model-in-the-loop simulation including automotive control systems

Model-in-the-Loop Simulation includingAutomotive Control Systems

Volker Dorsch & Antje Holm, Faculty of Mechanical Engineering

SIMPACK User Meeting 201118th - 19th May, Salzburg, Austria

-2-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems

Overview

● Development Scenario● Mechanical Multibody Simulation (MBS) Vehicle Model● Validation of the Model● Yaw Rate Stability Control System● Torque Vectoring System● Co-Simulation of SIMPACK and Matlab/Simulink®

● Simulation Results● Conclusions

-3-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems

Development Scenario

Controller-Function Model

Real System

Vehicle Model

Validation

Hardware (ECU, Network)

Code

HiL

MiL, SiL

Real Vehicle

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SIMPACK MBS Model

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MBS model: front suspension

Suspension MBSModel

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SIMPACK Model: K & C of Front Suspension

-40 -30 -20 -10 0 10 20 30

-100

-50

0

50

100

150

Toe angle (min)

Def

lect

ion

(mm

)

measurement

simulation

-0.5 0 0.5 1 1.5 2 2.5

-100

-50

0

50

100

150

Camber angle (deg)D

efle

ctio

n (m

m) measurement

simulation

Toe angle

Camber angle

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SIMPACK Model: Rear Suspension

Suspension MBS Model

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SIMPACK Model: K & C of Rear Suspension

Toe angle

Camber angle

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SIMPACK Model: K & C of Rear Suspension

Toe angle

Camber angle

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SIMPACK Model: Step Steering Input

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SIMPACK Model: Sinusoidal Steering Input

-12-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems

Yaw Rate Control: Using Braking Forces

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Yaw Rate Control System

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Co-Simulation

®

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Co-Simulation: Input - Output

u-vector:normal forceson brake pads

y-vector:- (velocity)- yaw rate- steering angle- wheel speeds- acceleration- (side slip angle)

-16-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems

Torque Vectoring

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Torque Vectoring

computedesiredyaw rate

des

actPID

controller

torquedistribution

vehiclemodel

computedifferenceof torque

-18-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems

Torque Vectoring

compute desired yaw rateby single track model

compare actual anddesired yaw rate

PIDcontroller

actual values from vehicle model

MBS vehicle model

compute torque difference

torque distribution

initial, non-controlled torques from engine

-19-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems

Co-Simulation: Input - Output

u-vector:driving torques y-vector:

- (velocity)- yaw rate- steering angle- wheel speeds- acceleration- (side slip angle)

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Yaw Rate Control: VDA lane change

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Yaw Rate Control: double lane change

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Yaw Rate Control: double lane change

Video with and without control

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Torque Vectoring: steady state cornering

Stee

ring

angl

e

Lateral acceleration

Torquedistribution

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Torque Vectoring: j-turn

Steering angle

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Torque Vectoring: leaving a turn

Yaw rate

Steering angle

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Torque Vectoring: leaving a turn

Video with and without control

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Conclusion and Outlook

● Validated mbs vehicle model as a basis● Co-Simulation of SIMPACK and Matlab/Simulink® for inclusion of

control systems● Yaw rate control and torque vectoring system

● Optimization of both systems (control parameters, slip control)● Combine both systems● Implementation of further control systems (e.g. semi-active or

active suspension, active steering, active anti roll bar etc.)● Implementation of CAN bus behaviour● Effects of CAN bus errors/failures on vehicle behavior