powerpoint-präsentationrem2011.kocaeli.edu.tr/documents/presentations/5a/s5a.p4.pdf · with or...

27.09.2011

1

Model Based Design of a Vehicle-Trailer

Combination Stabilization

12th International Workshop on Research and Education in Mechatronics

September 15th – 16th 2011, Kocaeli, Turkey

F. Quantmeyer, M.Eng.

Prof. Dr.-Ing. X. Liu-Henke

Overview

1. Introduction

2. Virtual Testbed for Model Based Design and Testing

3. Vehicle-Trailer Combinations

4. Modeling of the Vehicle-Trailer Combination

5. Analysis of the dynamical behavior

6. Model Based Design of Vehicle-Trailer Combination Stabilization

7. Conclusion

REM 2011 Kocaeli: Model Based Design of a Vehicle-Trailer Combination Stabilization 2

Joint Project:

Model of Vehicle-Trailer Combination for Model Based Design for a so called

„Virtual Testbed“ for ECUs

Aim of the project:

Development of new models for vehicle dynamics for testing the function of

control algorithms of Vehicle-Trailer Combination Stabilization for the virtual

testbed

Investigation on different strategies for control by using Model-in-the-Loop-

and Software-in-the-Loop-Simulation

1. Introduction

3

R&D of

Volkswagen AG

Niedersächsischen

Forschungszentrum

für Fahrzeugtechnik

Ostfalia

University

REM 2011 Kocaeli: Model Based Design of a Vehicle-Trailer Combination Stabilization

MiL:

Technical specification

(e.g.: dynamical behavior)

Valuation of dynamical behavior of

the vehicle

SiL:

Before application of ECU-code

Working this iterative process

together with supplier

Validation of function of control

algorithms

HiL:

Application of ECU-code

Fail-Safe / diagnosis

1. Introduction

Model Based process of development and testing

4 REM 2011 Kocaeli: Model Based Design of a Vehicle-Trailer Combination Stabilization

Modell-in-the-Loop

(MiL)

Control Algorithms Vehicle Dynamics

Model

ECU/Hardware-in-the-Loop

(HiL)

ECU,

Components Realtime Vehicle

Dynamics Model

Software-in-the-Loop

(SiL) Series Code

Specification

-33 SOP

-23 SOP

-18 SOP

Vehicle Dynamics

Model

27.09.2011

2

2. Virtual Testbed

Virtual ECU-Testbed

Automatical

documentation

MiL / SiL

Technical

Specification

• Test cases / routines

• Measurements on real

vehicle

• ...

Database of

test cases

• Vehicle dynamics

models

• ECU models

• Models of actors and

sensors

• ...

Database of

virtual models

5 REM 2011 Kocaeli: Model Based Design of a Vehicle-Trailer Combination Stabilization

3. Vehicle-Trailer Combinations

6

• In comparison with vehicle different dynamical

• Instability above the critical velocity

• Oscillations of the trailer – indicated by the kink angle or yaw angle of the

vehicle

• Risk of accident

Support for the driver in such critical situations:

Vehicle-Trailer Combination Stabilization


4. Modeling of Vehicle-Trailer Combination

The Vehicle-Trailer Combination

Different types of trailers:

● One or more axles

● With or without brakes

● With or without suspension

Ref: Volkswagen AG, Böckmann

Fahrzeugwerke GmbH

7

● Expansion of the database of virtual

models with different types of trailers

● Different detailing of the models for

system analysis, function development

and testing

Transmission of force by trailer coupling



Physical model

8

● Vehicle:

Mass of vehicle body

4 wheel masses

● Trailer:

Mass of trailer body

2 (4) wheel masses

● Trailer coupling:

force transmission by using

spring damper element with

6 DOF

ICS: Inertial Coordinate System / BCS: Body Coordinate System / ACS: Attachement Coordinate System

