Efficient Modeling of Automatic Gear Selection Using ... · PDF fileEfficient Modeling of...
Transcript of Efficient Modeling of Automatic Gear Selection Using ... · PDF fileEfficient Modeling of...
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
Shivakumar Katukam
Nagesh Srikanth
Rajeev P A
Transmission Control Systems development
Robert Bosch Engineering and Business Solutions Ltd
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
1
Confidential | RBEI/SAM-MKT | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also
regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
About RBEI
Facts &
figures
Locations Domains Offerings
1998 Year of foundation
13000
100% Subsidiary of Bosch
Associates
7
4
Countries
Development
Centres
6 Sales offices
Avionics
Healthcare
Automotive
Manufacturing
Engineering
$500 Mio
Revenue
Level 5
Level 3 ASPICE
CMMI Business Services
Enterprise
Facts &
figures
2013 data
154 Patents filed
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
2
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Objective
To develop Control software for Automatic Transmission system
Within a short time (starting from scratch)
To reuse this SW as a platform that is easily customizable to
different gearbox & vehicles
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
3
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
• Code Generation
• Flashing on controller
• Testing
Hardware Simulation
4
Control Model
Control Model
validation
Gear Box
Model
Vehicle Model
Simulink Integrated model with controller
and vehicle environment
• Getting real time inputs
• Providing to integrated model
• Testing
PC Simulation
Embedded Coder
SimDriveline
SimDriveline /
SimHydraulics
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Agenda
Transmission Overview
Transmission Classification
Step Automatic Transmission
Transmission Control Unit
Gear Selection Strategy
Integration and Testing
Conclusion
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
5
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Transmission Overview
Picture from How Stuff Works
Transmission is a link between engine and wheels
Transmit power from the engine to the driving wheels at an
appropriate speed
Provides more than one gear, without this cars would be limited to
one gear ratio
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
6
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Transmission Classification
MT(Alto 800) AT(Verna) AMT(Celerio) DCT(Octavia) CVT(Jupiter)
Automatic Transmissions
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
7
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Step Automatic Transmission
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
Three major Automatic Transmission configurations are
Simpson planetary gear sets
Ravigneaux planetary gear sets
Lepelleiter planetary gear sets
These configurations can be modeled using MathWorks SimDriveline
8
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Transmission model using MathWorks SimDriveline
A B C D E
R T F F T F
1 F F T T F
2 F F T F T
3 T F T F F
4 F T T F F
5 T T F F F
6 F T F F T
T - Engaged
F - Disengaged
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
9
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Transmission Control Unit
Transmission control unit software modules
Gear
selection
Shift
coordination
Shift
actuation
Communications module
Diagnostics
HW I/O
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
Decide when and how to change the gear in the vehicle for optimum
performance, fuel economy, reduce emission and enhances shift quality
10
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Gear Selection Model
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
11
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Gear Selection Strategy
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
Gear Selection module determines the most appropriate gear for the
current driving conditions
This module is modeled using MathWorks Simulink
Gear selection module evaluates a number of functionalities like
Depending on the active function, a shift-map corresponding to that
function is selected
Map selects the next gear by checking driver demand and output
shaft speed
Heavy Braking
Fast-Off Hill
Detection Kind of Driver
Hot- Mode detection
12
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
Inputs
needed for
gear
calculation
Inputs from Driver,
Engine and
several
sensors
Static Drive
Program
Dynamic Drive
Program
Road functions
Mode Control
Gear Box controller to control
combination of clutches
Gear request
Shift prevention
Dynamic
Gear request
Target Gear
13
Gear Selection Strategy Overview
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
HEAVY BRAKING
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
Objective of this module is to detect a heavy braking condition in the
vehicle
Once heavy braking is detected corresponding shift map helps to
shift the gear down quickly to assist the vehicle to stop immediately
The following signals are continuously
monitored to detect the condition
Brake status(Active/not active)
Output shaft speed
Output shaft speed gradient Accelerator pedal signal
Gear and lever position
14
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Validation Results Heavy Braking
As soon as Heavy Braking condition is detected, down shifting of gear to minimum gear
is done in a very short time compared to general situations
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
15
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
HILL FUNCTION
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
The task of the hill function is to detect the loading of the vehicle and to
react to the different loading situations
Two levels of downhill and three types of uphill condition can be detected
and the gear shift point evaluation can be changed accordingly
Depending on the type of hill
detected, shift map corresponding
to that hill is chosen to select the
appropriate driving gear
16
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
FAST-OFF
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
The task of the Fast-Off function is to detect large negative pedal
gradients and to prevent up-shifts in this situation for a predetermined period of time
17
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Validation Results Fast-Off Function
Fast-off function has detected the sudden negative pedal and prevented the
up-shift of gear
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
18
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
HOT MODE FUNCTION
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
The objective is to evaluate the high temperature conditions based on
the vehicle load and transmission fluid temperature. In this situation,
the software recommends to shift the gear down and to increase the
engine rpm to cool the fluid at higher rate
Three level of Hot mode
condition is evaluated. Hot mode
plain, Hot mode hill1 and Hot
mode hill2
Gear shift point is changed according to criticality
19
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
KIND OF DRIVER
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
The objective of Kind of driver module is to evaluate the type of driver
(Extreme Economy, Economy, Sporty, Extreme Sporty) by analyzing the accelerator pedal signal
Final outcome after the
evaluation is a counter value,
through which type of driver
can be evaluated
20
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Validation Results Kind of Driver
Depending on usage of accelerator pedal, counter value varies and if the counter value
is high then driver is classified as sporty and if it is low then economic
Extr. Economy Economy
Sporty
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
21
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Integration and Testing
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
22
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Validation Results Normal Driving
The Gear from model is very close to the actual gear from vehicle
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
23
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Conclusion
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
Signals from real AT vehicle were fed as inputs into the model and the
results achieved were similar to genuine automatic gearbox behavior
The availability of physical components in the SimDriveline toolbox
helped to customize the models for different vehicles quickly
24
Confidential | Shivakumar | 10/7/2014 | © Robert Bosch Engineering and Business Solutions Limited 2014. All rights reserved, also regarding
any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Efficient Modeling of Automatic Gear Selection Using MathWorks Tools
25