model-in-the-loop simulation including automotive control systems
TRANSCRIPT
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
-4-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
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
-7-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
SIMPACK Model: Rear Suspension
Suspension MBS Model
-8-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
SIMPACK Model: K & C of Rear Suspension
Toe angle
Camber angle
-9-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
SIMPACK Model: K & C of Rear Suspension
Toe angle
Camber angle
-10-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
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
-13-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
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
-17-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
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
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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
-21-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
Yaw Rate Control: double lane change
-22-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
Yaw Rate Control: double lane change
Video with and without control
-23-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
Torque Vectoring: steady state cornering
Stee
ring
angl
e
Lateral acceleration
Torquedistribution
-24-Volker Dorsch, Antje Holm: Model-in-the-Loop Simulation including Automotive Control Systems
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