ASM Gasoline Engine Simulation Package. dspace Automotive Simulation Models ASM NEW: Gasoline Engine Model and ASMParameterization
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1 ASM Gasoline Engine Simulation Package dspace Automotive Simulation Models ASM NEW: Gasoline Engine Model and ASMParameterization dspace
2 Automotive Simulation Models Gasoline Engine Simulation Package Real-Time Gasoline Engine Model Key Features Open MATLAB /Simulink model Real-time simulation and offline simulation Mean value engine model with combustion torque modulation Direct and manifold injection supported Description Application Areas The Gasoline Engine Simulation Package is an open Simulink model for the real-time simulation of gasoline engines. It is fully integrated into the dspace tool chain and typically used on a dspace Simulator for hardware-in-the-loop testing of electronic control units (ECUs). It is a complete and independent engine model that supports all the relevant phases of the modelbased development process, from early controller design to testing in the laboratory. Key Benefits Since the Gasoline Engine Simulation Package is an open Simulink model users can simply add components or replace them with custom models to meet specific project requirements. All dspace Automotive Simulation Models (ASM) have standardized interfaces between subsystems (engine, transmission, vehicle), so the engine model can easily be expanded by adding a vehicle model for virtual vehicle tests. Models parameters can be tuned while online simulations are performed (p. 10). Simulation Model Characteristics The actual physical engine characteristics are represented by a mean value engine model with crank angle based torque generation, turbocharger, exhaust gas recirculation, dynamic manifold pressure, temperature calculation, and direct and manifold injection models. To simulate the engine within an automotive system (car or truck), the engine model incorporates a longitudinal drivetrain model with manual and automatic transmission, a clutch, a torque converter, a starter, and a test bench mode. Models for the environment and driver complement the virtual powertrain. Offline and Online Simulation The ASM gasoline engine model can be used in combination with real controllers in a hardware-in-the-loop environment (known as HIL or online mode) or for offline-simulation of a gasoline engine in combination with software controller algorithms (PC or offline mode). The model supports real-time code generation via Real-Time Workshop and dspace s RTI for online simulation on a dspace real-time system. 2
3 Gasoline Engine Simulation Package Main Features and Benefits Feature Description Benefit Open Simulink model All model blocks are visible Custom models can easily be added or used to replace model components ASMParameterization Model parameterization comprising calculation and visualization of parameters Structured parameter handling and fast parameterization (p. 12) Online simulation Real-time simulation on real-time hardware Hardware-in-the-loop simulations with ECUs Offline simulation Simulations as early as the design phase Controller validation in early development stages ASMSignalBus Online tunable parameters Model interoperability Simulation signals are routed via a structured Simulink signal bus Direct parameter access during real-time simulations ASM models are easy to combine to create a virtual vehicle Standardized and fast access to model variables (p. 11) Online parameter optimizations and behavior studies (p. 10) An entire virtual vehicle can be simulated (p. 13) Order Information Classification Type Order Number Base Model ASM Gasoline Engine Simulation Package ASM_P_GE Extension Models ASM Vehicle Dynamics Simulation Package ASM_P_VD ASM Turbocharger Model ASM Brake Hydraulics Model ASM_L_TC ASM_L_BH Relevant Software and Hardware Hardware Required Minimum system Pentium 3 processor, 800 MHz 512 MB RAM Recommended system dspace Simulator, equipped with Pentium 4 processor, 1.4 GHz or higher Memory 1024 MB RAM DS1005 or DS1006 Software for Online Simulation Required Integrated development environment MATLAB/Simulink from The MathWorks Real-Time Workshop dspace implementation software Real-Time Interface (RTI) dspace experiment software ControlDesk Additional software Microsoft Excel Operating system Windows 2000, Windows XP (32-bit version only) Optional Other dspace ASM Packages Software for Offline Simulation Required Integrated development environment MATLAB/Simulink from The MathWorks Simulink Performance Tools Additional software Operating system Microsoft Excel Windows 2000, Windows XP (32-bit version only) Optional Other dspace ASM Packages 3
4 Automotive Simulation Models ASM Gasoline Engine Feature Overview Features at a Glance Up to 20-cylinder gasoline applications Simulation with real ECU in hardware-inthe-loop (HIL) systems Longitudinal driver for standard cycles (FTP75, NEDC, J10-15, ) Easy to expand into a comprehensive virtual vehicle by adding ASM vehicle dynamics Vehicle and engine parameters tunable online during run time (ControlDesk) Modular, library-based implementation Physical turbocharger as an optional module Fully integrated into dspace tool chain Easy variable access Custom models can be integrated Comprehensive documentation with complete formula listing Model Components Engine Speed Engine Torque The gasoline engine model consists of subsystems that comprise a complete fully featured engine with basic models for drivetrain, vehicle dynamics and environment. The model can be extended by adding other model packages from dspace or custom models. 4
