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