EHTC 2008Strasbourg

CTI: Next Generation Tire Model InterfacingMichael Gipser, Esslingen University of Applied Sciences, Germany

Interfacing of Suspension/Tire/Road Models

rim position and velocity

distributed contact forces

spindle forces and moments

detailed surface geometry

rigid or flexibleroad/terrain model

calls

calls

vehicle/suspension model

tire model

TYDEX STI

BMW AGRobert Bosch GmbHCentro Ricerche FiatContinental AGFHT Esslingen (the author)Ford Werke AGGoodyear S.A.IPG GmbHMercedes-Benz AGMichelinNedCarPorsche AG

PSASteyr-Daimler-PuchToyota (TCL)Volkswagen AGVolvo Car Corp.Volvo Truck Corp.TNOUniversity of BerlinUniversity of DelftUniversity of KarlsruheUniversity of Vienna

STI (Standard Tyre Interface)established between 10/1993 and 12/1996

by the TYDEX Working Group:tire model users and developers; no MBS software providers

TYDEX STI

STI (Standard Tyre Interface)

SUBROUTINE SUBROUTINE SUBROUTINE SUBROUTINE DTYREDTYREDTYREDTYRE ((((+ NDEV, ISWTCH, JOBFLG, IDTYRE,+ NDEV, ISWTCH, JOBFLG, IDTYRE,+ NDEV, ISWTCH, JOBFLG, IDTYRE,+ NDEV, ISWTCH, JOBFLG, IDTYRE,+ + + + TIME, DIS, TRAMAT, ANGTWC, VEL, OMEGA, OMEGAR,TIME, DIS, TRAMAT, ANGTWC, VEL, OMEGA, OMEGAR,TIME, DIS, TRAMAT, ANGTWC, VEL, OMEGA, OMEGAR,TIME, DIS, TRAMAT, ANGTWC, VEL, OMEGA, OMEGAR,+ + + + NDEQVR, DEQVAR,NDEQVR, DEQVAR,NDEQVR, DEQVAR,NDEQVR, DEQVAR, NTYPAR, TYPARR,NTYPAR, TYPARR,NTYPAR, TYPARR,NTYPAR, TYPARR,+ NCHTDS, CHTDST, ROAD, IDROAD,+ NCHTDS, CHTDST, ROAD, IDROAD,+ NCHTDS, CHTDST, ROAD, IDROAD,+ NCHTDS, CHTDST, ROAD, IDROAD,+ NROPAR, ROPAR, NCHRDS, CHRDST,+ NROPAR, ROPAR, NCHRDS, CHRDST,+ NROPAR, ROPAR, NCHRDS, CHRDST,+ NROPAR, ROPAR, NCHRDS, CHRDST,+ + + + FORCE, TORQUE,FORCE, TORQUE,FORCE, TORQUE,FORCE, TORQUE, DEQINI, DEQDER,DEQINI, DEQDER,DEQINI, DEQDER,DEQINI, DEQDER, TYRMOD,TYRMOD,TYRMOD,TYRMOD,+ NVARS, VARINF, NWORK, WRKARR,+ NVARS, VARINF, NWORK, WRKARR,+ NVARS, VARINF, NWORK, WRKARR,+ NVARS, VARINF, NWORK, WRKARR,+ NIWORK, IWRKAR, IERR)+ NIWORK, IWRKAR, IERR)+ NIWORK, IWRKAR, IERR)+ NIWORK, IWRKAR, IERR)

(A) suspension/rim tire

SUBROUTINE SUBROUTINE SUBROUTINE SUBROUTINE ROADROADROADROAD ((((+ + + + TIME, DIS, TIME, DIS, TIME, DIS, TIME, DIS, IFLAG, JFLAG, IDTYRE, IDROAD,IFLAG, JFLAG, IDTYRE, IDROAD,IFLAG, JFLAG, IDTYRE, IDROAD,IFLAG, JFLAG, IDTYRE, IDROAD,+ NROPAR, ROPAR, NCHRDS, CHRDS, NPRSUR, NROAD,+ NROPAR, ROPAR, NCHRDS, CHRDS, NPRSUR, NROAD,+ NROPAR, ROPAR, NCHRDS, CHRDS, NPRSUR, NROAD,+ NROPAR, ROPAR, NCHRDS, CHRDS, NPRSUR, NROAD,+ + + + Z, DZ, DDZ, Z, DZ, DDZ, Z, DZ, DDZ, Z, DZ, DDZ, DFLAG, PRSURF, IERR)DFLAG, PRSURF, IERR)DFLAG, PRSURF, IERR)DFLAG, PRSURF, IERR)

(B) tire road/terrain

TYDEX STI What Is Wrong With It?

