LMS Imagineoss.jishulink.com/caenet/forums/upload/2014/12/27/392/... · 2013-08-27 · •Magneto rheological damper is also feasible but on demand. ... contributions of the suspension

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LMS Imagine.LabDriving Dynamics – Suspension & Damper Solution

2013-08-27


Page 2

Application #1Standard dampers

Goal: Assess the damper characteristics

and performances early in the design

phases

• Takes the advantages of a state-of-the-art

software in Hydraulics combined with its

Pneumatic libraries to analyses any

technologies of dampers (mono tube or twin

tube) from system to detailed approaches or

from performances to noise.

2013-08-27


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Application #2advanced frequency dependent dampers

Goal: Design right the first time your

advanced dampers.

• Take the advantage of the modularity of

the Hydraulic Component Design library

to capture variability and tradeoff in the

design of advanced passive damper

systems.

• Minimize the development risk of

innovative suspensions by assessing

the damper characteristics in early

phases of the design even when no

prototypes are available.

• Gain insights in designing perspectives.

2013-08-27


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Application #3Adjustable dampers for race car

Goal: Assess dynamics and

design problems for racing.

• Assess the static and dynamic

characteristics of the damper

function of the possible valve

tuning required for a particular

race.

• Be valid up to 20 Hz by taking care

of friction hysteresis and internal

dynamics of the damper.

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Application #4Semi active and active dampers – Design

Goal: Assess the coupling between the actuation

and the damper characteristics.

• Address damper design, valve actuation and

control law verification for semi active and active

suspensions thanks to the Hydraulic Component

Design and Electro Mechanical libraries.

• Magneto rheological damper is also feasible but on

demand.

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Application #4Semi active and active dampers – Power efficient system

Goal: Reduce the power consumption of the

actuation system while maintaining comfort

performances by optimization

• Evaluate the power consumption to actuate

the pump on typical inputs dedicated to

comfort analyses and optimize some design

parameters versus performance criterion and

power consumption thanks to interfaces with

optimization tools like OPTIMUS.

0

5

10

15

20

25

30

35

40

45

-800

-600

-400

-200 0

200 400 600 800

1000120

0140

0160

0180

0200

0

Occurrencies of Power Values (in%)

Optimized parameters:

Rod and piston diameters

Valves characteristics

Pump flow

Input currents (at discretized time steps)

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EXTRA

Air Spring: Air bladder volume

Air

Volume

Upper

Housing

Outer Guide

Roll

Piston

Oil

reservoir

Twin Tube

Shock

Absorber

Gas Cushion

Air Spring

(Flexible

Air

Bladder)

First of all, a specific model with an

effective piston area as input,

A combination of components and signal

to represent a first view of the “air

volume”.

air spring stiffness through

its equivalent area

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EXTRA

Air Spring: Final view

Air Spring

Gas Cushion

Computation of overlapping length

Gas Cushion

Overlapping potential

contribution of the “bag”

A combination of mathematics for effective

contribution of the piston sections and overlaps ...

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EXTRA

Anti roll systems: parts and components

Focus on component and circuit

design:

Pressure valves stability and priority

valve testing,

Couplings between the steering and

the anti roll bar circuits

NVH aspects due to cavitation in

cylinder

Tilting systems for trains or special vehicles

Real time application for ECU testing

pressure

displacement

2013-08-27


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EXTRA

Active anti roll bar: modularity

Functional modeling of the anti roll

bar.

Possibility to use the Hydraulic library

to make the anti roll bar active

(linear or rotary cylinder).

Evaluation of the suspension system

performances/design on the entire

virtual vehicle model.

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EXTRA

Active anti roll bar: Couplings with the vehicle

Combining the vehicle and the active anti roll

system to test its contribution inside the vehicle

performances (handling and comfort).

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Application #6Active roll bar

Goal: Assess the trade-off

between the different

technologies.

• Due to growing demand on

EPS, even the active anti roll

bar is “electrified”.

• Take the benefit of a multi

disciplinary tool to tackle

different technologies.

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EXTRA

Comfort analyses using the AMESim Fourier analyzer

Frequency analyses (Bode Diagram/Transfer Function) by numerical

linearization and a Fourier Transform analyzer for very non linear systems.

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Application #7Comfort bench – Mechanical views

Goal: Give a multi attributes balance

regarding comfort, handling and fuel eco

using a multi-disciplinary software.

