Driving Dynamics Modelling

with Modelica

Johan Andreasson, Division of Vehicle Dynamics

Royal Institute of Technology, Sweden

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Outline

• Aim with the Car.mo library

• From the top to the bottom!
• Library contents
• Examples
• Related libraries
• Future improvments

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Aim with the Car.mo library

• Driving Dynamics evaluation

– Critical maneouvres
– Lateral performance
– Longitudinal performance
– Comfort
– Etc.

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 From the top to the bottom!

Focus on chassis

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 A car model

environment

chassis trailer

driver
power
train

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Chassis interface

body Tyre-road
frame interaction
as a field

steering
flange
drive shafts

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Chassis model
wheels
BGR
rear

wheel_2

wheel_4
suspension
MacPherson TwistBeam

front frontSuspension rearSuspension

suspension left left

wheel_1

wheel_3
freeMotion
flange_SW

flange_1
ground
y
body flange_3
x

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Suspension Interface

MacPherson connection
to body

name
wheel
connectors

(steering

left flange)

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Suspension model (MacPherson)

frame_U_2
suspension MacPherson linkages
parameters data
frame_C
forceTableA
forceTable_2
forceTable_1
f_s=f(s)
f_s=f(s)
f_s=f(s)
f_d=f(der(s))
f_d=f(der(s))
f_d=f(der(s))

steering
L R

anti-roll L

linkage
flange_SW

frame_U_1

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Suspension model (MultiLink4)

frame_U_2
suspension
multi-links
parameters data
frame_C
forceTable_1
f orceTable_2
f orceTableA f_s=f(s)
f _s=f
f _s=f (s)(der(s))
f _d=f
(s)
f _d=f (der(s))
f _d=f (der(s))

A
L

anti-roll
linkage
struts

frame_U_1

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Linkage model (MacPherson)
forceTable
f_s=f(s)
f_d=f(der(s))

r=rCL1_scaled

lower
frame_C frame_U

MacPherson
strut
wish-bone
frame_L12

(A-arm)

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Component model (MacPherson strut)
forceTable

frame_W
f_s=f(s)
f_d=f(der(s))

bodyShape

outerFrameTranslation

r=rUW - rUL1L2
box

frame_C

lowerFrameTranslation
C r=rCS

a b
r=rUS - rUL1L2 upperFrameTranslation

Spherical1
frame_L1L2

prismatic=rCS - rUS
lowerShape upperShape

cylinder cylinder

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Hierarchy

Vehicle model

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Hierarchy

Vehicle model
BGR
wheel_2

wheel_4
Chassis model
MacPherson TwistBeam
L
frontSuspension rearSuspension

left left
wheel_1

wheel_3
freeMotion

flange_SW

ground
flange_1 y flange_3
x

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Hierarchy

frame_U_2
Vehicle model
BGRdata
wheel_2

wheel_4
forceTableA
forceTable_2
forceTable_1
f_s=f(s)
frame_C
Chassis model
f_s=f(s)
f_s=f(s)
f_d=f(der(s))
f_d=f(der(s))

Suspension model
f_d=f(der(s))

MacPherson TwistBeam
L
frontSuspension rearSuspension

left R left
L

L
wheel_1

wheel_3
freeMotion

flange_SW flange_SW

ground
frame_U_1

flange_1 y flange_3
x

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Hierarchy

frame_U_2
forceTable
f_s=f(s) Vehicle model
BGRdata f_d=f(der(s))
wheel_2

wheel_4
forceTableA
forceTable_2
forceTable_1
f_s=f(s)
frame_C
Chassis model
f_s=f(s)
f_s=f(s)
f_d=f(der(s))
f_d=f(der(s))

Suspension model
f_d=f(der(s))

MacPherson TwistBeam
L
Linkage model
frontSuspension rearSuspension

left left
r=rCL1_scaled

R
L
lower

frame_C frame_U

L
wheel_1

wheel_3
freeMotion

flange_SW flange_SW

ground
frame_L12

frame_U_1

flange_1 y flange_3
x

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Hierarchy

frame_U_2
forceTable
f_s=f(s) Vehicle model
BGRdata f_d=f(der(s))
forceTable
wheel_2

wheel_4
frame_C
Chassis model
frame_W
forceTableA
forceTable_2 f_s=f(s)
forceTable_1
f_s=f(s)
f_s=f(s)
f_s=f(s)
f_d=f(der(s))
f_d=f(der(s))
f_d=f(der(s))