� STI was meant for simple tire models like Magic Formula 1989 and 1994but: some modern tire models are most complex:• FTire model family• Rmod-K model family• CD-Tire model family

� STI is old-fashioned Fortran 77C and C++ not supported

� STI assumes: tire model is a small time-continuous sub-systemco-simulation mode not supported

� some definitions in 'STI standard' are ambiguous

� lack of memory management

� lack of management of concurrent tire instances

� lack of detailed output (geometry, footprint states,..)

� tire equations of motion mechanically wrong, if road marker is accelerated

STI (Standard Tyre Interface)

CTIImportant Features

� easy-to-use API, calling FTire Model Family and 3rd-party tire models from a wide variaty of different vehicle/suspension simulation programs

� supports C, C++, Fortran 77, Fortran 90, Fortran 95, ..

� implememted as plug-in (DLL / shared object)

� works in co-simulation mode

� dynamic memory management

� management of up to 50 concurrent tire instances

� management of operating conditions (inflation pressure, temperature,..)

� detailed output on demand• animation• wheel envelopes• tread states• plot signals• linearized LTI matrices• modal data

� record / replay function independent on calling MBS software and model

� mechanically correct support of moving roads

CTI (COSIN Tire Interface)

TYDEX STI

CTI (COSIN Tire Interface)

ctiComputeForcesctiComputeForcesctiComputeForcesctiComputeForces (handle, (handle, (handle, (handle, tttt,,,,rrrr,,,,AAAA,,,,vvvv,,,,wwww, mode, , mode, , mode, , mode, FFFF,,,,MMMM, status), status), status), status)

(A) suspension/rim tire

ctiEvaluateRoadHeightctiEvaluateRoadHeightctiEvaluateRoadHeightctiEvaluateRoadHeight (handle, (handle, (handle, (handle, tttt,,,,xxxx,,,,yyyy, , , , zzzz,,,,vxvxvxvx,,,,vyvyvyvy,,,,vzvzvzvz,,,,mumumumu, status), status), status), status)

(B) tire road/terrain

+ more than 35 additional and optional API functions

ctiEvaluateRoadCoursectiEvaluateRoadCoursectiEvaluateRoadCoursectiEvaluateRoadCourse (handle, (handle, (handle, (handle, ssss, , , , xxxx,,,,yyyy,,,,zzzz, .., status), .., status), .., status), .., status)

(C) driver road/terrain

Inhouse

CASCaDE

COSIN/mbs

Simulink

Simpack

MotionSolve

Adams

CTICalling Tree

CTI

FTire Family

HTire

RTire

FETire

FTire

MF 1989

MF 2002

UHM pluginUTM plugin

CTIFTire Model Family

UHM plugin

Inhouse

CASCaDE

COSIN/mbs

Simulink

Simpack

MotionSolve

Adams

CTI

UTM plugin

FTire Family

HTire

RTire

FETire

FTire

MF 1989

MF 2002

CTIFTire Example: Misuse Test Case

FTire Family

HTire

RTire

FETire

FTire

MF 1989

MF 2002

FTire

Flexible Ring Tire Model

CTIFTire Example: Side-Slip Sweep

FTire Family

HTire

RTire

FETire

FTireFTire

Flexible Ring Tire Model

CTIFTire Example: Tread Wear Simulation

FTire Family

HTire

RTire

FETire

FTireFTire

Flexible Ring Tire Model

CTIFETire Example: Mode Shape and Stress Distribution

FTire Family

HTire

RTire

FETireFETire

FTire

Coarse Finite Element Tire Model

CTIRTire

FTire Family

HTire

RTire

FETire

RTire

FTire

Rigid Ring Tire Model

� simplified rigid-body belt dynamics

� ground pressure distribution approximated by shape functions

� tread model like FTire

� real-time capable

HTireHTire

CTIHTire

FTire FamilyRTire

FETire

FTire

Handling Tire Model

� Magic-Formula-based simplified tire model for handling on mildly uneven roads

� MF versions 1989 and 2002

� completed with efficient contact algorithm

� completed with 1st order transient behavior

� combined slip

� several use modes

� real-time capable

MF 1989

MF 2002

HTireHTire

CTIHTire UHM

FTire FamilyRTire

FETire

FTire

User-Defined Handling Model

MF 1989

MF 2002

� plug-in for user-defined steady-state F&M modelsUHM plugin

uhmLoadTireDatauhmLoadTireDatauhmLoadTireDatauhmLoadTireData ((((filefilefilefile,..),..),..),..)

