Real-time Co-simulation Method Study for Vehicle Steering and Chassis System

Real-time co-simulation is widely used in complex system development. This paper presented an application of our driver-in-the-loop simulator, the vehicle steering and chassis system are implemented on different real-time machines coupled with input-output signals. Results inconsistent with the mono simulation reference may be generated due to the real-time co-simulation drawbacks: the delay effect and coupling errors from modular integration. To overcome the drawbacks, a coupling element as an additional subsystem has been proposed by the author. The coupling element consists of a delay compensation part based on adaptive filters and a coupling error correction part based on the energy-preserving method. This coupling method has been tested with the vehicle steering and chassis model. More stable and consistent results are obtained. The frequency domain analysis and implementation method have been provided.