The present paper shows the capabilities of a distributed real-time co-simulation environment merging simulation models and testing facilities for developing and verifying electric vehicles. This environment has been developed in the framework of the XILforEV project and the presented case is focused on a ride control with a real suspension installed on a test bench in Spain, which uses real-time information from a complete vehicle model in Germany. Given the long distance between both sites, it has been necessary to develop a specific delay compensation algorithm. This algorithm is general enough to be used in other real-time co-simulation frameworks. In the present work, the system architecture including the communication compensation is described and successfully experimentally validated.
This paper presents the validation of an integrated chassis controller that unites three groups of actuators for the electric vehicle (EV) with independent in-wheel electric motors (IWMs) for each wheel. Controlled actuators are the IWMs, the active suspension, and the braking system. The models of test benches and the designed architecture of the X-in-the-loop network are presented. The proposed design approach allows testing the developed controller on a vehicle model in real-time and on hardware components.
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