rFPro requires a large number of input and output signals to be able to run a third party vehicle model as part of a Driver-in-the-loop simulator. The library includes a template that defines the required signals and you simply extends this Modelica model and replace the vehicle model with your own vehicle dynamics model.
Before exporting the model from Dymola it can be run in a test environment within Dymola. This is used to debug the model and ensure that it is working correctly and runs at a suitable rate for use with rFPro. After it passes the tests, the model is built into an App to be used in vTAG/PTWinSim to interface with rFPro.
The template includes collision handling, the interface with the motion platform, the wheel to track interface, the atmosphere interface, a ground interface, the driver input interfaces as well as the other signals that are required by rFPro. It can also be easily extended to output additional telemetry channels or for interfacing to vehicle controllers, etc.
The vehicle model has to be able to run in real-time so the models provided have been designed to be efficient and avoid unnecessary events. This is delivered by the VeSyMA – Suspensions and VeSyMA – Motorsports Libraries which have been designed with real-time simulation in mind. The approach enables the same vehicle dynamics model to be used for offline experiments such as kinematic tests, 7 post rig and dynamic driving events as well as for the Driver-in-the-loop environment