uhmComputeForcesuhmComputeForcesuhmComputeForcesuhmComputeForces ((((defldefldefldefl,..,,..,,..,,..,kappakappakappakappa,,,,alphaalphaalphaalpha,..,,..,,..,,..,FxFxFxFx,,,,FyFyFyFy,,,,FzFzFzFz,,,,MxMxMxMx,,,,MyMyMyMy,,,,MzMzMzMz))))

CTIUTM

User-Defined Tire Model

� plug-in for user-defined dynamic tire models

HTire

FTire FamilyRTire

FETire

FTire

MF 1989

MF 2002

UHM plugin

CTI

FTire Family

HTire

RTire

FETire

FTire

MF 1989

MF 2002

UHM pluginUTM plugin

CTIUTM Program Interface

utmLoadTireDatautmLoadTireDatautmLoadTireDatautmLoadTireData ((((handle,..,handle,..,handle,..,handle,..,filefilefilefile))))

utmLoadRoadDatautmLoadRoadDatautmLoadRoadDatautmLoadRoadData ((((handle,..,handle,..,handle,..,handle,..,filefilefilefile))))

utmComputeForcesutmComputeForcesutmComputeForcesutmComputeForces (handle, (handle, (handle, (handle, tttt,,,,rrrr,,,,AAAA,,,,vvvv,,,,wwww,.., ,.., ,.., ,.., FFFF,,,,MMMM))))

utmCloseutmCloseutmCloseutmClose (handle)(handle)(handle)(handle)

User-Defined Tire Model Plug-In

Inhouse

CASCaDE

COSIN/mbs

Simulink

Simpack

MotionSolve

Adams

CTICTI/roads

CTI

FTire Family

UTM plugin

HTire

RTire

FETire

FTire

MF 1989

MF 2002

UHM plugin

CTI/roads

CTI/roadsSupported Classes of Road Models

CTI/roads

MBS 3

MBS 2

MBS 1

User 2

User 1

IPG-Road

TYDEX/STI

URM plugin

USM plugin

internal eval.

Shell (shl)

Wavefront

RDF 2D+3D

FTR

CRG

RGR

COSIN/ev

3rd party eval.

� COSIN/ev Road Models (Cosin)

� RGR Roads (Regular Grid Road Files, Cosin)

� CRG Roads (Daimler and TÜV SÜD)

� FTR Roads (VI-grade)

� RDF 2D and 3D files

� WaveFront triangulation files (.obj)

� Shell triangulation files (.shl)

� URM (Program Interface to User-Defined Road Models)

� USM (Program Interface to User-Defined Soft-Soil Models)

� interface to TYDEX/STI-compatible roads

� interface to IPG-Road

� interfaces to several user-specific proprietary models

� interfaces to several proprietary road models of calling MBS packages

CTI/roadsSupported Road Models

CTI/roads: Supported Road Models

CTI/roads

urmurmurmurm (handle, (handle, (handle, (handle, tttt,,,,xxxx,,,,yyyy, , , , zzzz,,,,vxvxvxvx,,,,vyvyvyvy,,,,vzvzvzvz,,,,mumumumu, ..,file), ..,file), ..,file), ..,file)

User-Defined Road Model Plug-In

User-Defined Soft Soil Model Plug-In

detailed description in SAE 2008-01-1410

CTI/roadsSoil Model Demonstrator

CTI/roadsTools

2D and 3D visualization

RGR file generation

RGR file processingSHL file generation

CTI

CTI, CTI/roads, FTire, and HTirewill be available in MotionSolveby the end of 2008

CTI

CTI and FTire demo versions papers & presentations

animationsdocumentation

updates

at

www.ftire.com

thanks for listening..thanks for listening..thanks for listening..thanks for listening..

CTI, CTI/roads, FTire, and HTirewill be available in MotionSolve

by the end of 2008