Advanced Track and Tire Modeling using SIMPACK User Routines

Transkript

1 Advanced Track and Tire Modeling using SIMPACK User Routines Werner, Jens Neubeck Forschungsinstitut für Kraftfahrwesen und SIMPACK User Meeting

2 Introduction Continuous Track Model Implemented SIMPACK User Routines 6 DOF Track Joint Track Sensor Tire Model Summary and Perspective 2

3 Introduction Track Models in SIMPACK Road Surfaces SIN-Obstacle Ramp... Tracks Simple Track Measured Track... 3 Associated elements: Track Joint, Track Sensor

4 Introduction Tire Models in SIMPACK Standard Tire Models HSRI-Model Pacejka Magic Formula Pacejka Similarity Method Non Standard Models Delft MF-Tire Delft SWIFT-Tire (v8.5) RMOD-K (v8.5) Tire Interfaces SIMPACK User Tire 4 Standard Tire Interface STI

5 Introduction Track and Tire Modeling using User Routines Full availability in Symbolic Code (v8.0) Flexible definition of tire parameters and output values Fortran Code 5

6 Continuous Track Model Generated from measured data in a preprocessing step (MATLAB) Continuous approximation using splines s 0 s(t) 6 x Tr (s), y Tr (s), z Tr (s), α Tr (s)

7 Continuous Track Model Friction Coefficient µ-definition by rectilinear grid Grid mapped to track surface or xy-plane of earth coordinate system External file track.mue s y Ti 7

8 Implemented User Routines - Integration of the Track Model into SIMPACK y Tr Tire Model s x Tr Track Sensor Track Joint 8

9 Implemented User Routines 6 DOF Track Joint ψ y s(t) States provide vehicle position and movement relative to track 9 Serves as reference element for tire and track sensor

10 Implemented User Routines Track Sensor s(v s ) s const Allows preview relative to Track Joint position 10 Preview distance modeled with constant and velocity dependent part

11 Implemented User Routines - Track Sensor SIMULINK example: Controller using Track Sensor data SIMULINK track model for advanced controller concepts 11

12 Implemented User Routines Tire Model Tire Forces: HSRI-Model Other models can easily be implemented Tire Kinematics: Tire position relative to track Contact point, camber angle and slip values 12

13 Implemented User Routines - Tire Model Tire Position Relative to Track Track definition: x Tr (s), y Tr (s), z Tr (s),... Current tire position: x Ti, y Ti, z Ti,... s Ti? s TJ 13 Iteration: s Ti (x Ti, y Ti, z Ti )

14 Implemented User Routines - Tire Model Contact Point Determination TC TC CP SIMPACK Standard Tire? CP User Routine Tire 14

15 Implemented User Routines - Tire Model User Routine Tire t = 0 s SIMPACK Standard Tire (HSRI) 15 t = 0 s

16 Implemented User Routines - Tire Model User Routine Tire t = 2 s SIMPACK Standard Tire (HSRI) 15 / 2 t = 2 s

17 Implemented User Routines - Tire Model User Routine Tire t = 0 s SIMPACK Standard Tire 16 t = 0 s

18 Implemented User Routines - Tire Model User Routine Tire t = 7 s SIMPACK Standard Tire 16 / 2 t = 7 s

19 Implemented User Routines - Tire Model TC CoR CP Camber velocity induces slip angles 17

20 Implemented User Routines - Tire Model TC CoR CP Camber velocity induces slip angles 17 / 2 Resulting lateral forces may excite system when using simple algorithm

21 Summary Track and tire model now available for Symbolic Code Export Proved Track Joint concept is retained Improved contact point determination Perspective Integration of superior tire models Enhanced pre- and postprocessing Porting to SIMPACK v8.5 18