• Thanks to the connection to the Vehicle

Dynamics library and its features, the direct

contributions of the suspension design can be

explored within the vehicle (or comfort bench)

targeting multi attributes like comfort and

handling but also fuel eco.

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LMS In-House Testing Facility

Built during a national project for a

damper manufacturer.

Control logic designed in Scicos

HiL bench management by NI tools

The vehicle model is empowered by

AMESim

Damper HiL Bench

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EXTRA

Multiple X-in-the-Loop for control design process

Hydro pneumatic semi-active suspension with ECU:

• Shorten conception cycle (< 1 year!)

• Main tool for designers (end user)

Multiple environments:

• Model-in-the-Loop (MiL) with Simulink model of the controller

• Software-in-the-Loop (SiL) with the controller in C-code combined with the vehicle and

its hydraulic suspension

• Hardware-in-the-Loop (HiL), Real Time target dSPACE ds1006 QuadCore

• Driver-in-the-Loop (DiL) with the SHERPA driving simulator to evaluate the control law

upfront with a driver

Solution:

• Application of AMESim/AMESim co-simulation with a CoSim with Simulink running real

time on 2 or 4 CPUs

• Total of 25 manoeuvers to “automatize” testing

• Full technology transfer knowledge on Hydraulic modeling for suspension and model

simplification

Frontloading controls

development process

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EXTRA


Taking care of Variants:

Five different architectures of

the hydraulic circuit modeled

Each architecture has its

complex model for

suspension design and its

simplified version for

control law design and

validation

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EXTRA


Front

SuspensionCPU 3=Front Suspension

CPU 1=ElectroPump + Controller

CPU 2=Vehicle

dSPACE 1006 QuadCore

CPU 4=Rear Suspension

Software & Hardware in-the-Loop: dSPACE RT-Platform for ECU testing

2013-08-27


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EXTRA


VIDEO

2013-08-27


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EXTRA

Control logic: AMESim as the plant model for more Physics

Vehicle

ECU – Control Law

subsystem

Power

Signal

Complete chain:

• System to Control

• Actuator

• Controller

CoSim Architecture

Control Loop Synthesis

AMESim the tool for Plant Modeling inside the Control Design Process

2013-08-27


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Success Story : IAV

• Automated calibration on an unique concept car

requires Hardware in the Loop simulation, in

order not to endanger the vehicle.

• The fundamental requirement is a real-time

hydraulic simulation with real physics, no

“characteristics-based” hydraulics. The process

is to use the real-time features of AMESim with

its model reduction tools.

• Agreement is good between the AMESim real-

time model and the complex model.

“Modeling of real physics is done easily using AMESim analyses tools to

transform the complex hydraulic model to a real-time system.”

Dr.-Ing. Hendrik GERTH – IAV GmbH

2006 AMESim European Users conference

2013-08-27


Page 22

References

Published papers and presentations

• Alirand M., “Study and analysis of an active self leveling suspension”, IEEE International Conference on Systems,

Man and Cybernetics, Le Touquet, France, October 1993, pp 222-227

• Alirand M., Botelle E., Sau J., “Modeling a force control actuator for semi active car dampers - Basics “, 16th IAVSD

Symposium on Dynamics of Vehicles on Roads and Tracks, Pretoria, South Africa , September 1999, pp 1-4

• Ney Y., “Design methodology for automotive suspension systems - Fluid power software applications”, SIA

conference on Fluid Power and Transportation, Roanne, France, May 1999, pp 1-2

• BotelléE., Alirand M., Sau J., “Modeling a force control actuator for semi active car damper: Flow valve analysis”,

5th Int. Symposium on Advanced Vehicle Control, AVEC 2000, Detroit, MI, 2000, pp 1-8

• Alirand M., Urvoy E., BoteléE., “Modeling a force control actuator for semi active suspension: Application”, SIA

Congress on Vehicle Dynamics, Lyon, France, June 2001, pp 1-6

• Alirand M., Botelle E., J. Sau, “Modeling a force control actuator for semi-active car damper : Pressure controlled

valve analysis”, Scandinavian Int . Conference on Fluid Power, Linkoping, Sweden, June 2001, pp 1-6

• Lee C.T.., Moon B.Y., “Study of the simulation model of a displacement sensitive shock absorber of a vehicle by

considering the fluid force”, Proc of the IMechE, Part D, Journal of Automobile Engineering, vol 219, 2005, pp 965-975

