Vhil Vehicle Dynamics and dcontrol

Transcription

1 Vhil Vehicle Dynamics and dcontrol Fall 2010 Professor Kyongsu Yi 2010 IVCL/VDC

2 Lecture 1: Introduction Instructor: Professor Kyongsu Yi Tel: Lectures: Mo/We Office hours:tue 10:30 to 11:30 or by appointment Objective: To provide an overview of ground vehicle dynamics through the development, analysis and interpretation of engine, powertrain, automotive chassis and vehicle models. Analysis and prediction of the dynamics of ground vehicles. Chassis control systems, Vehicle control systems, Human driver model, vehicle-driver closed loop systems, etc. 2

3 Lecture 1: Grading: Homework 60% Final exam 40% Students absent in a class without instructor s permission prior to the class would be failed. Homework: Students will turn in before the end of the class on the due date. Late homework will not be accepted. All homework assignments are to be completed on your own. You are allowed to consult with other students during the conceptualization of a problem nut all written and programming work are to be generated by yourself. 3

4 Lecture 1: Exam: 90-minute final exam on December 13 (Mo) in class, 11:00-12:30 4

5 References 1. Vehicle Dynamics and Control, Rajesh Rajamani, Springer, Fundamentals of Vehicle Dynamics, Thomas D. Gillespie, i SAE, Theory of Ground Vehicles, 3 rd Ed., J.Y. Wong, Wiley Interscience, Vehicle Handling Dynamics, 1 st Ed., Masato Abe, Elsevier, Tire and Vehicle Dynamics, Hans B. Pacejka, SAE,

6 The Car and The Future 6 6

7 Vehicle 7

8 Engine, Brake, Suspension and Steering 8

9 Vehicle-Driver Systems Environments World model Human Driver Driver Inputs Vehicle Vehicle motion Throttle brake steering 9 9

10 Powertrain and Brake System 10 / 46 10

11 Drum Brake Disk Brake 11

12 Steering Systems Z F Z Spin axis Direction of Wheel heading X Slip angle Y α λ Slip ratio Direction of Wheel travel V 12 12

13 Motor Driven Power Steering Systems T sw :Steering Wheel Torque :SWA Steering Column torque Motor Assist torque N ( T T ) T column mot, assist SAT N : Steering wheel gear ratio f : Front Wheel Angle T SAT :Self Aligning Torque 13

14 Excitation from road (inputs from environment) Suspension Functions Support the vehicle static weight Isolate a car body from road disturbances Keep road holding on a rough, bumpy, and winding road for improved traction, braking and cornering 14

15 Vehicle Dynamic Model 3D Vehicle Model Powertrain Model Yaw Roll X Z Pitch Y 4-Quarter Car Model Roll bar 6-DOF Vehicle Body 4-Quarter Car Model Tire Model Engine Model Torque Converter Transmission Axle Shaft Differential Gear Hanyang University ivdcl

16 Vehicle Longitudinal Dynamics Model F a M rf M v a M rr T s T bf F trf M v g T br F trr Free Body Diagram of Vehicle Body 16

17 Lateral Dynamics Crosswind Disturbance : Crosswind force Total lateral force including crosswind disturbance Fyf cos F xf y 1 2 yr3 y 4 F sin xf F F cos F cos F F F sin F sin yf yf r xf xf F F cw BANK F yf EP FCW F yr CG EP equivalent point F xfi / yfi longitudinal/lateral force of front i-th tire F yri lateral force of rear i-th tire steering angle 17 17

18 Lateral Dynamics Bank angle Total lateral l force including crosswind disturbance F sin xf h F cos yf Roll center F F s1 s 2 t f BANK F BANK z F BANK BANK 1 z sin 2 t f 1 z z mg sin(sin ) mu g sin 2t ( m unsprung mass, roll angle) u f F yr F / longitudinal/lateral force of i-th tire txi tyi steering angle,, F F cos F cos F 3 F F sin F sn i F F y ty1 1 ty2 2 ty ty4 tx1 1 tx2 2 BANK CW i 18 18

19 Roll/Pitch/Yaw dynamics x z y Mz ( Iy Ix) I Mx ( Iz Iy) I M y ( Ix Iz) I 각각의각가속도로부터 velocity, angle 계산 z x y 19 19

20 Transition from Driver Assistance Systems to IVSS Human Driver Environments World model Past: 100% authority in driver Vehicle 20 20

21 Present: Assist by Driver Assistance Systems Human Driver Environments (World model) LKS SCC LDWS Vehicle CDM ESC AFS MDPS CDC ARC 4WD 21 21

22 Future: Smart support by IVSS 22 2

23 Total Number of Control Module=76 23

24 Vehicle-Driver Systems Environments World model Human Driver Driver Inputs Vehicle Vehicle motion Throttle brake steering 24

25 Vehicle-Driver-IDAS Systems Environments World model Human Driver Driver Inputs Vehicle Vehicle motion Intelligent Driver Assistance Systems 25

26 Major Course Contents Part 1: Lateral Vehicle Dynamics 1.1 Vehicle Dynamic Model 1.2 Planar Model 1.3 Bicycle Model Bank angle/crosswind 1.4 Tire Models 1.5 Understeer/oversteer 1.6 Dynamic model interms of error wrt road 1.7 lane keeping model 1.8 Lateral stability Control Part 2: Longitudinal Vehicle Dynamics Part 3: Vehicle Control Systems Part 4: Suspensions Part 5: Three-dimensional rigid body model of a vehicle 26