5 Gasoline Engine Simulation Package Air System The air path simulates the compressor, intercooler, throttle, and intake manifold dynamics on the intake side, and exhaust-gas recirculation (EGR) with cooler and exhaust manifold on the exhaust side. Look-up table for gasoline engine volumetric efficiency. Map-based turbocharger for boost pressure calculation Intercooler Throttle Intake manifold with calculation of intake manifold pressure and temperature, fresh air mass and exhaust mass Exhaust manifold with calculation of exhaust manifold pressure and temperature Exhaust-gas recirculation (EGR) of exhaust and fresh air with EGR cooler Lambda before and after catalyst Exhaust backpressure and temperature Optional: ASM Turbocharger Model, the physical turbocharger model with compressor and turbine (VTG or wastegate) and with turbine speed calculation Numerical stabilization using subsystem oversampling (p. 10) Engine Air System Schematics of the air system. 5
6 Automotive Simulation Models Engine Fuel System Fuel System The fuel system can simulate direct and manifold injection systems. The fuel mass flow for manifold injection is calculated from the measured injection time. The injected fuel mass for direct injection can be simulated as mean flow or pulse-wise. Wall Film During manifold injection, some of the injected fuel feeds the cylinder directly, while the rest forms a film on the intake manifold wall. Liquid from the wall film evaporates over time, contributing to the air fuel mixture process and entering the cylinder. The wall film model describes the fuel transport from the injection valve to the cylinder by means of a mean value approach. Fuel injection system: common-rail system including direct injector and manifold injector Tank model Injectors The air fuel mixture process takes wall film fuel evaporation into account. Engine Torque Generation Piston Engine The piston engine model comprises the air flow through the inlet valve and the combustion torque calculation. Two combustion models are available, for homogenous and stratified mode. The effects of the ignition angle, the injection angle, and the air/fuel ratio on the combustion torque are included as efficiencies. Friction torque is taken into account for effective torque calculation. As in a real ECU, the torque-based soft ECU (p. 8) provides strategy functions for switching between the modes. Mean value engine model with combustion torque modulation Homogenous and stratified combustion Effect of lambda and ignition angle by efficiency tables Cylinder inlet by volumetric efficiency Friction torque Basic cooling system Trq eff = p ind. i. V D 2л Trq frict Mathematical equation for torque calculation. Trq eff Effective torque p ind Induced pressure i Engine constant (0.5 for four strokes) V D Engine displacement Trq frict Friction torque Piston engine model includes crank angle based torque calculation. 6
7 Gasoline Engine Simulation Package Drivetrain The drivetrain model calculates the speeds of the vehicle drivetrain, for example, the engine speed at the crankshaft and the speeds of the transmission. The drivetrain can be disconnected in test bench mode, in which the engine speed can be controlled by a dynamometer and the engine torque by actuating the accelerator pedal. For stationary machines (without drivetrain), the load torque can be stimulated manually. Crankshaft for engine speed calculation Automatic transmission by torque converter and lockup clutch Manual transmission by mechanical clutch Differential Starter Test bench for engine speed and torque control Manual load torque for stationary machines Drivetrain and Vehicle Vehicle Dynamics The vehicle speed is calculated according to the external forces on the vehicle. It is described by a longitudinal model of a passenger car or truck. Air resistance, slope, braking, and rolling resistance are taken into account. Slope Air resistance Rolling resistance Braking Basic vehicle dynamics model for adequate engine simulation. 7
8 Automotive Simulation Models Soft ECUs Control Software The included soft ECUs are needed in scenarios where a real ECU is not available, for example, offline simulation. A combination of soft and real ECUs can be used in HIL scenarios where real transmission ECUs are not available. The Soft ECU provides controls for engine and transmission. Gasoline Soft ECU The gasoline soft ECU is basic gasoline engine ECU controller software without any diagnostics, used for testing the engine model in closed-loop operation when no real ECU is connected. Its inputs are standard sensor signals and the out- puts are standard actuators. The soft ECU has an engine torque based controller concept for homogeneous and stratified engine operation modes. Engine operation detection Engine torque calculation Torque-to-injection quantity and torqueto-relative-air-mass conversion Controller for ignition angle Controllers for fuel system Controllers for air system Angular processing unit Transmission Soft ECU The transmission soft ECU shifts the gear of the automatic transmission according to the current driving situation and controls the torque converter and lockup clutch. Automatic gear shifting Park, reverse, neutral, and drive mode Tip shift control supported Lockup clutch control Engine speed and accelerator pedal included The shift detection system of the transmission soft ECU. 8
