Parametrization of Steering Models and. Analysis of Driving Maneuvers with. MXsteeringdesigner and MXevaluation

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1 Parametrization of Steering Models and Analysis of Driving Maneuvers with MXsteeringdesigner and MXevaluation by Matthias Becker and Matthias Niegl

2 MXsteeringdesigner MXsteeringdesigner

The Objective of MXsteeringdesigner Vehicle / Test Bench Measurement MXsteering Models (Pfeffer Steer Models) 100 6000 MH 15 Symbol of a friction element H

[Nm] Torsion bar, Upper Column -5-4000 MF,lc 50-200 0 10 20 30 40 60 70 80 Time [s] Simulation -10 0 10 20 30 40 50 60 70 80 Time [s] -6000 JlC Measurement

Lower Column Tie Rod Force [N] 20 rpi mr 0 0 10 20 30 40 50 P 60 70 80 Time [s] Rack -6000-8000 0 10 20 30 40 50 60 70 80 Time [s] MXsteeringdesigner

3 The Objective of MXsteeringdesigner Vehicle / Test Bench Measurement MXsteering Models (Pfeffer Steer Models) MH 15 Symbol of a friction element H Steering Wheel Angle [deg] Tie Rod Force [N] dt 0 Massist,C kt T JuC MF,torsion 10 Steering Wheel 5 0 Steering Wheel Torque [Nm] Torsion bar, Upper Column MF,lc Time [s] Simulation Time [s] JlC Measurement Vehicle Speed [km/h] SR FF, R dtt ktt Time [s] 2000 FR 0 Pinion Hardy disc, Mesh, Lower Column Tie Rod Force [N] 20 rpi mr P Time [s] Rack Time [s] MXsteeringdesigner Parametrisation tool for steering system models Identifies steering model parameters automatically from measurements Benchmark/design your own steering system

4 Motivation Specification tests of the steering system Characterization of the Steering System Benchmarking Analyzing Setups (Parameters) Parametrization (Optimization of the Parameters)

5 Pfeffer MXsteering Types of steering system models: Hydraulic Power Steering (HPS) Electrical Power Steering (EPS) Column Assist Pinion Assist Rack Assist

6 Parametrization of the Steering Model Available Parameters: Gear ratios Masses and inertias Motor specifications ECU parameter set etc. Measured Parameters: Stiffness of the system Friction of the system Damping of the system ECU log data etc

7 How to acquire the parameters Characteristic Tests Boost Curve Steering Ratio Stiffness Test Rack Friction Column Friction Validated? Yes Open Loop Tests No HIL Measurements Slowly Increase Test Sinus Sweep etc Weave Test Close Loop Tests HIL Measurements and Vehicle Measurements Vehicle Measurements Vehicle Measurements Vehicle Data Set Open/close loop tests: Compare simulation and measurement results to adjust relevant parameters (iterative routine)

8 Work Flow Step 1. System Characteristics Step 2. Slowly Increase Test Step 3. Weave Test Step 4. Dynamics Test Update Parameters

9 Benefits using MXsteeringdesigner Fully validated steering system models Easy parametrization of the Pfeffer Steering Model (in IPG CarMaker) Design desired steering system behavior Compare different steering systems Implementation in full vehicle simulation

10 MXevaluation MXevaluation

11 Motivation Same post processing for the whole V-development model Objectification of development and application Calculate precise parameters which describe nearly every manoeuvre in vehicle dynamics (longitudinal, lateral) Generating a database for correlation and evaluation Connect subjective and objective world

12 The Proposed Procedure with MXevaluation Subjective World Customer s Requests Test Drives Subjective Assessment Subjective Target Validation in Vehicle Correlation of Criteria Vehicle Measurements Objective Parameter Objective Target Vehicle/Steer Model Setup Optimization Sim/HIL MXevaluation Objective World Engineer s Language

The Implementation of MXevaluation Data Source / Raw Data MXevaluation can be used as: Standalone With IPG CarMaker AVL Concerto and other tools User Data CarMaker MiL/SiL erg Visualization with

13 The Implementation of MXevaluation Data Source / Raw Data MXevaluation can be used as: Standalone With IPG CarMaker AVL Concerto and other tools User Data CarMaker MiL/SiL erg Visualization with Plots and Tables Testbench HiL mdf Steering in the Loop mat Conversion (Channel Names, File Format, Context Information) Data Pre Processing [(Standard-) Filter, Offset, Drift (User-Defined)] Objective Parameter Calculation Test Road dat Config-File Different Maneuver Saving the Data (ATF, ATFx, ASAM ) Report (PDF, PPT) Database

14 Example for Objective Parameters in MXevaluation Weave Test to optimize the steering behavior/feel (over 40 Objective Parameters)

15 MXevaluation can be implemented in IPG CarMaker Objective Parameters are calculated automatically after a maneuver and stored in CarMaker Output Quantities MXevaluation is also accessible manually via tcl script

16 Benefits using MXevaluation Post processing tool for vehicle dynamics manoeuvres Establishing a standard procedure to improve the vehicle dynamics performance with same post processing procedure for simulation, HiL-test benches, vehicle tests MXevaluation correlates Subjective Assessment (SA) with Objective Parameters (OP) using proven links and manoeuvres Target values of OP can be identified based on our experience or customer can define with their test drivers The procedure can be used as the standard to improve the subjective feel / objective behaviour of all kinds of subsystems

17 MdynamiX Associated Institute of Munich University of Applied Sciences Thank you for your Attention Contact us Tel.: Heßstrasse Munich Germany

MXSTEERINGDESIGNER MDYNAMIX AFFILIATED INSTITUTE OF MUNICH UNIVERSITY OF APPLIED SCIENCES

MXSTEERINGDESIGNER MDYNAMIX AFFILIATED INSTITUTE OF MUNICH UNIVERSITY OF APPLIED SCIENCES MDYNAMIX AFFILIATED INSTITUTE OF MUNICH UNIVERSITY OF APPLIED SCIENCES MXSTEERINGDESIGNER AUTOMATED STEERING MODEL PARAMETER IDENTIFICATION AND OPTIMIZATION 1 THE OBJECTIVE Valid steering models Measurement