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LMS Imagine.LabBAIC - Driving Dynamics: Vehicle Dynamics and Energy Management

Marc Alirand – BizDev Driving Dynamics – 1D division


20XX-XX-XX

1 Context / Challenges

Driving Dynamics

2013-09-24


Driving Dynamics Context The bigger challenge

Transmission

Road & Env

Chassis

Driver & Cycle Vehicle Dyn.

Steering Braking Damper

A System Approach for

System Integration Challenges

2013-09-24


Driving Dynamics Context The Vehicle Dynamics solution

Transmission

Road & Env

Chassis



Multi attributes performance analyses

(comfort, ride & handling, fuel eco …)

2013-09-24


Driving Dynamics Context The chassis subsystem solutions

Transmission

Road & Env

Chassis



Design right the first time the

components and systems

2013-09-24


Driving Dynamics Context Vehicle, chassis subsystems and control

Transmission

Road & Env

Chassis



Design, integrate and validate the

control logics with more Physics

TCS

Torque Vectoring

Hybrid

Electric

EHPS

EPS

AFS

4WS

ABS

ESP

Regenerative

ARS

CDC

EAS

Mech

anics

Contro

ls

Mech

anics

Contro

ls

MiL

SiL

HiL

2013-09-24


Longitudinal Lateral Vertical

Suspension to Control Vertical

Transmission & Braking to Control Longitudinal

Steering to Control Lateral

Driving Dynamics OfferA global process for vehicle and subsystem integration in a

unique environment

2013-09-24


Driving Dynamics ContextVision and Drivers viewed from a supplier i.e. TRW

As expected main drivers are safety

and fuel efficiency, the last being the

Chassis Electrification for Driving

Dynamics.

2013-09-24


Driving Dynamics ContextAddressed Engineering Problems

LMS Imagine.Lab Driving Dynamics solutions

Electrification of the

chassis

Developing the

control logic on more

physical models

Blending the

regenerative brake

with the ESP

Sustainable models

along MiL, SiL and

HiL process

Designing right the

first time your

braking components

Legislations

Steering judder and

NVH in gearing

system

How to maximize

comfort, handling

and driver safety

Explore new

developments faster

and earlier

2013-09-24


Driving Dynamics Solution PositioningVehicle Dynamics and Chassis Subsystems solutions

Subsystem specification

Component

Design

Component

Validation

Functional

Design

Subsystem Validation & Integration

Requirements &

Brand Value (security, comfort,…)

Global Analysis & Functional

Validation of Requirements

Virtual. Lab Virtual. Lab

Functional

specification

Functional

Validation

Functional

Synthesis

FEA ToolsFEA Tools

Axle

design

Power Steering,

Suspension,

Powertrain, Braking

Power Steering,

Suspension,

Powertrain, Braking

Code Export

for HiL

Axle

design

2013-09-24


Driving Dynamics Solution PositioningVehicle, chassis subsystems and control…

SystemEngineering

ComponentEngineering

ControlEngineering

I need a

simple

system !

I need a

complex

system !

I need a

plant

model !

ControlPlant Model

DESIGN VALIDATION

FUNCTION

SPECIFICATION

IMPLEMENTATION

Software in the Loop

FUNCTION

TEST

Hardware in the LoopModel in the Loop

LMS Imagine.Lab

AMESim

use model advanced

simplification technics

to keep your know-how

supporting

pre-calibration

for MiL, SiL & HiL

environments

“scalability” supporting

system, component

and control developer

Mech

anics

Contro

ls

Mech

anics

Contro

ls

MiL

SiL

HiL

2013-09-24


Chassis applications : Solution compliancy(i.e. compliant with AMESim standalone solution.

The cases requiring MBS coupling are mentioned)

• Ride & Handling• Road inputs sensitivity

• Sensitivity to wind inputs

• Ground clearance

• Stability

• Lane change

• Braking in curves

• Back out in curves

• Trajectory following

• Road holding

• Rollover

• Safety related Electronic

Systems & ADAS • ABS, ESP, Brake assist

• Electronic Throttle Control

• Active Rollover Protection

• Adaptive Cruise Control

• Traction Control

• Vehicle stability control

• Pre-crash systems

Driving DynamicsPotential applications to be targeted

• Related to Braking• Dynamics

• Stopping distance

• Brake overriding

• Brake pedal feel

• Related to Powertrain • Drivability

• Fuel efficiency

• Tip in/Back out

• 4 wheel drive

• Torque Vectoring

• Related to Steering• Car Park maneuvers

• Steering wheel shaking

• Steer ability

• On-center driver feeling

• Car response w.r.t. steering inputs

• Shimmy (with MBS Coupling)

