Parametrization of Steering Models and Analysis of Driving - PowerPoint PPT Presentation

Parametrization of Steering Models and Analysis of Driving Maneuvers with MXsteeringdesigner and MXevaluation by Matthias Becker and Matthias Niegl MdynamiX AG MdynamiX AG 20.09.2016 1 IPG Apply and Innovate 2016

M Xsteeringdesigner MXsteeringdesigner MdynamiX AG 20.09.2016 IPG Apply and Innovate 2016

The Objective of M Xsteeringdesigner Vehicle / Test Bench MXsteering Models Measurement (Pfeffer Steer Models) M H Symbol of a friction element 100 15  H 50 Steering Wheel 10 Steering Wheel Torque [Nm] Steering Wheel Angle [deg] 0 J uC 5 d T -50 M assist,C k T 0 -100 Torsion bar, Upper Column M F,torsion  T -5 -150 -200 M F,lc -10 Simulation 0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80 Time [s] Time [s] Measurement J lC 120 6000 d TT Hardy disc, Mesh, Lower Column k TT F F, R 4000 100 S R 2000 Vehicle Speed [km/h] 80 F R Tie Rod Force [N] 0 60 Pinion -2000 40 -4000 r pi 20 -6000 m R Rack  P 0 -8000 0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80 Time [s] Time [s] MXsteeringdesigner Parametrisation tool for steering system models Identifies steering model parameters automatically from measurements Benchmark/design your own steering system MdynamiX AG 20.09.2016 3 IPG Apply and Innovate 2016

Motivation  Specification tests of the steering system  Characterization of the Steering System  Benchmarking  Analyzing Setups (Parameters)  Parametrization (Optimization of the Parameters) MdynamiX AG 20.09.2016 4 IPG Apply and Innovate 2016

Pfeffer M Xsteering Types of steering system models:  Hydraulic Power Steering (HPS)  Electrical Power Steering (EPS) • Column Assist • Pinion Assist • Rack Assist MdynamiX AG 20.09.2016 5 IPG Apply and Innovate 2016

Parametrization of the Steering Model Available Parameters: Measured Parameters: • • Gear ratios Stiffness of the system • • Masses and inertias Friction of the system • • Motor specifications Damping of the system • • ECU parameter set ECU log data • • etc. etc. MdynamiX AG 20.09.2016 6 IPG Apply and Innovate 2016

How to acquire the parameters Boost Steering Stiffness Rack Column Validated? Characteristic Tests Curve Ratio Test Friction Friction Yes No Open Loop Tests Slowly Sinus Weave HIL Measurements Increase Sweep Test Test etc HIL Measurements and Close Loop Tests Vehicle Measurements Vehicle Vehicle Data Set Vehicle Measurements Measurements Open/close loop tests: Compare simulation and measurement results to adjust relevant parameters (iterative routine) MdynamiX AG 20.09.2016 7 IPG Apply and Innovate 2016

Work Flow Step 1. System Characteristics Step 2. Slowly Increase Test Step 3. Weave Test Step 4. Dynamics Test Update Parameters MdynamiX AG 20.09.2016 8 IPG Apply and Innovate 2016

Benefits using M Xsteeringdesigner  Fully validated steering system models  Easy parametrization of the Pfeffer Steering Model (in IPG CarMaker)  Design desired steering system behavior  Compare different steering systems  Implementation in full vehicle simulation MdynamiX AG 20.09.2016 9 IPG Apply and Innovate 2016

M Xevaluation MXevaluation MdynamiX AG 20.09.2016 IPG Apply and Innovate 2016

Motivation  Same post processing for the whole V-development model  Objectification of development and application  Calculate precise parameters which describe nearly every manoeuvre in vehicle dynamics (longitudinal, lateral)  Generating a database for correlation and evaluation  Connect subjective and objective world MdynamiX AG 20.09.2016 11 IPG Apply and Innovate 2016

The Proposed Procedure with M Xevaluation Subjective World Customer’s Requests Subjective Subjective Validation in Test Drives Assessment Target Vehicle Correlation of Criteria Objective Vehicle/Steer Optimization Vehicle Objective Target Model Setup Sim/HIL Measurements Parameter M Xevaluation Objective World Engineer’s Language MdynamiX AG 20.09.2016 12 IPG Apply and Innovate 2016

The Implementation of M Xevaluation Data Source / Raw Data CarMaker Testbench Steering in User Test Road MiL/SiL HiL the Loop Data “ dat ” “erg” “ mdf ” “mat”  MXevaluation can be used as: Conversion (Channel Names, File Format, Context Information) • Standalone • With IPG Data Pre Processing Config-File [(Standard-) Filter, Offset, Drift (User-Defined)] CarMaker Different • Objective Parameter Calculation AVL Concerto Maneuver • and other tools Visualization with Plots and Saving the Data (ATF, ATFx, Tables ASAM…) Report (PDF, PPT) Database MdynamiX AG 20.09.2016 13 IPG Apply and Innovate 2016

Example for Objective Parameters in M Xevaluation  Weave Test to optimize the steering behavior/feel (over 40 Objective Parameters) MdynamiX AG 20.09.2016 14 IPG Apply and Innovate 2016

M Xevaluation can be implemented in IPG CarMaker  Objective Parameters are calculated automatically after a maneuver and stored in CarMaker Output Quantities  MXevaluation is also accessible manually via tcl script MdynamiX AG 20.09.2016 15 IPG Apply and Innovate 2016

Benefits using M Xevaluation  Post processing tool for vehicle dynamics manoeuvres  Establishing a standard procedure to improve the vehicle dynamics performance with same post processing procedure for simulation, HiL-test benches, vehicle tests  MXevaluation correlates Subjective Assessment (SA) with Objective Parameters (OP) using proven links and manoeuvres  Target values of OP can be identified based on our experience or customer can define with their test drivers  The procedure can be used as the standard to improve the subjective feel / objective behaviour of all kinds of subsystems MdynamiX AG 20.09.2016 16 IPG Apply and Innovate 2016

M dynamiX – Associated Institute of Munich University of Applied Sciences Thank you for your Attention Contact us Tel.: +49 89 12765047 Heßstrasse 89 • 80797 Munich • Germany info@mdynamix.de www.mdynamix.de MdynamiX AG 20.09.2016 IPG Apply and Innovate 2016