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

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 1

Parametrization of Steering Models

and

Analysis of Driving Maneuvers

with

MXsteeringdesigner and MXevaluation

by Matthias Becker and Matthias Niegl MdynamiX AG

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016

MXsteeringdesigner

MXsteeringdesigner

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 3

The Objective of MXsteeringdesigner MXsteeringdesigner

• 10
• 5

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• 150
• 100
• 50

• 8000
• 6000
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• 2000

MF,lc FR MH Symbol of a friction element Massist,C kT dT SR Hardy disc, Mesh, Lower Column Steering Wheel mR Rack Pinion P rpi FF, R MF,torsion T kTT dTT JlC Torsion bar, Upper Column

MXsteering Models (Pfeffer Steer Models) Vehicle / Test Bench Measurement

Parametrisation tool for steering system models Identifies steering model parameters automatically from measurements Benchmark/design your own steering system

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 4

 Specification tests of the steering system  Characterization of the Steering System  Benchmarking  Analyzing Setups (Parameters)  Parametrization (Optimization of the Parameters)

Motivation

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 5

Pfeffer MXsteering

Types of steering system models:  Hydraulic Power Steering (HPS)  Electrical Power Steering (EPS)

• Column Assist
• Pinion Assist
• Rack Assist

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 6

Parametrization of the Steering Model

Available Parameters:

• Gear ratios
• Masses and inertias
• Motor specifications
• ECU parameter set
• etc.

Measured Parameters:

• Stiffness of the system
• Friction of the system
• Damping of the system
• ECU log data
• etc.

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 7

How to acquire the parameters

Boost Curve Steering Ratio Stiffness Test Rack Friction Column Friction Open Loop Tests Slowly Increase Test Sinus Sweep etc Weave Test Close Loop Tests Vehicle Measurements Vehicle Data Set Yes No Validated? Characteristic Tests HIL Measurements Vehicle Measurements HIL Measurements and Vehicle Measurements

Open/close loop tests: Compare simulation and measurement results to adjust relevant parameters (iterative routine)

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 8

Work Flow

Step 1. System Characteristics Step 2. Slowly Increase Test Step 3. Weave Test Step 4. Dynamics Test Update Parameters

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 9

 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

Benefits using MXsteeringdesigner

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016

MXevaluation

MXevaluation

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 11

 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

Motivation

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 12

The Proposed Procedure with MXevaluation

Objective World

Engineer’s Language

Subjective World

Customer’s Requests Objective Target Subjective Assessment Objective Parameter Subjective Target Correlation of Criteria Vehicle/Steer Model Setup Optimization Sim/HIL Validation in Vehicle Vehicle Measurements Test Drives

MXevaluation

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 13

Data Source / Raw Data The Implementation of MXevaluation

CarMaker MiL/SiL “erg” Steering in the Loop “mat” Testbench HiL “mdf” Test Road “dat” Visualization with Plots and Tables Conversion (Channel Names, File Format, Context Information) Objective Parameter Calculation Data Pre Processing [(Standard-) Filter, Offset, Drift (User-Defined)] Saving the Data (ATF, ATFx, ASAM…) Report (PDF, PPT) User Data

Config-File

Database

Different Maneuver

 MXevaluation can be used as:

• Standalone
• With IPG

CarMaker

• AVL Concerto
• and other tools

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 14

Example for Objective Parameters in MXevaluation

 Weave Test to optimize the steering behavior/feel (over 40 Objective Parameters)

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 15

MXevaluation 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

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016 16

Benefits using MXevaluation

 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

20.09.2016

MdynamiX AG

IPG Apply and Innovate 2016

Tel.: +49 89 12765047 Heßstrasse 89 • 80797 Munich • Germany info@mdynamix.de www.mdynamix.de Contact us

MdynamiX – Associated Institute of Munich University of Applied Sciences

Thank you for your Attention