for Integration in a Realtime Vehicle Simulation Model Apply & - - PowerPoint PPT Presentation

SLIDE 1

Apply & Innovate 2016

• Prof. Dr. Marcus Jautze

20.09.2016

Vertical Dynamic Test Rig for Integration in a Realtime Vehicle Simulation Model

SLIDE 2

Short Overview.

University of applied sciences Landshut

• Near Munich Metropolitan Region
• Foundation in 1978
• Total: 5480 Students in WS15/16
• Faculties:

 Business Administration  Computer Science  Electrical and industrial engineering  Mechanical Engineering  Interdisciplinary studies

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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Landshut Munich

Business Administration 1.141 21% Social Work 855 16% Electrical and Industrial Engineering 1.616 30% Mechanical Engineering 1.032 19% Computer Science 774 14%

WS14/15

SLIDE 3

Why vertical dynamics will have a revival.

• The increasing automatisation of driving gives all the passengers the

posibility to relax or work in the car

• Sensibility concerning primary and secondary ride comfort will increase

Vertical dynamics will even get more important Thesis: „For best benefit of fully autonomous driving controlled vertical dynamic systems will be necessary“

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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SLIDE 4

Overview of controlled vertical dynamic systems.

20.09.2016

• Prof. Dr. M. Jautze, University of Applied Sciences Landshut

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Functional Aspects Hight Control Body Movement Dynamic Tire Load Comfort Driving Safety Comfort / Driving Safety / Energy Consumption

SLIDE 5

Overview of controlled vertical dynamic systems.

20.09.2016

• Prof. Dr. M. Jautze, University of Applied Sciences Landshut

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Functional Aspects Systems Hight Control Levelling Systems Body Movement Variable Damper, Full Active Systems Dynamic Tire Load Variable Damper, Full Active Systems Comfort Driving Safety Comfort / Driving Safety / Energy Consumption

SLIDE 6

Quarter car model body mass Coil spring za t zb t v Pdyn zr t unsprung mass (Variable) damper or actuator Stiffness

• f the tire

Damping of the tire Stiffness of the top mount

Control strategy: Double skyhook damping

a a sky b b sky act

z k z k F      

, ,

5 20.09.2016

• Prof. Dr. M. Jautze, University of Applied Sciences Landshut

Why is a HIL test bench for vertical dynamics needed ?

SLIDE 7

Why is a HIL test bench for vertical dynamics needed ?

• Damper, spring and top mount have a significant influence on comfort
• Accurate Modeling of these components is quite difficult
• In durability tests with realtime road profiles the component behavior

has a massive effect (‘feedback’)  Solution: Combination of realtime simulation model with vertical dynamic test rig

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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SLIDE 8

HIL Test Rig: Concept.

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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RoadBox 4U ACDC

• F19P Core 2,

Duo Single Board Computer

• M36N-01 - Analog Inputs
• M62N - Analog Outputs

HIL

Vertical Dynamic Test Rig

• Machine Frame Schenk

PC400N

• Inova EU3000-RTC
• Hydropulse Cylinder 50 kN
• Cylinder Travel 250 mm

Car.DampFR.Frc_ext User.DampsFR

SLIDE 9

HIL Test Rig: Concept – Variants of test samples.

• Damper with rebound spring
• Damper with rebound, bound spring, spring coil or air spring including

top mount

• Depending on concept: Airspring Stand Alone

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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SLIDE 10

Hydropulse Test Rig: Component Testing.