BCS_Fzg

BCS_Anh

xa

za ya

yz

zz

ACS_Anh

ACS_Fzg

ACS_RZhr

ACS_RZvr

ACS_RZvl

ACS_RAr

ACS_RAl

BCS_Zvr

BCS_Zhl

BCS_Zhr

BCS_Ar

BCS_Al

xa

za ya

yz zz

xz

za

ya xa

za ya

zf

yf xf

zf yf

xf

xz

zf

yf xf

BCS_Zvl

ACS_RZhl

zf yf xf

zf yf

xf

zf yf

xf

ACS_Fhr

ACS_Fvr

ACS_Fvl

ACS_Fhl

za

ya xa

zf

yf xf

zf

yf xf

za ya

ICS

y

z

x


27.09.2011

3


Model for model based control design

9

Kinematic functions:

cossin0

sincos0

001

T

Fxv

FS

h

lv lh ue

l

FK,yz

FK,xz

SP

Fxh

Mz

SP

A

BCS Trailer

BCS Vehicle

xi

yi

ICS

xz

yz

zz

za

K v r

A K v ,

r ACS

Vehicle

ACS

Trailer

Dynamic functions:

v

b

b

b

b

aaaa

aaaa

aaaa

aaaa

4

3

2

1

44434241

34333231

24232221

14131211

uDxCy

State equations:

Ausgangsgleichungen:

Kink Angle γ indicates the

oscillations of the trailer



Response for sine impuls of steering wheel angle at 100 km/h

10

0 1 2 3 4 5 6 7 8 -5

0

5

10

15

20

25

30

35

40

Time in s

An

gle

l in

°,

Sp

ee

d in

°/s

Steering wheel angle

Vehicle Yaw Rate d / dt

Kink angle



Investigation on the influence of different parameters on system stability

11

-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 -8

-6

-4

-2

0

2

4

6

8

real ( l )

imag

( l )

Eigenvalues l of systems with different masses

m Fzg

= 2000 kg m Anh

= 500 kg

m Fzg

= 1750 kg m Anh

= 750 kg

m Fzg

= 1500 kg m Anh

= 1000 kg

L

d / dt

L

d

/ dt

L d / dt

Investigation on influence of different parameters:

Mass and mass of inertia of vehicle, distance between the axles of

vehicle, distance between trailer coupling and rear axle, mass and

mass of inertia of trailer, length of drawbar, …

Investigation on influence of different parameters:

Mass and mass of inertia of vehicle, distance between the axles of

vehicle, distance between trailer coupling and rear axle, mass and

mass of inertia of trailer, length of drawbar, …



Influence of velocity on system stability

-7 -6.5 -6 -5.5 -5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 -4.5

-4

-3.5

-3

-2.5

-2

-1.5

-1

-0.5

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

real (λ)

ima

g (

λ)

Eigenvalues l at different velocities

v = 40 km/h

v = 90 km/h

v = 140 km/h

L d

L d

L d


27.09.2011

4

6. Model Based Design of Vehicle-Trailer


13

● Additional Function of ESP

● Detecting of the oscillations on the basis of ESP-sensors

● State controller generates a desired yaw moment to stabilize the system

● Realization of this yaw momentum by wheel individually braking

ESP – Electronic Stability Program

Se

nso

rs

Se

nso

rs

Vehicle-Trailer Combination

Stabilization

Vehicle-Trailer Combination

Stabilization

Detection of Oscillations

State Control

Desired yaw

moment

ESP Basic Functions ESP Basic Functions

ABS ABS

ASR ASR

GMR GMR

HBA HBA

Acto

rs

Acto

rs


V B C

A

-R

x0

x y u w

● System with state control:




15

0 5 10 15 -20

-10

0

10

20

30

40

Time in s

An

gle

in °

, S

pe

ed

in °

/s

0 5 10 15 -1000

-500

0

500

Time in s Ya

w M

om

en

tum

in

Nm

M ESP

L

d passiv

d

aktiv

passiv

aktiv




Impulse of steering wheel angle at vovercritical = 140 km/h

7. Conclusion

16

• A virtual testbed has been described and expanded by trailer models with

different detailing

• The virtual testbed is now ready for use in future projects for function

development and testing for Vehicle-trailer combinations

• The dynamical behavior of the vehicle-trailer combination and the influence

of its parameters has been analyzed

• On this basis a vehicle-trailer combination stabilization has been

developed and tested


Thank you for your attention!

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