Suspension model
f_d=f(der(s))

MacPherson TwistBeam
L
bodyShape

outerFrameTranslation

r=rUW - rUL1L2

Linkage model
frontSuspension rearSuspension
box

left left
r=rCL1_scaled

R
L

frame_C
lower

frame_C frame_U
C r=rCS

Component model
lowerFrameTranslation

a b
L
wheel_1

r=rUS - rUL1L2 wheel_3 upperFrameTranslation

Spherical1
frame_L1L2
freeMotion

prismatic=rCS - rUS
flange_SW flange_SW
lowerShape upperShape

ground
frame_L12

cylinder cylinder
frame_U_1

flange_1 y flange_3
x

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Library contents

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Library contents

Car.Examples Vehicle models

Car.Chassis Chassis models
Car.Chassis.Suspensions Suspension models

Car.Chassis.Components Linkage models

Component models

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Usage

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Usage – Exsisting examples

Chassis Wheels Drivers

Library Library Library

Examples Utilities Environments

Library Library Library

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Usage – Own models

Chassis Wheels Drivers

Library Library Library

MyCar Examples Utilities Environments

Example
Model Library Library Library

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Usage – With other libraries
PowerTrain PowerTrain
?
Chassis Wheels Drivers
Library Library
Library Library Library

PowerTrain
HevLib

MyCar
Library Examples Utilities Environments

Example
Model Library Library Library

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Usage – Visualised performance

Results?

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Usage - Suspension mapping

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Usage - Comfort issues

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Related libraries

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 PlanarMultiBody.mo
flange_2 flange_4

BGR Wheel_2

Wheel_4
y

y
x

x
twoD2ThreeD

XYSuspension XYSuspension

frontSuspension rearSuspension

Fixed1=0
left left
body
Wheel_1

Wheel_3
x

freeMotion

x
y

flange_SW

ground
flange_1 y flange_3
x

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Forces.mo

Utilities

Library a b a b

a b a b a b

ElastoGap Examples ElastoGap3D

Library a b

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Summary

– Chassis modelling
– Driving dynamics simulation
– Interfacing other Modelica libraries

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Future Improvements

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Evaluation aids

• Related models
– Drivers
- Automatic test rigs
- ...
• Motion constraints
– Constant speed maneouvres
– Constant radius turns
– ...

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Extended flexibility

• With/without bushings
• Linear/nonlinear spring-dampers
• Swapping tyre models
• 1D-2D-3D geometries and combinations

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Extended flexibility

• Different models share same interface.

– Model focus/viewpoint can be changed easilly!

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Different models share same interface

BGR

wheel_2

wheel_4
MacPherson TwistBeam

frontSuspension rearSuspension

left left

wheel_1

wheel_3
freeMotion
flange_SW

ground
flange_1 y flange_3
x

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Different models share same interface
flange_2 flange_4

planar
BGR

wheel_2

wheel_4
Wheel_2

Wheel_4
y

y
x

x
twoD2ThreeD
MacPherson
XYSuspension TwistBeam
XYSuspension

frontSuspension
frontSuspension rearSuspension
rearSuspension

Fixed1=0
left left
left body
left

Wheel_1

Wheel_3
wheel_1

wheel_3
x

freeMotion

x
y

y
freeMotion
flange_SW

ground
ground
flange_1
flange_1 yy flange_3
flange_3
xx

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Extended flexibility

• Different models share same interface.

– Model focus/viewpoint can be changed easilly!
– Higher requirements on interfaces!

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Suitable interfaces?

four wheel
steering?

Active
suspension?

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Extended flexibility

• Different models share same interface.

– Model focus/viewpoint can be changed easilly!
– Higher requirements on interfaces!
– Over-all model structure that is suitable!

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Suitable structure

X-by wire? Fuel cell

technology?

? L

Vehicle dynamics Energy management?

control systems?

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Extended flexibility

• Different models share same interface.

– Model focus/viewpoint can be changed easilly!
– Higher requirements on interfaces!
– Over-all model structure that is suitable!
– Sub-models must know their limitations!

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Model limitiations!

kN y
v
4
α
2

0 Magic Formula
Linear model
-2

-4 o
-15 -10 -5 0 5 10 15 α

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Acknowledgements

• Dynasim AB
• DLR

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics

 Contact

johan@fkt.kth.se

Johan Andreasson, Division of Vehicle Dynamics, KTH Driving Dynamics