Open AccessVirtual tests of robotic vehicle units for virtual commissioning
Author(s) -
С. П. Орлов,
Орлов Сергей Павлович,
Elizaveta E. Bizyukova,
Бизюкова Елизавета Евгеньевна,
Anastasia E. Iakovleva,
Яковлева Анастасия Евгеньевна
Publication year - 2021
Publication title -
vestnik samarskogo gosudarstvennogo tehničeskogo universiteta. seriâ: tehničeskie nauki/vestnik samarskogo gosudarstvennogo tehničeskogo universiteta. seriâ, tehničeskie nauki
Language(s) - English
Resource type - Journals
eISSN - 2712-8938
pISSN - 1991-8542
DOI - 10.14498/tech.2021.1.4
Subject(s) - chassis , process (computing) , automotive industry , truck , virtual prototyping , engineering , computer science , visualization , simulation , virtual machine , vehicle dynamics , control engineering , automotive engineering , artificial intelligence , mechanical engineering , operating system , aerospace engineering
The creation of robotic vehicles for agricultural purposes is a promising direction in the automotive industry. The complexity of the self-driving truck's design, work in difficult operating conditions, and a large number of measuring devices and processing subsystems determine the relevance of creating a virtual test system. These tests are part of the overall virtual commissioning process for a robotic vehicle. The article discusses a set of basic subsystems that provide virtual tests based on a model-based approach: mathematical modeling, measurement modeling, information subsystem with databases, visualization and documentation subsystem. Metrological models of measuring channels for virtual tests have been developed, allowing simulating random vehicle parameter changes. The testing process covers all the most essential components of a robotic vehicle. For example, the article presents a dynamic model of the braking system of a robotic chassis and shows the results of braking modes' virtual tests. The developed virtual test system is used to create a KAMAZ truck as part of a robotic system for agricultural vehicles.