.(14). Instead, from Eq.(16), you see the idea already where , output of Integrator2 block. One thing I don't like writing style of the paper because sometimes, they are in time-domain, other times they are in s-domain.
I hope the Simulink model gives you new insights on the modeling approach and skills.
If you find my explanations and Simulink model are helpful, please consider accepting ✔ and voting 👍 the Answer. Thanks.
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