Support of automobile transmission development with co-simulation of vehicle and driver behaviour at virtual driving tests

Transcription

1 Support of automobile transmission development with co-simulation of vehicle and driver behaviour at virtual driving tests Michael Matthäi, Christian Petschaelis ZF Friedrichshafen AG

2 Agenda 2 Motivation Where do we come from? What should the journey be like? Structure of the Co-Simulation Demo video Measurements and analyses of the Co-Simulation environment Summary Co-Simulation of Vehicle and Driver, &

3 Thinkable uses of the SiL-cosimualtion at ZF predictive Control Load collective 3 Design of new developments driving strategy

4 Load collective data for the transmission Analysis of relevant damaging parameters Measurement Load collective data Analysis of: the number of the gear shifts the type of the gear shifts the quality of the gear shifts 4 The gear shifts depend on: the environment(course of curve, slope, weather conditions) driver (slow, normal, aggressive) loading of the vehicle (with trailer, loaded, empty)

5 Motivation for the SiL Co-Simulation environment Vehicle HiL test bench SiL test bench Behaviour of the driver Vehicle characteristics Environment Reproducibility Availability? Time for tests Danger for tester 5

6 Agenda 6 Motivation Where do we come from? What should the journey be like? Structure of the Co-Simulation Demo video Measurements and analyses of the Co-Simulation environment Summary Co-Simulation of Vehicle and Driver, &

7 Driver controller Desired speed Brakes Throttle Controller retraces speed profile No route information Fitful pedaling action Type of driver just via speed profile Test approach based on events 7 Desired speed Road Brakes Throttle Controller shall retrace the real route Different types of drivers have to be installed

8 Structure of the SiL test environment Vehicle Transmission Hydraulics Engine Driver controller Environment 3D Environment Road Traffic Memory area Control elements Driver controller Components of the vehicle 8 Measuring software (external) Test object: Transmission software

9 SoftCar (ZF-Friedrichshafen) Memory area Environment Ccontrol elements 9

10 SoftCar im V-Model Requirements Elicitation Validation System Requirements Analysis System Architectural Design Software Requirements Analysis Software Design Software Test Software integration & Integration Test System Test System integration & Integration Test Fahrer Lenkradwinkel Hardware-in-the-Loop Lenkradaktuator Gemessener Lenkradwinkel Lenkradwinkel Integration Test Lenkaktuator Spurstangenweg Gemessener Lenkradwinkel Motormoment LRA Motormoment LA M_Lenk_soll Spurstangenkraft Lenkmoment Software-in-the-Loop Prototype Software Construction Spurstangenkraft Spurstangenweg Lenkmoment [Nm] 13 Schwimmwinkel Fahrzeuggeschwindigkeit Gierwinkel v_fahr [km/h] Spur Fahrzeug Model-in-the-Loop 10

11 CarMaker (IPG) 3D Environment Road Driver controller Traffic Vehicle components 11

12 Vehicle (Simulink) (ZF-Friedrichshafen) Transmission Engine Vehicle Hydraulics Driver controller Engine PSM 8PxH 12 Engine Transmission Hydraulics Transmission (Hardware) Wheel on toothed, infinite road

13 Agenda 13 Motivation Where do we come from? What should the journey be like? Structure of the Co-Simulation Demo video Measurements and analyses of the Co-Simulation environment Summary Co-Simulation of Vehicle and Driver, &

14 Modification of the vehicle for the SiL Co-Simulation Single-track model Accelaration only in direction x No slip Engine Original model PSM 8PxH Multitrack modell Accelaration in direction x, y, z Slip at the wheels 14 Engine Contribution of ZF to SoftCar PSM 8PxH Contribution of IPG to CarMaker

15 Complete SiL-Co-Simulations Environment Vehicle Hardware Simulation Environment APO-Client (Application Online) 3D Environment 15 Control unit emulation Measuring software (external) TCP/IP Reference macro of SoftCar

16 Operating principle of the APO-Client - Hands over end flag - Hands over calculated values from CarMaker APO- Client SoftCar Interrupt Polling - Triggers APO - Provides required values APO- Client - Hands over calculated values after request 16 - Demands for CarMaker - Triggers CarMaker - Hands over increment - Hands over required values from SC

17 Agenda 17 Motivation Where do we come from? What should the journey be like? Structure of the Co-Simulation Demo video Measurements and analyses of the Co-Simulation environment Summary Co-Simulation of Vehicle and Driver, &

18 Simulation (Route and Vehicle) Vehicle: Audi Q5 Hybrid System capacity: 245hp = 180kW (155kW engine + 40kW electric motor) Route: Deggenhausertal Distance ~13km Country road with small towns Difference in altitude ~230m Maximum slope ~10% 18

19 Agenda 19 Motivation Where do we come from? What should the journey be like? Structure of the Co-Simulation Demo video Measurements and analyses of the Co-Simulation environment Summary Co-Simulation of Vehicle and Driver, &

20 Simulation (Types of drivers) Names / Characteristics Hudson Hornet (Doc) The Grandpa Sally Average Joe Lightning McQueen Racer Maximum speed 100 km/h 150 km/h 300 km/h Accelaration low (~2 m/s²) normal (~4 m/s²) large ( ~6 m/s²) Pedal changing time slow (~1s) normal (~0,5s) fast (~0,25s) 20 Cut a corner not at all rarely all Quelle:

21 Analysis of the SiL Simulation (Number of gear shifts) Analysis of the gear shifts Doc Sally McQueen Anzahl Number Schaltungen of gear shifts Co-Simulation 21 Fahrzeug Vehicle Co-Simulation Mean values Error< 5%

22 Agenda 22 Motivation Where do we come from? What should the journey be like? Structure of the Co-Simulation Demo video Measurements and analyses of the Co-Simulation environment Summary Co-Simulation of Vehicle and Driver, &

23 Summary Reality Simulation The Co-Simulation works and delivers results which are close to reality Simulations in x-fold real-time (till 8-fold on office PC) Comparable simulation by real transmission software with real application data 23 The types of drivers have to be adjusted to the real driver The type of driver has great influence on the gear shifts APO-Client and CarMaker have to be reprogrammed on interrupt Better performance

24 Thank you very much for your attention! 24 Co-Simulation of Vehicle and Driver, &