• Comfort• Vertical low frequency

• Pitch/roll comfort

• Suspension noise

(with MBS Coupling)

• NVH & Harshness

(with MBS Coupling)

• Others • Axle system fatigue

(with MBS Coupling)

• Drive train fatigue

(with MBS Coupling)

2013-09-24


Vehicle DynamicsEnvironment scalability for process matching and skills

iCAR as an application oriented

GUI and dedicated tools

From early phases of the design

process for power users …

… to verification of the control

logic (the vehicle is already

designed) for end users.

2013-09-24


Driving DynamicsDesign your chassis subsystems within Legos

AMESim as a multi-domain tool with compatible libraries:

Mechanical: common mechanical models.

Transmission: advanced mechanical systems acting in Powertrain

Electrical Basics: electrical basic components

Electric motors and drives: elements of rotary motors

Hydraulics: elements for hydraulic circuits

IFP Drive: elements to build emission and fuel eco models

Electric Power Steering

Automatic (but also Manual, Hybrid and

full electric) Transmission

damper

2013-09-24


Driving DynamicsIntegrate AMESim in the Control Logic Design Process

Context

Control law or ECU available

Target

Test the Control Law or ECU with a physical

model to check performances and stability

Needs

Simulate the Control Law or ECU

model with the system model

From Simulink to AMESim

Co-simulation

From AMESim to Simulink

via S-Function generation

via RTW C code generator

2013-09-24


Driving DynamicsIntegrate AMESim in the Control Logic Design Process

Vehicle

ECU – Control Law

subsystem

MiL for concept phase: Simulink

interface (exporting AMESim to Simulink,

Cosimulation, importing Simulink models

using RTW),

SiL in engineering phase: Easy

interface or “packaging” for C code,

HiL for verification phase: Exportation

to all the standard RT platforms.

Power

Signal

2013-09-24


Driving Dynamics

Some References

Braking Steering

Vehicle

DynamicsSuspension

http://www.ford.com/en/links/General/www_fordvehicles_com/

2013-09-24


PSA Peugeot Citroën standardizes daily used models for

vehicle dynamics functional simulation, HiL - SiL

applications and driving simulator.

Vehicle dynamics functional assessments is achieved for

low frequency comfort analysis, road handling

synthesis, suspension, longitudinal dynamics…

PSA process integration in a single standard

environment reduces the additional cost and delay of

interfacing software and maintenance.

“A unique platform for a system approach in vehicle dynamics”

Benoit Parmentier, PSA Peugeot Citroën

2006 AMESim European Users conference

LMS Imagine.Lab AMESim, the reference platform for vehicle

dynamics functional design at PSA Peugeot Citroën

2013-09-24


RENAULT makes the drivability of conventional and electric

vehicle objective with LMS Imagine.Lab AMESim

Challenges• Simulate several vehicle maneuvers (take-off, tip-in or engine start)

at the first stages of a vehicle project

• Consider conventional, hybrid electric or full electric powertrains

• Be able to perform sensitivity analysis on a large set of parameters

Solution• LMS Imagine.Lab Transmission Comfort solution

• LMS Imagine.Lab Electrical Systems solution

Benefits• Assess early in the design process the impact of the stiffness of

mounting blocs or driveline on the drivability

• Balance drivability and fuel economy through control strategies

parameters

“ LMS Imagine.Lab AMESim allows to answer our crucial need of assessing drivability

quality from the very first steps of a vehicle project.”

Benjamin ELLER – RENAULT – International LMS Engineering Simulation Conference , Munich, 25th February 2010

LMS Conference 2010

2013-09-24


Challenges• Need to estimate CO2 emissions of a mild- hybrid vehicle

Solution• LMS Imagine.Lab Internal Combustion Engine:

Hybrid Vehicle Solution

Benefits• Predict CO2 emissions and understand the interactions

between the contributors

• Achieve a complete and detailed energy balance

• Define the relevance of a new component or technological

choices

• Develop, validate and pre-calibrate control functions

“The LMS 1D solutions enables Continental to estimate the potential of a new product to

reduce CO2 emissions for a given configuration, bringing a crucial answer to its customers.”

