vehicle modeling and adams-simulink co-simulation with integrated continuously controlled ...

106 Pages·2009·2.47 MB·English

by  Sughosh Rao

VEHICLE MODELING AND ADAMS-SIMULINK CO-SIMULATION WITH
INTEGRATED CONTINUOUSLY CONTROLLED ELECTRONIC SUSPENSION
(CES) AND ELECTRONIC STABILITY CONTROL (ESC) MODELS

A Thesis
Presented in Partial Fulfillment of the Requirements for
the Degree of Master of Science in the
Graduate School of The Ohio State University

By
Sughosh Jagannatha Rao, B.S.M.E
********

The Ohio State University
2009

Masters Examination Committee: Approved By:

Prof. Dennis A. Guenther, Advisor ____________________
Advisor
Dr. Gary J. Heydinger Graduate Program in
Mechanical Engineering

ABSTRACT
The purpose of this thesis is to evaluate the benefits of the CES suspension system
developed by Tenneco Automotive, and to evaluate the effects of the CES suspension on
the Electronic Stability Control (ESC) system using ADAMS simulation. The design of
the system and its function is explained.
The first stage of the process involved the creation of the ADAMS model of the
Ford Expedition. Next, the model was validated from the Expedition model used with the
National Advanced Driving Simulator (NADS) and experimental data collected at
Transportation Research Center (TRC). Once the vehicle model was ready, a model of
the ESC system was created using Matlab Simulink. Next, a co-simulation was set up to
integrate the ESC model with the vehicle model. The ESC equipped vehicle model was
then validated against experimental data.
The CES model supplied by Tenneco Automotive was then incorporated into the
validated model. This model was then used to evaluate the performance of the baseline
Ford Expedition and one equipped with the CES suspension system. The Sine with Dwell
maneuver was used to evaluate the ESC performance in both the cases in accordance with
the Federal Motor Vehicle Safety Standard No.126 (FMVSS No.126).
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DEDICATION

Dedicated to my Parents,
who are the reason I am here and
have ensured that I always had all I needed and more

To all of my family; my grandparents, uncles, aunts, cousins and friends,
for all of your love and support.
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ACKNOWLEGMENTS
I would like to offer thanks to a lot of people, without whom this study would not
have been possible. I would like to thank my advisors, Denny Guenther, Gary Heydinger
and Kamel Salaani for their support and constant encouragement which got me through
some really hard patches when progress was slow. More than advisors, they were like
friends, always there to answer my questions and lend a helping hand. Throughout the
project, they ensured that they did not put any unnecessary pressure. I would like to
especially thank Denny, for always keeping my interests in mind and making me feel at
home. I would also like to thank Tenneco Automotive for supporting this research with
both monetary and technical contributions, without their project, I would not be writing
this thesis.
I would also like to thank my colleagues Tejas Kinjawadekar and Neha Dixit who
kept me company and helped keep the stress low. I would also like to thank Don Butler
and Luka Wahab for their help. Thanks to my friends and roommates who have made this
journey fun and full of fond memories. Finally I would like to thank my family, without
their support and belief; this would not have been possible. Without the support of all the
people mentioned here, the completion of my Masters Degree would not have been
possible.
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VITA

15 May 1985……………………Born – Mysore, India
June 2002……………………….Graduate, DAV Higher Sec. School
May 2006……………………….B.E.M.E. Anna University
Sept. 2006 – Aug 2007…………University Fellow, The Ohio State University
Sept. 2007 – Present……………Graduate Research Assistant, The Ohio State University