27 Major Course Contents Part 2: Longitudinal Vehicle Dynamics 2.1 Longitudinal Dynamic Model 2.2 Engine model 2.3 Transmission 24Ti 2.4 Tire models 2.5 Brake Part 3: Vehicle Control Systems 3.1 Driver Model 3.2 Lateral Stability Control 3.33 Lane Keeping Systems 3.4 Adaptive Cruise Control 3.5 Autonomous Driving Systems 27

28 Major Course Contents (contd.) (tentative, Optional) Part 4: Suspensions 3.1 Fundamental properties of suspensions 3.2 Invariant properties 3.33 Ride quality 3.4 Active/semi-active suspensions Part 5: Three-dimensional rigid body model of a vehicle 5.1 Newton/Euler formulation review DOF vehicle model (6+4+4) Understand the underlying physics and being able to construct models to analyze and predict vehicle behavior Control system design for safety and maneuverability 28

29 End of Introduction October 6,

30 안전한자동차 지능형안전자동차 Intelligent Safety Vehicle 30

31 주행안전장치 수동적안전장치사고완화 능동적안전장치사고방지 에어백안전벨트목받침 ABS Anti-lock Braking System TCS Traction Control System ESP 전자식주행안정프로그램 Brake Assist 제동보조장치자동주행 (Smart Cruise Control) 충돌방지 (Collision Avoidance) 차선이탈방지 (Lane Departure Avoidance) 31

32 32

33 Vehicle Stability Control (VSC) Electronic Stability Control (ESC) Electronic Stability Program (ESP) 33 33

34 1 ESP 동영상 bosch esp exp motor_c 34 34

35 2 bosch esp 성능 35 35

36 VSC 작동원리 ESP 는어떻게작동하는가? 36 36

37 ESP 는어떻게작동하는가? ESP 는 운전자가진행하고자하는방향을인식한다 37 3

38 ESP 는어떻게작동하는가? ESP 는 자동차의실제진행방향을감지한다. 38 3

39 ESP 는어떻게작동하는가? ESP 는 각각의바퀴를독립적으로제어함으로자동차의진행방향을조정해준다자동차는더욱안전하게도로위에머물게된다. 39 3

40 ESP: 4 wheel independent braking Can you brake hard on the front wheel, softly on the back left wheel and, at the same time, accelerate the back right wheel to stop the rear of your car losing control in a bend? 1995년독일보쉬개발 2002년부터 Benz 모든차량에장착 2011년부터미국수출모든자동차장착의무화 2012 년부터미국에서생산되는모든자동차에장착의무화 40 40

41 자동순항제어시스템 Smart Cruise Control 현대자동차제네시스 2008년그랜저 2010년아반테 2012년 41

42 Lane Departure Warning Lane Keeping Systems Lane Departure Avoidance Systems 42 42

43 미래의자동차 43 43

44 Future Vehicles Hyundai Blue Will Chicago Auto Show 2010 Toyota Concept Car 2009 Tokyo Motor Show Mercedes Benz Kia Venga 2010 제네바모터쇼 New York Auto Show 2007 Honda Puyo 2007 도쿄모터 Chevrolet Aveo RS Show Car Chicago Auto Show

45 Future Vehicles: Small and Smart 1600 kg/70kg = kg/70kg =

46 Future Vehicle 지능형안전자동차기술 100% 사고없는안전하고편안하고효율적인자동차 Clean, Safe, Convenient Crash-free Vehicle 46 4

47 NF Sonata

48 NF Sonata

49 1. Vehicle e Model 3D Vehicle Model Powertrain Model Yaw Roll X Z Pitch Y 4-Quarter Car Model Roll bar 6-DOF vehicle body 4-Quarter Car Model Tire Model Engine Model Torque Converter Transmission Axle Shaft Differential Gear 49

50 1. Vehicle Model Powertrain and Brake System 50

51 3 DOF Vehicle e Planar a Motion o Model 3 DOF linear vehicle model을위한가정 1) Roll, Pitch Motion 무시 0, 0 2) Suspension Dynamics 무시 F F F F z1 z2 z3 z4 운동방정식 mv ( v ) F F cos F sin (1) x y xr xf f yf f y x yr yf f xf f mv ( v) F F cos F sin (2) I l F cos l F l F sin... z f yf f r yr f xf f d ( Fxr Fxf cos f ) (3) 2 Hanyang University VDCL. 51

52 Motivation and Auto Industry Korean Automotive Industries (1) Volume No. 5 in the World ( 3.2 Million, 2001) (2) 10% of GNP (3) Export $2.33 billion, balance in the black: $1.96 billion 99% of parts are home products (4) Manufacturer 50, Suppliers 100,000. Auto Related Service 250,000. TOTAL: 400,000 Jobs and 1,600,000 peoples (5) Technology Not Competitive 52

53 Motivation and Auto Industry Technology Trends (1) Environment-Friendly Vehicles (2) Intelligent Vehicles Transition of Vehicles Transportation Safe, Comfort, Convenient and Entertaining Mobile Office 53

54 Automobile Engineering g 1. Body 2. Engine 3. Transmission 4. Chassis - Suspension - Brake - Steering - Wheel assembly 5. Automotive Electronics 54