Parametrization of Steering Models - Everything...20.09.2016 1 IPG Apply and Innovate 2016 MdynamiX AG Parametrization of Steering Models and Analysis of Driving Maneuvers with MXsteeringdesigner

20.09.2016 MdynamiX AG IPG Apply and Innovate 2016 1

Parametrization of Steering Models and

Analysis of Driving Maneuvers with

MXsteeringdesigner and MXevaluation

by Matthias Becker and Matthias Niegl MdynamiX AG

20.09.2016 MdynamiX AG IPG Apply and Innovate 2016

MXsteeringdesigner

MXsteeringdesigner


The Objective of MXsteeringdesigner

MXsteeringdesigner

0 10 20 30 40 50 60 70 80-10

-5

0

5

10

15

Time [s]

Ste

ering W

heel T

orq

ue [

Nm

]

0 10 20 30 40 50 60 70 80-200

-150

-100

-50

0

50

100

Time [s]

Ste

ering W

heel A

ngle

[deg]

0 10 20 30 40 50 60 70 800

20

40

60

80

100

120

Time [s]

Vehic

le S

peed [

km

/h]

0 10 20 30 40 50 60 70 80-8000

-6000

-4000

-2000

0

2000

4000

6000

Time [s]

Tie

Rod F

orc

e [

N]

0 10 20 30 40 50 60 70 80-8000

-6000

-4000

-2000

0

2000

4000

6000

Time [s]

Tie

Rod F

orc

e [

N]

Simulation

Measurement

H

JuC

MF,lc

FR

MH

Symbol of a friction element

Massist,C

kT

dT

SR

Hardy disc, Mesh, Lower Column

Steering Wheel

mR Rack

Pinion

P

rpi

FF, R

MF,torsion

T

kTT

dTT

JlC

Torsion bar, Upper Column

MXsteering Models (Pfeffer Steer Models)

Vehicle / Test Bench Measurement

Parametrisation tool for steering system models

Identifies steering model parameters automatically from measurements

Benchmark/design your own steering system


Specification tests of the steering system

Characterization of the Steering System

Benchmarking

Analyzing Setups (Parameters)

Parametrization (Optimization of the Parameters)

Motivation


Pfeffer MXsteering

Types of steering system models:

Hydraulic Power Steering (HPS)

Electrical Power Steering (EPS)

• Column Assist

• Pinion Assist

• Rack Assist


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.


How to acquire the parameters

Boost Curve

Steering Ratio

StiffnessTest

Rack Friction

Column Friction

Open Loop Tests

Slowly Increase

Test

Sinus Sweep

etc

Weave Test

Close Loop Tests

Vehicle Measurements

Vehicle Data Set

Yes

No

Validated?Characteristic Tests

HIL Measurements

Vehicle Measurements

HIL Measurements and Vehicle Measurements

Open/close loop tests: Compare simulation and measurement

results to adjust relevant parameters (iterative routine)


Work Flow

Step 1. System Characteristics

Step 2. Slowly Increase Test

Step 3. Weave Test

Step 4. Dynamics Test

Update Parameters


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

Benefits using MXsteeringdesigner


MXevaluation

MXevaluation


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

Motivation


The Proposed Procedure with MXevaluation

Objective World Engineer’s Language

Subjective World Customer’s Requests

Objective

Target

Subjective

Assessment

Objective

Parameter

Subjective

Target

Correlation of

Criteria

Vehicle/Steer

Model Setup

Optimization

Sim/HIL

Validation in

Vehicle

Vehicle

Measurements

Test Drives

MXevaluation


Data Source / Raw Data

The Implementation of MXevaluation

CarMaker MiL/SiL “erg”

Steering in the Loop

“mat”

Testbench HiL

“mdf”

Test Road “dat”

Visualization with Plots and Tables

Conversion (Channel Names, File Format, Context Information)

Objective Parameter Calculation

Data Pre Processing [(Standard-) Filter, Offset, Drift (User-Defined)]

Saving the Data (ATF, ATFx, ASAM…)

Report (PDF, PPT)

User Data

Config-File

Database

Different Maneuver

MXevaluation

can be used as:

• Standalone

• With IPG

CarMaker

• AVL Concerto

• and other tools


Example for Objective Parameters in

MXevaluation

Weave Test to optimize the steering behavior/feel (over 40 Objective Parameters)


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


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


Tel.: +49 89 12765047 Heßstrasse 89 • 80797 Munich • Germany

[email protected] www.mdynamix.de

Contact us

MdynamiX – Associated Institute of Munich University of Applied Sciences

Thank you for your Attention

mailto:[email protected]

Parametrization of Steering Models - Everything...20.09.2016 1 IPG Apply and Innovate 2016 MdynamiX AG Parametrization of Steering Models and Analysis of Driving Maneuvers with MXsteeringdesigner

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