Hervé Dupont – Continental – Advanced Development for Engine systems

Continental predict the CO2 emissions of a mild-hybrid

vehicle with LMS Imagine. Lab AMESim

2013-09-24


Honda predict brake pedal feel with LMS Imagine.Lab

AMESim

Challenges• Honda R&D (UK) Europe was looking for a numerical

methodology to assist in the design of braking systems with

the desired brake pedal force / travel characteristics to create

good brake pedal ‘feel’.

Solution• LMS Imagine.Lab Braking System solution

Benefits• Modeling of the linear and nonlinear characteristics of internal

components

• High fidelity results of AMESim models verified by

experimental measurement data

• Simulation at the design stage saving time and cost

“LMS Imagine.Lab AMESim model can be used to provide an accurate prediction of brake system response at the

design stage thereby saving time and cost.”

Allan Johnstone – Honda R&D (UK) Europe

Andrew J. Day - University of Bradford (UK), SAE Paper 09BC-0077

SAE Paper 09BC-0077

2013-09-24


Reduced braking distance is a critical facture

in achieving racing success in a competitive

domain.

LMS Imagine.Lab AMESim is used by Toro

Rosso to optimize the design of their braking

circuits, by helping engineers to choose the

best compromise between time response

and increased weight.

“Multidomain system simulation provides a fast way to check the performance

of the system on critical operating conditions.”

M. Piraccini – Toro Rosso

9 HTCES "AUTOMOBILI E MOTORI HIGH-TECH“, Modena, 29-30 May 2003

Toro Rosso reduces the braking distance of its F1 car with

LMS Imagine.Lab AMESim

2013-09-24


Success Story : BOSCH

Goals

Validation of new design concepts

Optimize the efficiency according to the tolerances

Validation of new functionality for new concepts

Approach

Use identification facilities in order to estimate unknown parameters

Use of Monte Carlo methodology in order to analyze effect of uncertainties.

Results

Very satisfactory results which take into account very complex phenomena

“AMESim is the standard hydraulic

simulation tool at Robert BOSCH”

Pierre TIRGARI

Robert BOSCH

> 100 licenses of AMESim

Chassis Systems Department with ~ 20%

2013-09-24


Success Story : IAV

• Automated calibration on an unique concept car

requires Hardware in the Loop simulation, in

order not to endanger the vehicle.

• The fundamental requirement is a real-time

hydraulic simulation with real physics, no

“characteristics-based” hydraulics. The process

is to use the real-time features of AMESim with

its model reduction tools.

• Agreement is good between the AMESim real-

time model and the complex model.

“Modeling of real physics is done easily using AMESim analyses tools to

transform the complex hydraulic model to a real-time system.”

Dr.-Ing. Hendrik GERTH – IAV GmbH

2006 AMESim European Users conference

2013-09-24


Driving Dynamics

Attributes and Performances

Vertical Low

Freq Comfort

Carbody Attitude

Agility

Suspension Noise

Roll Gradient

Roll Damping

Steerability

Steering Work Sensitivity

On-Centre Driver Feeling

Steering Hysteresis

Drivability

Fuel Efficiency

Hybrid/Electric Driveline

Responsiveness

4WD (split μ, TC)

Tip In/Back Out in Curves

Stopping Distance

Brake Pedal Feel

Adaptive Cruise Control

Braking in Curves

Lateral Accel Response Time

Sensitivity to Lateral Wind

Understeering Gradient

Heading Easiness

&

Responsiveness

Vehicle

Dynamics

2013-09-24


Driving Dynamics

Conclusions

Performance Fuel Eco (CO2)DrivabilityComfortSafety

Attributes Balancing

Stability

A single integrated platform, LMS Imagine.Lab AMESim,

enabling multi-physics modeling applications.

Balancing vehicle stability with drivability, comfort and

Fuel Eco.

Across vehicle engineering levels: from concept to

detailed engineering and from component to full

vehicle.

Scalable solution for any vehicle architecture whatever

the chassis subsystems are made of, valid until real time.

Managing the growing complexity of control and

electronic systems with one software for the Physics and

Simulink for the control.

