EHTC 2008 Strasbourg - altairatc.com MotionSolve Adams CTI UTM plugin FTireFamily HTire RTire FETire...
Transcript of EHTC 2008 Strasbourg - altairatc.com MotionSolve Adams CTI UTM plugin FTireFamily HTire RTire FETire...
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EHTC 2008Strasbourg
CTI: Next Generation Tire Model InterfacingMichael Gipser, Esslingen University of Applied Sciences, Germany
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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
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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
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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
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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)
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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)
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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
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Inhouse
CASCaDE
COSIN/mbs
Simulink
Simpack
MotionSolve
Adams
CTICalling Tree
CTI
FTire Family
HTire
RTire
FETire
FTire
MF 1989
MF 2002
UHM pluginUTM plugin
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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
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CTIFTire Example: Misuse Test Case
FTire Family
HTire
RTire
FETire
FTire
MF 1989
MF 2002
FTire
Flexible Ring Tire Model
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CTIFTire Example: Side-Slip Sweep
FTire Family
HTire
RTire
FETire
FTireFTire
Flexible Ring Tire Model
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CTIFTire Example: Tread Wear Simulation
FTire Family
HTire
RTire
FETire
FTireFTire
Flexible Ring Tire Model
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CTIFETire Example: Mode Shape and Stress Distribution
FTire Family
HTire
RTire
FETireFETire
FTire
Coarse Finite Element Tire Model
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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
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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
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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))))
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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
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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
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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
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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.
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� 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
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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
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CTI/roadsSoil Model Demonstrator
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CTI/roadsTools
2D and 3D visualization
RGR file generation
RGR file processingSHL file generation
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CTI
CTI, CTI/roads, FTire, and HTirewill be available in MotionSolveby the end of 2008
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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