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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• 0,297433398
• 0,19217452
• 0,334933813
• 0,117706354
• 0,417868783

0,000328554

• 0,591515936

0,06939029

• 0,674734314

0,139384916

• 0,762331814

0,228198276

• 1,206926246

0,705985906

• 1,5
• 1
• 0,5

0,5 1

• 25
• 20
• 15
• 10
• 5

5 10 15 20 25 Kraft in [N] Weg in [mm]

Kraft-Weg-Diagramm Dämpfertest mit 0 A Bestromung, Geschwindigkeiten:

Datenreihen1

• 0,31965612
• 0,172182606
• 0,406601707
• 0,038619429
• 0,725247438

0,35784321

• 1,111866531

0,769180004

• 1,254493845

1,024159055

• 1,371042344

1,17047145

• 1,754079272

1,636333949

• 2
• 1,5
• 1
• 0,5

0,5 1 1,5 2

• 25
• 20
• 15
• 10
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5 10 15 20 25 Kraft in [N] Weg in [mm]

Kraft-Weg-Diagramm Dämpfertest mit 0,9 A Bestromung

Datenreihen1

• 0,527320458

0,525693683

• 0,865353527

1,015354335

• 1,070076005

1,180005879

• 1,336204225

1,41163516

• 1,485305828

1,598800689

• 1,619214191

1,757732544

• 2,174685891

2,364837184

• 2,5
• 2
• 1,5
• 1
• 0,5

0,5 1 1,5 2 2,5 3

• 25
• 20
• 15
• 10
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5 10 15 20 25 Kraft in [N] Weg in [mm]

Kraft-Weg-Diagramm Dämpfertest mit 1,8 A Bestromung

Datenreihen1

Component Testing Soft Damper Characteristic Middle Damper Characteristic Hard Damper Characteristic

„VDA-Testing“

SLIDE 11

Hydropulse Test Rig: Component Testing.

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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• VDA Test
• Dynamic behavior

„Real Part“ „Simulation Model“  Validated Simulation Model (Matlab Simulink) for integration in CarMaker

SLIDE 12

Realtime Vehicle Simulation Model: Test Equipment.

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• Prof. Dr. M. Jautze, Hochschule Landshut

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Test car: BMW 730d Additional sensors: Acceleration sensors, height sensors and sensor cluster in the center of gravity Measurement System: dSpace micro autobox

Masterthesis: T. Aman, „Konzipierung und Validierung eines fahrdynamischen Messsystems durch Referenzmessung als Basis für ein vertikaldynamisches Regelsystem und Aufbau eines Simulationsmodelles “, 2015.

SLIDE 13

Realtime Vehicle Simulation Model: Validation (1).

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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Measurement with real car Simulation with CarMaker Comparision of relevant values  Good correlation.

SLIDE 14

Realtime Vehicle Simulation Model: Validation (2).

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.

Beam left and right side

Wheel travel FR Vertical acceleration unsprung mass FR

SLIDE 15

Realtime Vehicle Simulation Model: Validation (3).

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.

Beam left and right side

Wheel travel RR Vertical acceleration unsprung mass RR

SLIDE 16

Realtime Vehicle Simulation Model: Validation (4).

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.

Beam left and right side

Vertical acceleration in center of gravity Pitch-Rate

SLIDE 17

Realtime Vehicle Simulation Model: Validation (5).

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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Masterthesis: H. Hornberger, „Konzipierung, Umsetzung und Validierung der Funktionslogik eines vertikaldynamischen Fahrwerksystem“, 2016.

Beam only right side

Vertical acceleration in center of gravity Roll-Rate

SLIDE 18

HIL Test Rig: Beam, single sided (right).

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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SLIDE 19

HIL Test Rig: Beam, single sided (right).

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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SLIDE 20

Vertical Dynamic Test Rig for Integration in a Realtime Vehicle Simulation Model. Conclusion.

• (Advanced) Vertical Dynamics will get a revival.
• Realised Concept of a vertical dynamics test rig, suitable for HIL

application and component measurement.

• Good accuracy of the HIL vehicle model and measurements with

the real car concerning vertical dynamic (damper with fixed damping curve, obstacle beam).

• HIL can be used for functional development and endurance

strength.

20.09.2016

• Prof. Dr. M. Jautze, Hochschule Landshut

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SLIDE 21

Hochschule Landshut

• Prof. Dr. M. Jautze

Am Lurzenhof 1 ∙ D-84036 Landshut Tel.: +49 871 506-267 marcus.jautze@haw-landshut.de www.haw-landshut.de