2013-09-24


References

Published papers and presentations

• Alirand M., “Study and analysis of an active self leveling suspension”, IEEE International Conference on Systems,

Man and Cybernetics, Le Touquet, France, October 1993, pp 222-227

• Alirand M., Botelle E., Sau J., “Modeling a force control actuator for semi active car dampers - Basics “, 16th IAVSD

Symposium on Dynamics of Vehicles on Roads and Tracks, Pretoria, South Africa , September 1999, pp 1-4

• Ney Y., “Design methodology for automotive suspension systems - Fluid power software applications”, SIA

conference on Fluid Power and Transportation, Roanne, France, May 1999, pp 1-2

• BotelléE., Alirand M., Sau J., “Modeling a force control actuator for semi active car damper: Flow valve analysis”,

5th Int. Symposium on Advanced Vehicle Control, AVEC 2000, Detroit, MI, 2000, pp 1-8

• Alirand M., Urvoy E., BoteléE., “Modeling a force control actuator for semi active suspension: Application”, SIA

Congress on Vehicle Dynamics, Lyon, France, June 2001, pp 1-6

• Alirand M., Botelle E., J. Sau, “Modeling a force control actuator for semi-active car damper : Pressure controlled

valve analysis”, Scandinavian Int . Conference on Fluid Power, Linkoping, Sweden, June 2001, pp 1-6

• Lee C.T.., Moon B.Y., “Study of the simulation model of a displacement sensitive shock absorber of a vehicle by

considering the fluid force”, Proc of the IMechE, Part D, Journal of Automobile Engineering, vol 219, 2005, pp 965-975

• Cimba D., Wagner J., Baviskar A. “Investigation of active torsion bar actuator configuration to reduce vehicle body

roll”, Vehicle System Dynamics, vol 44, n° 9, September 2006, pp 719-736

• Gerth H., Resch R., Freimann R., “Automated controller design for an anti-roll system”, European AMESim User

Conference, Strasbourg, France, March 2006, pp 1-9

• Lino P., Maione B., “Near optimum control of a full car active suspension system”, LMS Engineering Simulation Conf

Europe 2008, Paris, France, October 2008,

• Falfari S., Brusiani F., Pelloni P., “Coupling Between 1D-3D Simulation Results to Predict Cavitation in Motorcycle

Forks”, SAE paper n°09FFL-0117, 2009, pp 1-13

• Falfari S., Brusiani F., Cazzoli G., “Setup of a 1D model for simulating dynamic behaviour of motorcycle forks”,

SAE paper n°2009-01-0226, 2009, pp 1-14

2013-09-24


References


• Gubitosa M., Anthonis J., Albarello N., Desmet W., “A Computer Aided Engineering Approach For the Optimal Design

of An Active Suspension System”, Proc ASME 2009 Int. Design Engineering Technical Conf., San Diego, CA, 2009, pp

1-11

• Lindvai-Soos D., “Functional development process of the electric anti-roll stabilizer eARS”, Vehicle Dynamics Expo,

Stuttgart, Germany, 2010,

• De Bruyne S., Anthonis J., Gubitosa M., Van der Auweraer H., “Model Based Actuator Management for a Hydraulic

Active Suspension System Improving Comfort Performance by Advanced Control“, Proc of the ASME 2011 Int

Mechanical Engineering Congress & Exposition, Denver, CO , November 2011, pp 1-9

• Kim H.., Lee H., “Study Model-based fault-tolerant control for an automotive air suspension control system”, Proc

of the IMechE, Part D, Journal of Automobile Engineering, vol 225, 2011, pp 1462-1480

• Moshchuk N., Li Y., Opiteck S. “Air suspension system model and optimization”, SAE Paper N°2011-01-0067, 2011,

pp 1-14

• De Bruyne S., Anthonis J., Gubitosa M., Van der Auweraer H, “Modeling Model Based Design of a Hydraulic Active

Suspension System”, Int. Symposium on Advanced Vehicle Control, AVEC 2012, Seoul, Korea, 2012, pp 1-9

• Manlong P., Feng L., Wenkui F., Yunqing Z., “Multi-domain modeling and robust design of hydraulic shock

absorber”, 2nd Int. Conf on Computer Application and System Modelling, paris, France, June 2012, pp 1128-1131

• Sadeghi Reineh M., Pelosi M., “Physical Modeling and Simulation Analysis of an Advanced Automotive Racing

Shock Absorber using the 1D Simulation Tool AMESim”, SAE Paper n°2013-01-0168, 2013, pp 1-11