FIELDS OF STUDY
Major Field: Mechanical Engineering

Vehicle Dynamics
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TABLE OF CONTENTS
ABSTRACT........................................................................................................................ii
DEDICATION...................................................................................................................iii
ACKNOWLEGMENTS....................................................................................................iv
VITA...................................................................................................................................v
TABLE OF CONTENTS...................................................................................................vi
LIST OF FIGURES...........................................................................................................ix
LIST OF TABLES...........................................................................................................xiv
1 INTRODUCTION......................................................................................................1
1.1 Motivation...........................................................................................................1
1.2 Modeling/Simulation..........................................................................................3
1.3 Thesis Outline.....................................................................................................3
1.3.1 First Objective – Create Vehicle Model in Adams View...........................3
1.3.2 Second Objective – Create ESC model using Simulink.............................4
1.3.3 Third Objective – Setup Adams and Simulink Co-Simulation...................4
1.3.4 Fourth Objective – Simulate Maneuvers on the Model..............................4
1.3.5 Fifth Objective – Obtain and Analyze Simulation Data.............................5
2 MODELING...............................................................................................................6
2.1 Overview.............................................................................................................6
2.2 Hard Point Locations..........................................................................................6
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2.3 Multibody Model and Inertia Properties...........................................................10
2.4 Springs and Shock Absorbers...........................................................................14
2.5 Tires and Road..................................................................................................14
2.6 Drive Train........................................................................................................15
2.7 Modeling Measures...........................................................................................15
2.7.1 Wheel Camber Angle................................................................................15
2.7.2 Front Wheel Steer Angle..........................................................................16
2.7.3 Roll Angle.................................................................................................16
2.7.4 Accelerometer Readings...........................................................................17
3 VALIDATION..........................................................................................................18
3.1 Introduction.......................................................................................................18
3.2 Quasi-Static Tests.............................................................................................18
3.2.1 Bounce Tests.............................................................................................18
3.2.2 Roll Test....................................................................................................23
3.2.3 Steering Ratio Test....................................................................................27
3.3 Dynamic Maneuvers.........................................................................................28
3.3.1 Slowly Increasing Steer Maneuver...........................................................28
3.3.2 Sine with Dwell Maneuver.......................................................................33
4 CO-SIMULATION...................................................................................................43
4.1 Overview...........................................................................................................43
4.2 Input and Output Variables...............................................................................44
4.3 Setting up the Co-simulation............................................................................46
4.3.1 Loading Adams/Controls..........................................................................46
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4.3.2 Defining Input and Output Variables........................................................47
4.3.3 Referencing Input Variables.....................................................................49
4.3.4 Exporting Adams block............................................................................50
4.3.5 Connecting the Adams Block and the CES Block in Simulink................51
4.3.6 Running the Co-simulation.......................................................................55
4.3.7 Things to Remember.................................................................................56
5 ELECTRONIC STABILITY CONTROL................................................................57
5.1 Overview...........................................................................................................57
5.2 ESC Model........................................................................................................58
5.3 Validation..........................................................................................................61
6 CONTINUOUSLY CONTROLLED ELECTRONIC SUSPENSION (CES)
SYSTEM...........................................................................................................................73
6.1 Introduction.......................................................................................................73
6.2 Results...............................................................................................................74
6.3 Conclusion........................................................................................................87
7 CONCLUSIONS AND RECOMMENDATIONS...................................................88
7.1 Conclusions.......................................................................................................88
7.2 Recommendations.............................................................................................89
REFERENCES.................................................................................................................91

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LIST OF FIGURES
Figure 2.1 Rear suspension roll stability bar......................................................................8
Figure 2.2 Front Roll stability bar.......................................................................................9
Figure 2.3 Adams Model of the Ford Expedition.............................................................11
Figure 2.4 Topology map of Ford Expedition model.......................................................12
Figure 2.5 Vertical Acceleration Measure of Accelerometer...........................................17
Figure 3.1 Front Suspension Spring Rate plot..................................................................19
Figure 3.2 Front Suspension Bounce Steer plot................................................................20
Figure 3.3 Front Suspension Bounce Camber plot...........................................................20
Figure 3.4 Rear Suspension Spring Rate plot...................................................................21
Figure 3.5 Rear Suspension Bounce Steer plot.................................................................22
Figure 3.6 Rear Suspension Bounce Camber plot............................................................22
Figure 3.7 Front Overall Roll Stiffness plot.....................................................................24
Figure 3.8 Front Roll Steer plot........................................................................................24
Figure 3.9 Front Roll Camber Angle plot.........................................................................25
Figure 3.10 Rear Overall Roll Stiffness plot....................................................................26
Figure 3.11Rear Roll Steer plot........................................................................................26
Figure 3.12 Rear Roll Camber plot...................................................................................27
Figure 3.13 Steering Ratio Test plot of the model............................................................28
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