MODELLING AND CONTROLLING THE STEERING FORCE FEEDBACK USING SIMULINK AND xpc TARGET
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1 MODELLING AND CONTROLLING THE STEERING FORCE FEEDBACK USING SIMULINK AND xpc TARGET Dipl.-Ing. M. Brünger-Koch, 05/06/09 Model-Based Design Conference
2 Agenda 1. Introduction Company and institute Motivation Laboratory environment 2. Force feedback steering control xpc Target Steering control model 3. Summary and outlook Summary Outlook 2
3 1. Introduction 3
4 Who we are Company and institute German Aerospace Center (DLR) Exploratory focuses Aeronautics Astronautics Energy Transportation Transportation Budget Mio. Euro Mio. Euro Scientific competence: Circa employees, including about scientists 4
5 Who we are Company and institute Institute of Transportation Systems Residence: Braunschweig Since: March 2001 Director: Prof. Dr.-Ing. Karsten Lemmer Employees: Presently 54 employees from various scientific disciplines (expansion planned) Fields of Research: Automotive Automotive and Railway Systems Range of tasks: Basic research Creating concepts and strategies Prototype development 5
6 What we do Motivation Basics of driver assistance Driver modelling System architecture Driver Traffic management Applied driver assistance Driver oriented design Human-machine interface Adaptation to driver and situation! Action Warning Which assistance is necessary? How should assistance be implemented? Research infrastructure 6
7 Research Infrastructure Laboratory environment Measuring vehicle Dynamic Simulator 7
8 Virtual Reality Laboratory (VR-Lab) Laboratory environment 8
9 Hardware set up (schematic) Laboratory environment Pedals Instrument cluster Steering wheel ϕ PC Simulation M d Command module A/D analogue Signal Actuator Target PC CAN protocol 9
10 2. Force feedback steering control 10
11 xpc Target box system features xpc Target Key features Provides a high-performance industrial PC system, optimized to run Simulink and Real-Time Workshop generated applications in real time Supports all xpc Target capabilities Offers various I/O options Specifications Pentium III 700 MHz 128 MB RAM, 32 MB FlashRAM 11
12 xpc Target toolbox features xpc Target Matlab Simulink Real-Time Workshop xpc Target xpc Target Embedded Option Enables host-target communication (via RS-232 or TCP/IP) Supports more than 250 standard I/O boards Simulink external mode for parameter tuning Stand-alone mode 12
13 Simulink model - overview Steering control model Communication Control System State check 13
14 Control system Steering control model Initial State Back to Zero position Control Differentiation of the state condition The Steering wheel moves into neutral position with low speed and force The chosen controller calculates the setpoint current 14
15 Control Steering control model Control 1 Angular position input (ϕ) Control 2 Driving torque input (M d ) Combined control Control 1 for small angles Control 2 else Haptic feedback Superposed signal 15
16 Status check Steering control model Emergency check 1: Emergency check 2: State check: Monitors the progression of the steering wheel angular acceleration Compares the real and setpoint current values Ensures sending activity of the actuator module 16
17 3. Summary and outlook 17
18 What we did Summary Laboratory environment construction Support of advanced driver assistance systems development Force feedback steering wheel Control via simulink and xpc Target Monitoring State differentiation and emergency handling 18
19 What we plan to do Outlook Evaluation Virtual vs. real driving behaviour (e.g. steering) Driving dynamics simulation feedback M d = f (ϕ) M d = f Torque sensor integration ( vehicle speed, street properties,...) 19
20 Thank you for your attention! Questions? 20
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