• Pelosi M., Subramanya K., Lantz J., “Investigation on the Dynamic Behavior of a Solenoid Hydraulic Valve for

Automotive Semi-Active Suspensions Coupling 3D and 1D Modeling”, 13th Scandinavian Int. Conference on Fluid

Power, Linkoping, Sweden, June 2013, pp 1-10

• Barale S., Plisson A., Guillet J., Lagnier J., Alirand M., “Improved Functional Modelling in Comfort Analyses for

Hydraulic Suspension Testing”, Chassis Tech Int. Conference, Munich, Germany, June 2013, pp 1-11

2013-09-24


References in Steering Systems


• Wintrebert E, Alirand M., “Coupling study of the Mechanics of the front suspension with the Hydraulics of a

power assisted steering systems”, SIA Conference on Hydraulics and Transportation, Roanne, France, 1999, p 1-7

• Schuster M., “Simulation of power steering system using AMESim”, European AMESim Users Conference, Paris,

France, 2000,

• Alirand M., Lebrun M., Richards C., “Front wheel vibrations – A hydraulic point of view“, SAE Paper n°2001-01-

0490, 2001, pp 1-14

• Warinner, Bires., Lanhart., “Chassis application of AMESim”, North American AMESim Users Conference, Detroit,

MI, 2004,

• Rommel B., “The use of AMESim to model electromechanical power steering (EPS) systems”, European

AMESim Users Conference, Strasbourg, France, 2006,

• Alirand M., Petrucelli L., Barale E., “From hydraulic to electric steering system: conceptual modeling and impact

on fuel economy”, 5th Int. Conference on Advanced Chassis Systems, October 2010, Torino, Italy

• Ramirez Ruis I., Fricke D., Stachel D., Garcia J., “A 6 DOF Bench Test on a New Active Kinematics Rear

Suspension for Functional Development”, SAE paper n°2012-01-0550, 2012, pp 1-8

• Ramirez Ruis I., “High Performance Electromechanical Actuator for Active Rear Axle Kinematics of a Sports

Car”, SAE Paper n°2012-01-0974, 2012, pp 1-15

2013-09-24


References in Braking


• Lebret J, “Hydraulic and braking systems”, SIA Conference on Hydraulics and Transportation, Roanne, France,

1999, p 1-3

• Alirand M., Lebrun M., Richards C., “Front wheel vibrations – A hydraulic point of view“, SAE Paper n°2001-01-

0490, 2001, pp 1-14

• Nursilo W., “ABS pump simulation”, AMESim North American Conference, 2003,

• Fortina A., Verlardocchia M., Sorniotti A., “Braking system component modeling”, SAE paper n°2003-01-3335, pp

175-184

• Petrucelli L., Velardocchia M., Sorniotti A., “Electro hydraulic braking system modeling and simulation”, SAE

Paper n°2003-01-3336, 2003, pp 185-193

• Paltrinieri F., Pruciano C., Piraccini M., “Analysis of a F1 car braking system dynamic behavior”, 9 HTCES on

Automobilei e Motori HighTech, Modena, Italy, 2003, pp 1-11

• Qi X., Song J., Wang H., “Simulation of ABS Hydraulic Control Unit Matching”, 2004

• Qi X., Song J., Wang H., “Influence of hydraulic ABS parameters on solenoid valve dynamic response and

braking effect”, SAE Paper n°05AC-17, 2005, pp 1-10

• Plattard O., “Brake feel – investigation of the brake design parameters influence”, 2006, MSc

• Ho H.P., Day A., Hussain K., Johnstone A., “Modeling and simulation of the characteristics of a hydraulic brake

master cylinder”, Science and Motor Vehicles, 2007, pp 1-9

• Day A.J., Ho H.P., Hussain K., Johnstone A., “Brake system simulation to predict brake pedal feel in a passenger

car”, SAE Paper n°09BC-0077, 2009, pp 1-7

• Sabatier N., Ma Z., Huang G., Alirand M., “An advanced physical modeling approach for brake system

performance analysis”, LMS User Conference, Munich, Germany, 2011,

• Carbone F., Dossi S., “A simulation approach in virtual force sensor calibration for EPB”, ATA Conference on

Vehicle Dynamics, Torino, Italy, October 2012


Thank youVehicle Dynamics solution

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