• Cimba D., Wagner J., Baviskar A. “Investigation of active torsion bar actuator configuration to reduce vehicle body

roll”, Vehicle System Dynamics, vol 44, n° 9, September 2006, pp 719-736

• Gerth H., Resch R., Freimann R., “Automated controller design for an anti-roll system”, European AMESim User

Conference, Strasbourg, France, March 2006, pp 1-9

• Lino P., Maione B., “Near optimum control of a full car active suspension system”, LMS Engineering Simulation Conf

Europe 2008, Paris, France, October 2008,

• Falfari S., Brusiani F., Pelloni P., “Coupling Between 1D-3D Simulation Results to Predict Cavitation in Motorcycle

Forks”, SAE paper n°09FFL-0117, 2009, pp 1-13

• Falfari S., Brusiani F., Cazzoli G., “Setup of a 1D model for simulating dynamic behaviour of motorcycle forks”,

SAE paper n°2009-01-0226, 2009, pp 1-14

2013-08-27


Page 23

References

Published papers and presentations

• Gubitosa M., Anthonis J., Albarello N., Desmet W., “A Computer Aided Engineering Approach For the Optimal Design

of An Active Suspension System”, Proc ASME 2009 Int. Design Engineering Technical Conf., San Diego, CA, 2009, pp

1-11

• Lindvai-Soos D., “Functional development process of the electric anti-roll stabilizer eARS”, Vehicle Dynamics Expo,

Stuttgart, Germany, 2010,

• De Bruyne S., Anthonis J., Gubitosa M., Van der Auweraer H., “Model Based Actuator Management for a Hydraulic

Active Suspension System Improving Comfort Performance by Advanced Control“, Proc of the ASME 2011 Int

Mechanical Engineering Congress & Exposition, Denver, CO , November 2011, pp 1-9

• Kim H.., Lee H., “Study Model-based fault-tolerant control for an automotive air suspension control system”, Proc

of the IMechE, Part D, Journal of Automobile Engineering, vol 225, 2011, pp 1462-1480

• Moshchuk N., Li Y., Opiteck S. “Air suspension system model and optimization”, SAE Paper N°2011-01-0067, 2011,

pp 1-14

• De Bruyne S., Anthonis J., Gubitosa M., Van der Auweraer H, “Modeling Model Based Design of a Hydraulic Active

Suspension System”, Int. Symposium on Advanced Vehicle Control, AVEC 2012, Seoul, Korea, 2012, pp 1-9

• Manlong P., Feng L., Wenkui F., Yunqing Z., “Multi-domain modeling and robust design of hydraulic shock

absorber”, 2nd Int. Conf on Computer Application and System Modelling, paris, France, June 2012, pp 1128-1131

• Sadeghi Reineh M., Pelosi M., “Physical Modeling and Simulation Analysis of an Advanced Automotive Racing

Shock Absorber using the 1D Simulation Tool AMESim”, SAE Paper n°2013-01-0168, 2013, pp 1-11

• Pelosi M., Subramanya K., Lantz J., “Investigation on the Dynamic Behavior of a Solenoid Hydraulic Valve for

Automotive Semi-Active Suspensions Coupling 3D and 1D Modeling”, 13th Scandinavian Int. Conference on Fluid

Power, Linkoping, Sweden, June 2013, pp 1-10

• Barale S., Plisson A., Guillet J., Lagnier J., Alirand M., “Improved Functional Modelling in Comfort Analyses for

Hydraulic Suspension Testing”, Chassis Tech Int. Conference, Munich, Germany, June 2013, pp 1-11


20XX-XX-XXPage 24

6 Conclusion

Product Line - Solution

2013-08-27


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Conclusions

• Use the recognized state-of-the-art software for Fluid Power (Hydraulics &

Pneumatics) for designing your damper components and air springs.

• Use a best-in-class multidisciplinary software to tackle the new challenges of

chassis electrification.

• Thanks to the AMESim modularity, insure scalability of your models from

functional perspectives like model exchanges to detailed analyses like NVH.

• Ensure continuity between the design process of your active suspension

components and the control design process by having scalable models of the

plant for MiL, SiL and HiL thanks to a unique AMESim capability for model

simplification.


Thank youDriving Dynamics - Suspension & Damper Solution

Documents

LMS Imagineoss.jishulink.com/caenet/forums/upload/2014/12/27/392/... · 2013-08-27 · •Magneto rheological damper is also feasible but on demand. ... contributions of the suspension