Entry Points

BobLib standard entry points are Modelica models intended for BobSim workflows and direct OpenModelica experiments.

BobLib.Experiments.Standards.VehicleSim

VehicleSim is the main maneuver simulation wrapper. It follows the VehicleInterfaces demo-style stack while inserting BobLib's detailed physics through explicit subsystem redeclares.

The visible vehicle-level assembly includes:

• road and atmosphere models from VehicleInterfaces
• BobLib driver environment and brakes through VehicleInterfaces boundaries
• BobLib chassis and suspension
• BobLib aero interface and CFD aero map
• BobLib battery pack
• BobLib VCU
• BobLib DC inverter
• BobLib electric motor
• BobLib rear final drive and differential
• Modelica MultiBody world

The assembly uses one shared VehicleInterfaces controlBus. Subsystems publish their owned measurements and commands on their domain buses: chassis ride heights feed aero through chassisBus, chassis/battery/motor measurements feed the VCU through their buses, the driver environment publishes driver intent, and the VCU publishes electric-drive and mechanical-brake requests for downstream subscribers. With the default regen blend, negative PI speed-control torque goes to the mechanical brake request. Because VehicleInterfaces 2.0.2 atmospheres have no control-bus connector, BobLib also adds a shared AtmosphereBus; atmosphere publishes density and wind there, and aero subscribes to compute relative airspeed locally.

Current maneuver mode parameter:

useMode	Mode
0	open-loop ramp steer
1	open-loop sinusoidal steer
2	step steer

Common output variables include:

• speed
• accX
• accY
• yawVel
• roll
• sideslip
• handwheelAngle
• handwheelTorque
• leftSteerAngle
• rightSteerAngle
• Fz_FL, Fz_FR, Fz_RL, Fz_RR

BobSim uses this entry point for RampSteer, SteadyStateEval, and TransientEval workflows.

Tire Transients

Vehicle wrappers can redeclare the MF52 tire slip model to:

BobLib.Chassis.Suspension.Tires.MF52.SlipModel.TransientSlip

for front-left, front-right, rear-left, and rear-right tires. The transient slip model receives relaxation parameters from the matching tire model record:

pVehicle.pFrTireModel.relaxation
pVehicle.pRrTireModel.relaxation

The relaxation data is encoded in:

BobLib.Records.VehicleRecord.Chassis.Suspension.Templates.Tire.MF52.RelaxationRecord

If the relaxation coefficients are not populated, the transient slip model falls back to default longitudinal and lateral relaxation lengths.

Animation And Batch Runs

BobLib standard models use:

inner parameter Boolean headless = false

by default on the public simulation paths. This means OMEdit examples open with MultiBody animation geometry visible. Set headless=true for batch or CI runs where visualization geometry is not needed.

BobLib.Experiments.Standards.FourPostSim

FourPostSim isolates suspension/chassis response for heave and roll sweeps. It extends a static four-post architecture template and uses FourPostEvalRecord outputs so K&C-style response data can be extracted consistently.

Common output records:

• frKnC
• rrKnC

BobSim uses this entry point for FourPostEval and downstream suspension metrics.