Bicycle Hardware in the Loop Simulator for Braking Dynamics Assistance System IPG Apply & Innovate 2016 Conference Session: Off Highway Cornelius Bott, Martin Pfeiffer, Oliver Maier, Jürgen Wrede 21.09.2016
Outline Introduction to BikeSafe Motivation Vision Methodology HIL Testbench Structure and Components Usage in Development Results Conclusion 2
Motivation for Active Safety Systems on Bicycles Front wheel lockup Bicycle braking systems Properly adjusted: always very powerful Modern hydraulic technology: stronger and more robust High risk of falling due to users mistakes Sources: Gustav Magenwirth GmbH, Robert Bosch GmbH Low wheel moment of inertia Risk of overbraking Mainly on roads with low friction coefficient & in curves Nose over (falling over the handlebars) High centre of gravity Emergency or shock braking Mainly on roads with high friction coefficient & downhill Electrified bicycles Availability of electric energy Favourable mass & cost ratio 3
Vision Functional Prototype Actuator Purpose: brake pressure modulation Hydraulic unit of motorcycle ABS Control unit Purpose: algorithm development Rapid control prototyping system Sensors Measurand: front wheel speed Active sensor based on Hall Effect Measurands: 1) longitudinal and vertical accelerations 2) pitch rate Micromechanical sensor unit 4
Mechatronic Structure of the Braking Dynamics Assistance System (BDA) Driver Environment Controller ud z u y x r Actuators Plant Sensors 5
Methodology of Development Requirements Profile Proof of Concept 1 Accident research and respective applications Validation 5 Functional model evaluation 2 Requirements identification and quantification Validation 4 System integration and testing 3 System design and implementation 6
Structure of HiL Testbench User PC Parameters, Stimuli Measurement Values Simulation Xeno Realtime Computer BDA Function Measurement Values Experiment Sensor Signals Bicycle Model I/O Modules CarMaker dspace MAB Hardware Installation Measurement Values Brake System Brake Actuation Control Signals HU Bosch HU Hydraulic Brake Pneumatic System 7
Simulation Model Equation based Model with three Bodies 4DoF Physical Multi Body Model 13 DoF Software: Simulink Features: Static effects of hydraulic brake system Plain movement (longitudinal and vertical) Driver is modeled as a point mass Code generation and cross compilation fully supported Software: SimHydraulics/ SimMechanics Extensions: Dynamic effects of brake hydraulic Repeated rear wheel lift off Movement of driverduringbrakeprocess Code generation and cross compilation supported except for tyre model 8
Real Time Computer & M Modules M400 WheelSpeed M62N Analog Outputs M36N00 Analog Inputs M51 4x CAN Front and Measurement Brake force Pressure sensors Rear Wheel Trigger Measurement Acceleration sensors 60 Teeths Lift Off Sensor Brake leversensor 9
HiL Testbench Battery Charge amplifier Brake force sensor Real time computer RCP System Brake lever 10
Video of automated braking system Pressure: 100bar Gradient: 1000bar/s Controllable movement Conditions can be reproduced 11
Usage in Development MiL HiL Real Experiment Wheel Speed Signal Analysis under real conditions Investigation of hydraulic brake system (especially HU) Cover a wider parameter space Reproducibility 12
Results BDA Function not engaged 13
Results BDA Function engaged 14
Conclusion Usage of HIL for development of a BDA function Requirements for BikeSafe function development were met Very useful for investigation of Brake System and HU Good validation of BDA function before real experiments Limitations of BDA function could be accessed Transfer of known method to a new domain 15
Thank you for your attention! 16