SIMPACK as a MBS-Tool in the BOSCH-CS Simulation Concept

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1 SIMPACK USER-Meeting 2003 SIMPACK as a MBS-Tool in the BOSCH-CS Simulation Concept Albert Lutz CS-AS/ESF Robert Bosch GmbH Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 1

2 Overview Simulation in the development process of Vehicle Stabilising Systems: The BOSCH-CS Simulation Concept MBS-vehicle model Realisation and process Next steps Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 2

3 The BOSCH-CS Simulation Concept A Mechatronic System requires various Tools Sensors: Yawrate, AY Wheel speed, Steering angle, Precharge pressure Tools: EDYSON,... Application Software: Control and Safety Algorithm Tools: MS-Developer Studio, C- Compiler, Simulink, ASCET-SD Foundation and Actuation: MC, Booster, Wheel Brake Cylinder Tools: CoBrake ECUs: ESP, ABSR, DME Tools: SABER,... Mechanics: Chassis with suspension, steering system, drivetrain, tyres Tools: FASIM, SIMPACK, PKW0 Miscellaneous: Driver, Environment Brakehydraulics: HU,Brakeline Tools: AMESIM, EDYSON,... Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 3

4 The BOSCH-CS Simulation Concept Local Simulation Activities imbedded into the Concept System Design Realtime Models Functional Models Structural Models S t a n d a l o n e S i m u l a t i o n Vehicle Dynamics Simulation with Control Hydraulics Realtime Models Electronics Realtime Models Foundation Functional Models Realtime Models Actuation Behavioural Models Structural Models Realtime Models Behavioural Models Structural Models Behavioural Models Structural Models Structural Models Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 4

5 The BOSCH-CS Simulation Concept Agreed Simulations Concept at BOSCH-CS Integration Platform MATLAB/SIMULINK Aspects: SIMPACK complex/ reduced MATLAB/SIMULINK Models S-Functions Co-Simulation: Interface Concept and Definition ( Steckersammlung )... One integration platform to set-up the complete system by agreed interfaces Agreed interfaces enable direct implementation of the models or coupling by communication modules (CoSimulation) Data AMESIM complex/ reduced SABER complex/ reduced Controller Tool decision platform is MATLAB/SIMULink Data Data Data Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 5

6 The BOSCH-CS Simulation Concept Simulation in the Development Process of Vehicle Stabilising Systems Systems Development Design of Control Algorithm Systems Application Component Development Fundamental Research Knowledge Management Co-operation with Customers Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 6

7 MBS-Vehicle Model Application Area of Vehicle Models Functional MBS- Model Structural MBS-Model Structural MBS-Model with FEM Amplitude Handling USER Comfort Specialists, Developer Oscillations of Bodies Structural Oscillations Frequency Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 7

8 MBS-Vehicle Model Mastertitelformat bearbeiten SIMPACK SIMPACK: One Tool One Basic Dataset One Modeltyp Model Development SIMPACK SIMPACK Model Application Code Export - CS_CAR Stand alone Vehicle Modelling Fundamental Investigations w.r.t. MBS in CoSimulation (SIMAT) - ABS-Development - MBS-Investigations - New Actuator Concepts - Wirkketten-Engineering Plugin to SIMULink - SW-Development and Quality Assurance - System Development - System-Application - Small number of projects, - SIMPACK know how - Big number of projects, - no SIMPACK know how CS-AS/ESF Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.

9 MBS-Vehicle Model Specification of CS-CAR Vehicle with rigid bodies and 15 DOFs Suspension kinematics described by kinematics maps Interfaces for tyre models of different complexity Environment described by files and evaluated by SIMPACK-function Interfaces for other vehicle components Interfaces to BOSCH components (sensors, actuators, controller, brake,...) Implemented in SIMULink as a plug in using the SIMULink solver Modelling based on SIMPACK with Code Export Parameterisation capability Vehicle data base according to BOSCH-CS requests Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 9

10 Realisation and Process Structure of CS_CAR Model Library owned by BOSCH by INTEC Data Library owned by BOSCH Model with SIMPACK Algorithm SIMULINK IF Routines SIMPACK Library Vehicle Parameters Environmental Parameter Initial Conditions Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 10

11 Realisation and Process CS_CAR with Components modelled by BOSCH-CS Brake Hydraulics Animation Vereinfacht, zur Bedienung ESP-IF auf Basis CAN11h Robert Bosch GmbH K1-Si/ESV2-Lutz Version: 1.2 ASC_Sollwert_ MSR_Sollwert Luftmasse (VR_HL+VR_HR)* 0.5 * iges Motordrehzahl N_MOT [U/min] MD_ASC_LM [%] Init=100% MD_MSR [%] Init=0% MIN Motormodell Reibmoment MD_REIB [%] = const = 10% Engine * MD_RAT ASC_Sollwert MD_ASC [%] Init=100% PT1 Mot TT Mot C A N R E G L E R O U T P U Fahrervorgabe DROSS_WINKEL [%] = W_FPDK Motormoment MD_IND [%] C A N Tyre Vehicle CS_CAR Environment Fahrergaspedal W_FPDK [%] =f(t) * MD_RAT Schnittstelle zum Fzg.-Modell Schnittstelle zum Regler MIN MAX IF zu MKS- Tool PT1D K MD_RAT = MD_MAX / MD_NORM TTD K Motormoment MMot = f(n_mot, W_FPDK) Max. Motormoment MD_MAX [Nm] = 220 Nm Normmoment MD_NORM [Nm] = 600 Nm Drivetrain MIN Motormoment nach Eingriff MD_IND_NE [%] PT1 Mot TT Mot + - Kurbelwel lenantriebs moment * R E G L E R I N P U T Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 11

12 Realisation and Process Process of Model Set-up Specification Only for structural Models Modelling in SIMPACK Code Export S-Function Generation Customer Data Customer Structural Model Parameterisation Verification, Validation Archiving BOSCH Model Library Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 12

13 Realisation and Process Process of Model Set-up Using CS-CAR for several projects requires automised conversion of data sets to target tool Development of tool specific converters Adaptation to different data formats and number of input and output files Conversion of characteristic maps and curves for suspension kinematics Adaptation to transformation matrix parameters and direction of rotation Determination of conversion function concerning spring, damper and anti-roll bar Transformation of spring and damper data fields into global coord. system Conversion of tyre maps Estimation formalisms for none available parameters Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 13

14 Realisation and Process Pilot Project with Structure and Interfaces Aspects: Feasibility Study Fundamental questions MATLAB/SIMULink used as platform Models of all components all CS-Business Units engaged. ESP Controller implemented to MATLAB/SIMULink using ECU-Code CS_CAR_1 specified by BOSCH developed by INTEC Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 14

15 Next Steps Function and Projects Application in different pilot projects Build up of a model library for several projects Using elastokinematics Using structural axis SW-Architecture, Environment Set up archiving and data base Documentation GUI Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 15

16 SIMPACK USER-Meeting 2003 Thank you for your Attention Albert Lutz CS-AS/ESF Robert Bosch GmbH Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 16

Mastertitelformat bearbeiten

Mastertitelformat bearbeiten Mastertitelformat bearbeiten Specification of multi-domain systems based on Matlab / Simulink Martin Stark, Robert Bosch GmbH Martin.Stark@de.bosch.com Alle Rechte bei Robert Bosch GmbH, auch für den Fall

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