Virtual Vehicle Architecture...Volvo Car Group Source: VCC intranet Issuer: 91860/Edo Drenth,...

Issue date: 2016-04-30Issuer: 91860/Edo Drenth, Security Class: Proprietary 1

Virtual Vehicle ArchitectureSVEA - Vehicle Dynamics seminar 2016

Edo DrenthVirtual Vehicle Architect

Volvo Car Group

Source: VCC intranet

2014-10-30 2Issuer: 91860/Edo Drenth, Security Class: Proprietary

Virtual Vehicle Architectureis not equivalent to a (1) virtual vehicle

Virtual VehicleVirtual Vehicle ArchitectureVirtual Vehicle Architecture• Purpose driven fidelity of Simulation Models

• Purpose driven integration of Simulation

Models (Configuration)

Background


Steady increase of mechatronic systems contents in final product

(Sub-) Systems developed stand-alone and in domain specific tools

Mechatronic systems interact• Requires integration efforts

Integration efforts with actual HW• Late; expensive window for changes

Goal


Systems owners responsible for functional models• Shall require model support from

supplier• Off-line and on-line models required• May hire resources from other

departments

Systems owners responsible for control models• Shall require control models from

supplier (possibly in-house)• MIL (in-house) or SIL (external)

Distribution and configuration through PLM system

Gimbergsson & Törmänen, 2013

Requirements


Unified models• Tool vendor independent models• Functional Mock-up Interface

License free model distribution• Exported models shall not have tool vendor licenses

incorporated• Systems supplier may introduce non-proliferation

licensing system

Purpose driven fidelity• Real-time online• Error controlled offline• Configuration in PLM system

Aim: Purpose driven integration platforms


The VVA CAE Environment

VVA – Knowledge Driven


Clear ownership of models and data• System owners

‘One’ model source• Avoid duplicated efforts

• Domain specific tools

Re-use of models• Platform carry-over

Evolution of models• ‘Mileage’ generates new insights

• ‘Mileage does matter’

0 2 4 6 8 10 12 14 16 18 200

20

40

60

80

100

120

Number of releases

Num

ber

of

bugs

Bug statistics

y(x) = a (1 - exp( - (c x))) + b

a = 74.138

b = -1.6334

c = 0.25227

R = 0.99601 (lin)

VVA – Portability


Standardized modeling language• Multiple compilers from multiple vendors

• Broader semantics and syntax tests• Mitigating systematic errors

Acausal language• High degree of model re-use

• Increased ‘Mileage’

• Requires robust modelling standards• Wide variety of load cases

Concludes to: Improved quality and robustness

Challenges


Causality• Current integration platforms require causal

models• Causality is a serious issue cascading

mechatronic systems

Solution alternatives• Modelica, acausal modeling language

• Producing acausal FMUs?

• Transmission Line Modeling as part of FMI• Spook

• FFI project with Scania CV et.al.

• EPCE• A VCG proprietary energy preserving

connector element (patent pending)

• …

Co-Simulation – Problem Formulation


Load and source

coupled in

continuous time

domain

Load and source

coupled in discrete

time domain

Stability Analysis


g0=10.

k: inertia ratiog: freq. ratiob: damping ratiowN: Nyquist freq.h: 0.2 s

-30 -20 -10 0 10-20

-10

0

10

20

Real/g0

Imag/ g

0

Eigen values of system matrix

10-1

100

101

-1

-0.5

0

0.5

1

Properties as function of inertia ratio

b*

10-1

100

101

0

2

4

6

8

10

k

w/ w

N

0 2 4 6 8 100

0.5

1

1.5

2

Time [#samples]

Y [

-]

0.1

10

ref

Co-Simulation – Volvo Car’s Solution


Total inertia 1 kg m2

Inertia distribution 0.7Natural frequency 101, 102 and 103 rad/s

Damping ratio 0.7Sampling 10 ms

Co-Simulation – Conclusions

Issue date: 2015-12-03Issuer: 91015/Edo Drenth, Security Class: Proprietary. 1. Included in methodology of pending patent. 13

Effective impedance determines causality for stable results1

Flow (velocity) from high impedance to low impedance

Effort (torque) from low impedance to high impedance

Sampling itself may cause system stability issues Design with correct sampling frequency and causality

A significant impedance ratio is a prerequisite for robust system stability

Beyond ~10% of the Nyquist frequency the system is stable, but the signals may be somewhat distorted

Co-Simulation – Conclusions


Volvo’s proposed and patented (pending) connector preserves energy over the sub-system boundaries

EPCE can be used at either fixed-rate, multi-rate or variable-rate co-simulation

EPCE allows connection of multiple FMU-CS One flow – multiple effort

1-junction in a Bond graph• Force balance

VVA - Outlook


VCG has and shall have a CAE Ecosystem with a plurality of tools (heterogeneous)• Provided they ‘speak’ and ‘listen’ FMI

Heterogeneous CAE Ecosystem allows for agility and robustness in virtual product development• Plurality of integration platforms

License free (executable) model distribution addresses ownership of systems’ knowledge within VCG• Impacting ISV’s business models

VCG patented (pending) solutions available with FMI (or forthcoming open standards) only• Research continues


Virtual Vehicle Architectureis not equivalent to a (1) virtual vehicle

Virtual Vehicle Architecture• Purpose driven fidelity of Simulation Models

• Purpose driven integration of Simulation

Models (Configuration)

Virtual Vehicle

Source: VCC intranet

Virtual Vehicle Architecture...Volvo Car Group Source: VCC intranet Issuer: 91860/Edo Drenth,...

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