Post on 07-Feb-2018
Apply & Innovate 2016
Prof. Dr. Marcus Jautze
20.09.2016
Vertical Dynamic Test Rig
for Integration in a
Realtime Vehicle
Simulation Model
Short Overview.
University of applied sciences
Landshut
Near Munich Metropolitan Region
Foundation in 1978
Total: 5480 Students in WS15/16
Faculties:
Business Administration
Computer Science
Electrical and industrial engineering
Mechanical Engineering
Interdisciplinary studies
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 1
Landshut
Munich
Business Administration
1.14121%
Social Work85516%
Electrical and Industrial
Engineering1.61630%
Mechanical Engineering
1.03219%
Computer Science77414%
WS14/15
Why vertical dynamics will have a revival.
The increasing automatisation of driving gives all the passengers the
posibility to relax or work in the car
Sensibility concerning primary and secondary ride comfort will increase
Vertical dynamics will even get more important
Thesis:
„For best benefit of fully autonomous driving controlled vertical
dynamic systems will be necessary“
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 2
Overview of controlled vertical dynamic systems.
20.09.2016 Prof. Dr. M. Jautze, University of Applied Sciences Landshut 3
Functional Aspects
Hight Control Body Movement Dynamic Tire Load
Comfort Driving SafetyComfort /
Driving Safety /
Energy
Consumption
Overview of controlled vertical dynamic systems.
20.09.2016 Prof. Dr. M. Jautze, University of Applied Sciences Landshut 4
Functional Aspects
Systems
Hight Control
Levelling Systems
Body Movement
Variable Damper,
Full Active Systems
Dynamic Tire Load
Variable Damper,
Full Active Systems
Comfort Driving SafetyComfort /
Driving Safety /
Energy
Consumption
Quarter car model
body mass
Coil spring
zat
zbt
v
Pdyn
zrt
unsprung mass
(Variable) damper or
actuator
Stiffness
of the tire
Damping of the tire
Stiffness of the top mount
Control strategy:
Double skyhook damping
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520.09.2016 Prof. Dr. M. Jautze, University of Applied Sciences Landshut
Why is a HIL test bench for vertical dynamics needed ?
Why is a HIL test bench for vertical dynamics needed ?
Damper, spring and top mount have a significant influence on comfort
Accurate Modeling of these components is quite difficult
In durability tests with realtime road profiles the component behavior
has a massive effect (‘feedback’)
Solution:
Combination of realtime simulation model with vertical dynamic test rig
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 6
HIL Test Rig: Concept.
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 7
RoadBox 4U ACDC
• F19P Core 2,
Duo Single Board Computer
• M36N-01 - Analog Inputs
• M62N - Analog Outputs
HIL
Vertical Dynamic Test Rig
• Machine Frame Schenk
PC400N
• Inova EU3000-RTC
• Hydropulse Cylinder 50 kN
• Cylinder Travel 250 mm
Car.DampFR.Frc_ext
User.DampsFR
HIL Test Rig: Concept – Variants of test samples.
Damper with rebound spring
Damper with rebound, bound spring, spring coil or air spring including
top mount
Depending on concept: Airspring Stand Alone
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 8
Hydropulse Test Rig: Component Testing.
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 9
-0,297433398
-0,19217452
-0,334933813
-0,117706354
-0,417868783
0,000328554
-0,591515936
0,06939029
-0,674734314
0,139384916
-0,762331814
0,228198276
-1,206926246
0,705985906
-1,5
-1
-0,5
0
0,5
1
-25 -20 -15 -10 -5 0 5 10 15 20 25
Kra
ft in
[N
]
Weg in [mm]
Kraft-Weg-Diagramm Dämpfertest mit 0 A Bestromung, Geschwindigkeiten:
Datenreihen1
-0,31965612
-0,172182606
-0,406601707
-0,038619429
-0,725247438
0,35784321
-1,111866531
0,769180004
-1,254493845
1,024159055
-1,371042344
1,17047145
-1,754079272
1,636333949
-2
-1,5
-1
-0,5
0
0,5
1
1,5
2
-25 -20 -15 -10 -5 0 5 10 15 20 25
Kra
ft in
[N
]
Weg in [mm]
Kraft-Weg-Diagramm Dämpfertest mit 0,9 A Bestromung
Datenreihen1
-0,527320458
0,525693683
-0,865353527
1,015354335
-1,070076005
1,180005879
-1,336204225
1,41163516
-1,485305828
1,598800689
-1,619214191
1,757732544
-2,174685891
2,364837184
-2,5
-2
-1,5
-1
-0,5
0
0,5
1
1,5
2
2,5
3
-25 -20 -15 -10 -5 0 5 10 15 20 25
Kra
ft in
[N
]
Weg in [mm]
Kraft-Weg-Diagramm Dämpfertest mit 1,8 A Bestromung
Datenreihen1
Component Testing
Soft Damper Characteristic
Middle Damper Characteristic
Hard Damper Characteristic
„VDA-Testing“
Hydropulse Test Rig: Component Testing.
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 10
• VDA Test
• Dynamic behavior
„Real Part“ „Simulation Model“
Validated Simulation Model (Matlab Simulink)
for integration in CarMaker
Realtime Vehicle Simulation Model: Test Equipment.
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 11
Test car:
BMW 730d
Additional sensors:
Acceleration sensors, height sensors and sensor cluster
in the center of gravity
Measurement System:
dSpace micro autoboxMasterthesis: T. Aman, „Konzipierung und Validierung eines fahrdynamischen Messsystems durch Referenzmessung als Basis für ein
vertikaldynamisches Regelsystem und Aufbau eines Simulationsmodelles “, 2015.
Realtime Vehicle Simulation Model: Validation (1).
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 12
Measurement with real car
Simulation with CarMaker
Comparision of
relevant values
Good correlation.
Realtime Vehicle Simulation Model: Validation (2).
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 13
Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.
Beam
left
and
righ
tsid
e
Wheel travel FR
Vertical acceleration unsprung mass FR
Realtime Vehicle Simulation Model: Validation (3).
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 14
Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.
Beam
left
and
righ
tsid
e
Wheel travel RR
Vertical acceleration unsprung mass RR
Realtime Vehicle Simulation Model: Validation (4).
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 15
Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.
Beam
left
and
righ
tsid
e
Vertical acceleration in center of gravity
Pitch-Rate
Realtime Vehicle Simulation Model: Validation (5).
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 16
Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.
Beam
only
right
sid
e
Vertical acceleration in center of gravity
Roll-Rate
HIL Test Rig: Beam, single sided (right).
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 17
HIL Test Rig: Beam, single sided (right).
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 18
Vertical Dynamic Test Rig for Integration in a Realtime
Vehicle Simulation Model.
Conclusion.
(Advanced) Vertical Dynamics will get a revival.
Realised Concept of a vertical dynamics test rig, suitable for HIL
application and component measurement.
Good accuracy of the HIL vehicle model and measurements with
the real car concerning vertical dynamic (damper with fixed damping
curve, obstacle beam).
HIL can be used for functional development and endurance
strength.
20.09.2016 Prof. Dr. M. Jautze, Hochschule Landshut 19
Hochschule Landshut
Prof. Dr. M. Jautze
Am Lurzenhof 1 ∙ D-84036 Landshut
Tel.: +49 871 506-267
marcus.jautze@haw-landshut.de
www.haw-landshut.de