9 Gasoline Engine Simulation Package Road The road subsystem allows environmental conditions like road slope, ambient pressure, and temperature to be set. Slope Ambient pressure and temperature Environment Maneuver Maneuvers define how a vehicle moves. Depending on the maneuver mode, they either provide stimulus signals directly to certain vehicle components like ignition key, accelerator pedal, brake pedal, clutch pedal and gear lever, or give instructions to a driver model, which controls the vehicle. Manual control in offline mode (Simulink) Manual control in online mode using ControlDesk Time-dependent, predefined stimulus maneuvers Driver maneuvers (velocity profiles, for example, FTP75, NEDC, J10-15) Driver The driver model controls the vehicle. Its main task is to drive the vehicle at a desired velocity. The vehicle is controlled by accelerator pedal, brake pedal, clutch pedal and gear shifter. Longitudinal controller for accelerator and brake pedal, comprising feedforward and feedback control Gear and clutch control for manual transmission Velocity profile according NEDC. The engine model can be simulated in a complete environment, which is useful for longitudinal driving maneuvers. 9
10 Automotive Simulation Models Technical Aspects Signal Processing Mean Value Model The ASM engine mean value models use combustion torque modulation to calculate torque generation on a cylinder-selective, crank-anglesynchronous basis. The intake manifold dynamics, the friction torque, and the exhaust gas behavior are also simulated by mean value models. This guarantees optimum real-time performance. Subsystem Oversampling To guarantee numerically stable integration of submodels with stiff behavior (e.g. the ASM Brake Hydraulics Model), local subsystem oversampling is used. The Simulink For Iterator subsystem evaluates stiff differential equations n-times during one major simulation step. 200µs 200µs 200µs 200µs 200µs 1ms Torque modulation can be considered as a form function applied to the mean value signals. It is calculated on a cylinder-selective, crank angle-synchronous basis. Subsystem oversampling for a step response of a first-order delay element. Signal and Parameter Management Online Tunable Parameters Every parameter of the model can be tuned while the model is performing a real-time simulation on a dspace Simulator. Every parameter (vehicle mass, etc.) is implemented as a single constant block in the model. ControlDesk provides access to each parameter when the model is used in online mode. 10
11 Gasoline Engine Simulation Package ASMSignalBus The ASMSignalBus comprises the relevant signals of all model components in a hierarchical structure. Signals for I/O access with an interface board or for display with a Simulink Scope can be chosen conveniently via a Simulink Bus-Selector. Signal and Parameter Management The ASMSignalBus provides a structured view of all the relevant signals. The gasoline engine Simulink model with the main components and signals. 11
12 Automotive Simulation Models Signal and Parameter Management ASMParameterization Parameterizing a model is a crucial task. To make it as efficient as possible, ASMParameterization provides semi-automated calculation of the model parameters and look-up tables in MATLAB. Parameterization is based on measurement data and parameters the number of cylinders, vehicle mass, etc. The GUI-based tool supports the loading of engine test bench measurements from Excel format, the mapping of measurements to model variables including unit conversion, and automatic generation of look-up tables using several kinds of interpolation and extrapolation functions. These are open M-functions that you can modify as required. Last but not least, the tool provides structured access to model components and enables you to manage parameter sets for individual model configurations. The userinterface of the comprehensive parameterization tool. 12
13 Gasoline Engine Simulation Package ASM Philosophy Model Design Philosophy For optimum support of customer-specific requirements dspace has chosen an open model concept. This means that models are visible to users right down to the level of standard Simulink blocks. Thus the dspace Automotive Simulation Models provide enormous flexibility for projects that require dedicated simulation models. The open model approach allows perfect adaptation to individual projects and requirements. This can be achieved by modifying models or by replacing or adding components. Virtual Vehicle dspace Automotive Simulation Models are a collection of well coordinated models that you can easily combine to build anything from extended models to a whole virtual vehicle. As well as gasoline and diesel engines, there are models for vehicle dynamics and brake hydraulics. Combined models interoperate in one simulation. Concept Several ASM packages can be combined to make up a virtual car. 13
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16 02/ Headquarters in Germany dspace GmbH Technologiepark Paderborn Tel.: Fax: info@dspace.de dspace USA and Canada dspace Inc Cabot Drive Suite 1100 Novi. MI Tel.: Fax: info@dspaceinc.com Japan dspace Japan K.K. West Tower 9F Yokohama Business Park 134 Godo-cho. Hodogaya-ku Yokohama-shi Kanagawa-ken Tel.: Fax: info@dspace.jp France dspace Sarl Parc Burospace. Bâtiment 20 Route de la Plaine de Gisy Bièvres Cedex Tel.: Fax: info@dspace.fr United Kingdom dspace Ltd. Unit B7. Beech House Melbourn Science Park Melbourn Hertfordshire SG8 6HB Tel.: Fax: info@dspace.ltd.uk Copyright by dspace GmbH. All rights reserved. Written permission is required for reproduction of all or parts of this publication. The source must be stated in any such reproduction. dspace is continually improving its products and reserves the right to alter the specifications of the products contained within this publication at any time without notice. Brand names or product names are trademarks or registered trademarks of their respective companies or organizations.
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