Post on 08-Jul-2020
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 1
Parametrization of Steering Models and
Analysis of Driving Maneuvers with
MXsteeringdesigner and MXevaluation
by Matthias Becker and Matthias Niegl MdynamiX AG
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016
MXsteeringdesigner
MXsteeringdesigner
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 3
The Objective of MXsteeringdesigner
MXsteeringdesigner
0 10 20 30 40 50 60 70 80-10
-5
0
5
10
15
Time [s]
Ste
ering W
heel T
orq
ue [
Nm
]
0 10 20 30 40 50 60 70 80-200
-150
-100
-50
0
50
100
Time [s]
Ste
ering W
heel A
ngle
[deg]
0 10 20 30 40 50 60 70 800
20
40
60
80
100
120
Time [s]
Vehic
le S
peed [
km
/h]
0 10 20 30 40 50 60 70 80-8000
-6000
-4000
-2000
0
2000
4000
6000
Time [s]
Tie
Rod F
orc
e [
N]
0 10 20 30 40 50 60 70 80-8000
-6000
-4000
-2000
0
2000
4000
6000
Time [s]
Tie
Rod F
orc
e [
N]
Simulation
Measurement
H
JuC
MF,lc
FR
MH
Symbol of a friction element
Massist,C
kT
dT
SR
Hardy disc, Mesh, Lower Column
Steering Wheel
mR Rack
Pinion
P
rpi
FF, R
MF,torsion
T
kTT
dTT
JlC
Torsion bar, Upper Column
MXsteering Models (Pfeffer Steer Models)
Vehicle / Test Bench Measurement
Parametrisation tool for steering system models
Identifies steering model parameters automatically from measurements
Benchmark/design your own steering system
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 4
Specification tests of the steering system
Characterization of the Steering System
Benchmarking
Analyzing Setups (Parameters)
Parametrization (Optimization of the Parameters)
Motivation
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 5
Pfeffer MXsteering
Types of steering system models:
Hydraulic Power Steering (HPS)
Electrical Power Steering (EPS)
• Column Assist
• Pinion Assist
• Rack Assist
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 6
Parametrization of the Steering Model
Available Parameters:
• Gear ratios
• Masses and inertias
• Motor specifications
• ECU parameter set
• etc.
Measured Parameters:
• Stiffness of the system
• Friction of the system
• Damping of the system
• ECU log data
• etc.
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 7
How to acquire the parameters
Boost Curve
Steering Ratio
StiffnessTest
Rack Friction
Column Friction
Open Loop Tests
Slowly Increase
Test
Sinus Sweep
etc
Weave Test
Close Loop Tests
Vehicle Measurements
Vehicle Data Set
Yes
No
Validated?Characteristic Tests
HIL Measurements
Vehicle Measurements
HIL Measurements and Vehicle Measurements
Open/close loop tests: Compare simulation and measurement
results to adjust relevant parameters (iterative routine)
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 8
Work Flow
Step 1. System Characteristics
Step 2. Slowly Increase Test
Step 3. Weave Test
Step 4. Dynamics Test
Update Parameters
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 9
Fully validated steering system models
Easy parametrization of the Pfeffer Steering Model (in IPG
CarMaker)
Design desired steering system behavior
Compare different steering systems
Implementation in full vehicle simulation
Benefits using MXsteeringdesigner
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016
MXevaluation
MXevaluation
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 11
Same post processing for the whole V-development model
Objectification of development and application
Calculate precise parameters which describe nearly every
manoeuvre in vehicle dynamics (longitudinal, lateral)
Generating a database for correlation and evaluation
Connect subjective and objective world
Motivation
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 12
The Proposed Procedure with MXevaluation
Objective World Engineer’s Language
Subjective World Customer’s Requests
Objective
Target
Subjective
Assessment
Objective
Parameter
Subjective
Target
Correlation of
Criteria
Vehicle/Steer
Model Setup
Optimization
Sim/HIL
Validation in
Vehicle
Vehicle
Measurements
Test Drives
MXevaluation
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 13
Data Source / Raw Data
The Implementation of MXevaluation
CarMaker MiL/SiL “erg”
Steering in the Loop
“mat”
Testbench HiL
“mdf”
Test Road “dat”
Visualization with Plots and Tables
Conversion (Channel Names, File Format, Context Information)
Objective Parameter Calculation
Data Pre Processing [(Standard-) Filter, Offset, Drift (User-Defined)]
Saving the Data (ATF, ATFx, ASAM…)
Report (PDF, PPT)
User Data
Config-File
Database
Different Maneuver
MXevaluation
can be used as:
• Standalone
• With IPG
CarMaker
• AVL Concerto
• and other tools
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 14
Example for Objective Parameters in
MXevaluation
Weave Test to optimize the steering behavior/feel (over 40 Objective Parameters)
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 15
MXevaluation can be implemented
in IPG CarMaker
Objective Parameters are calculated automatically after a maneuver and stored in
CarMaker Output Quantities
MXevaluation is also accessible manually via tcl script
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 16
Benefits using MXevaluation
Post processing tool for vehicle dynamics manoeuvres
Establishing a standard procedure to improve the vehicle dynamics
performance with same post processing procedure for simulation,
HiL-test benches, vehicle tests
MXevaluation correlates Subjective Assessment (SA) with
Objective Parameters (OP) using proven links and manoeuvres
Target values of OP can be identified based on our experience or
customer can define with their test drivers
The procedure can be used as the standard to improve the
subjective feel / objective behaviour of all kinds of subsystems
20.09.2016 MdynamiX AG IPG Apply and Innovate 2016
Tel.: +49 89 12765047 Heßstrasse 89 • 80797 Munich • Germany
info@mdynamix.de www.mdynamix.de
Contact us
MdynamiX – Associated Institute of Munich University of Applied Sciences
Thank you for your Attention