Getmanskiy 2016
Getmanskiy 2016
Getmanskiy 2016
Abstract—The article describes development of complex automobile model and the solver usually lacks in performance
model of vehicle with controllable hydraulic suspension bracket. and efficiency. The most efficient way to create and simulate
This model includes a hydraulic circuit system model developed complex models with control algorithm is using high-
using the MATLAB software, a truck multibody dynamics performance programming language such as C++ for control
system model developed with the FRUND software and a control program, CAE software for model development and universal
unit and control panel modules intended for user interaction with simulation software for specific features.
simulation process by sending commands to execute of control
algorithms of a suspension bracket. Such a complex model allows One of real life cases of developing such technology for
simulating a control system and controllable object. The result of simulation of controllable hydraulic actuators in complex
the work is the software tool, which allows controlling the automobile suspension system is considered in present work.
suspension bracket almost in a real-time mode. The technology The aim of the research is development of complex
developed is used for testing control algorithms and programs as mathematical model of automobile with 8x8 wheel formula
elements of a suspension bracket control unit, and over the long with electro-hydraulics control subsystem for suspension. The
term other controllable systems of the vehicle. model includes:
Keywords—hydraulic circuit system; MATLAB; Simulink; • multibody system dynamics model of automobile;
automobile suspen-sion system; hydro-pneumatic spring;
mathematical model; multibody system dynamics; coupling • model of hydraulic-circuit system;
• model of digital control modules;
I. INTRODUCTION
• control algorithms.
The modern workflow of automotive suspension system
design with controllable characteristics includes complex
control algorithm. Creating, debugging and testing such II. COMPLEX MATHEMATICAL MODEL
algorithms on real hardware is a time consuming work of The complex mathematical model of automobile is
heavy costs. The development of technology that allow using developed using three simulation and programming tools:
mathematical models of real mechanical system to develop
control algorithm and simulate the actuators is an important • FRUND – multibody dynamics simulation package;
problem in modern industry. • MATLAB Simulink – universal simulation tool used
Specific feature of such technology is a requirement of for hydraulic-circuit system;
using different simulation tools and software codes. The most • Microsoft Visual Studio – software development tool
difficult and nontrivial part is a coupling of these tools. There for creating the control algorithms.
are a lot of multiphysical simulation [1,11] computer-aided
engineering software (CAE) and universal simulation software The complex model consists of car model, hydraulic model,
such as MATLAB Simulink [2]. State of the art approach for control unit and control panel. Blocks interactions are
vehicle simulation in CAE is multibody system dynamics presented at figure 1.
analyses [1,3-6]. As a matter of fact the simulation software of There are similar approaches in earlier researches of
high quality is targeted for solving single specific problem such Gorobtsov A.S. [12,13], Solodenkov S.V. [14], , Emami, M. D.
as multibody dynamics, stress-strain analysis, durability, [15], Guo K.[16], Wang W.[17], Feng J.[18] which also uses
hydrodynamics etc. Therefore, the CAE system is build based multibody simulation with special models for hydraulic system
on a heavily featured solver and other additional solvers have a circuit. In some of them MATLAB is also used but there is no
limited number of features. One of such software FRUND [7- analyses based on complex 3-dimensional model of vehicle
10] based on multibody dynamics is developing with coupled with hydraulics system circuit submodel.
participation of authors. On the other hand the universal
simulation software required a lot of efforts to develop full
The work was carried out with the financial support of RFBR (project #
16-47-340385).
60
Force (N) (10^3)
50
40
Fig. 6. Initial front view (wheel is lowered – a), final front view (wheel is
raised – b).
30
Still some conclusions:
1,000 1,002 1,004 1,006 1,008 1,010
Time (s • Speed of calculation of model of the car in the FRUND
program complex ensures functioning in real time
Fig. 4. Interpolated signal of calculated force values. together with a control system submodel.
• The simulation speed of full model of a hydraulic
system in the MATLAB is more than 50 times slower
than real time that complicates its use in the interactive
mode.
• The complex model allows modifying operating
programs written in language C ++.
• The developed structures of data for control unit can be
coupled with the hardware interface of executive part of
control system for adjusting the real hardware of a
control system.
The results of this work showed potential efficiency of an
Fig. 5. Control panel interface. interactive program complex for developing control algorithms
as for suspension bracket as also for other controllable systems
Bottom part of the panel contains the buttons to perform of vehicle.
control commands (for example rise the wheel with concrete
number). There are text field for information and reset button Computational experiments revealed sufficient computing
to return to default state. When user presses the button, the efficiency of multibody simulation systems for dynamic
control panel software writes to a file control command code. analysis of vehicles. Regarding programs for hydraulic circuit
This file is an input file for control unit. Depend on the control systems simulation lacks in performance. So more powerful
command the control unit runs the algorithm and modify the computing hardware is required to perform simulation in real
states of the valves. The states are written to a file, which the time. This specific circumstance shows the necessity of
control panel software is reading. After updating the states are development new solvers for hydraulic schemes simulation.
shown at the interface.
ACKNOWLEDGMENT
VII. THE SIMULATION RESULTS The work was carried out with the financial support of
General view of coupled model simulation is shown at RFBR (project # 16-47-340385).
figure 6.
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