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EUROMECH, March 1-4, 2004

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A modified implicit Euler Algorithm


for solving
Vehicle Dynamic Equations
Georg Rill
Fachhochschule Regensburg
University of Applied Sciences
Galgenbergstr. 30
93053 Regensburg
GeorgRill@aol.com

Halle, 2004








Contents
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1. Vehicle Dynamic Equations


Modelling Aspects

Quarter-Car-Model

Structure

chassis

Stiff Ratio

Force Characteristics

Conclusion

damper
wheel
zR

Damper Friction
Brake Torque

E
top mount

K
R
xR

z0
0

x0

wC
zC

uT

C
spring
D S
K
knuckle

uC
xC

wB
B
uB

bushing

road

2. Modified Implicit Euler Algorithm


divide et impera
Use Physical Knowledge
Implicit Displacement Estimation
Global Derivatives
Driving and Braking on Rough Road
Gear - Euler - Gear

3. Final Conclusion

Standard Implicit Euler



k+1
k
k+1
x
= x + hf x








Vehicle Dynamic Equations Modelling Aspects


3/16

Vehicle Framework
Axle Modules
Steering System
Drive Train
Force Elements
Tire
Driver
Road
many d.o.f
chassis
top mount

damper
wheel
zR
R

z0
0

x0

K
xR

wC
zC

uT

C
spring
D S
K
knuckle

road

wB
B
uB

bushing

uC
xC

uC
wC
uB
wB
K
W
uT

vehicle
axle
wheel rot.
top mount dis.

6 d.o.f + 1 f.e.








Vehicle Dynamic Equations Structure


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V ehicle F ramework )
K(y) y = z
M (y) z = q(y, z, , w)
W heel Rotation / Drive T rain
=
= r(y, z, )
Dynamic F orce Elements
w = s(y, z, w)

lose
physical

x = f (x)

know
legde

*) Rill, G.: Simulation von Kraftfahrzeugen. Vieweg-Verlag, Braunschweig / Wiesbaden 1994.








Vehicle Dynamic Equations Stiff Ratio


5/16

Linearized Quarter Car Model at v = 30 m/s

K(y) y = z
0

M (y) z = q(y, z, , w)
1162.7

49.832+284.07i

=
x = A x ;
eig(A) = 28.666+85.063i

5.5836+63.309i
= r(y, z, )

29.297

6.8472+ 5.281i
w = s(y, z, w)
0

stiff ratio:

max(|Re(eig(A))|) 1162.7
=
200
min(|Re(eig(A))|) 5.5836

mildly stiff








Vehicle Dynamic Equations Force Characteristics


Bushing B
30

40

vertical

20
kN
10

6/16

Top Mount
kN
20

longitudinal

-10

-20

-20
-40

-30
-0.02

-0.01

0.01 m 0.02

-0.01

Fx [kN]

Tire) (longitudinal)

0.005 m 0.01

Damper

kN

Fz

-0.005

0
-2
-4

-1

-6
-8
-0.5

sx [-]

0.5

-2

-1

-0.5

0.5 m/s

*) Hirschberg, W; Rill, G. Weinfurter, H.: User-Appropriate Tyre-Modelling for Vehicle Dynamics in Standard and
Limit Situations. Vehicle System Dynamics 2002, Vol. 38, No. 2, pp. 103-125. Lisse: Swets & Zeitlinger.








Vehicle Dynamic Equations Damper Friction


top mount

spring:
damper:
friction:

7/16

FS = FS (s)

FD = FD (u s)

FF = FF (u s)

force balance:
friction

F (u s)
+ FF (u s)
= FS (s) ;
|D
{z
}
FR (u s)

damper

s = u FR1 (FS (s))


FD

FF

=
v

-1

FR

FR
v

=>








Vehicle Dynamic Equations Brake Torque


TD

8/16

wheel
+
rim

=W

braking torque:
knuckle

TT

TB

TB = TB (),
B

|TB | TBM

Q
FT

Coulomb

simple approximation

TB

TB
dnum

+TBM

enhanced approximation
TB
dnum

+TBM

+TBM
TBS

TBM

jump at v = 0
lockable

TBM

TB = dnum
not lockable

TBM

TB = TBS dnum
lockable








Vehicle Dynamic Equations Conclusion


9/16

We have:

moderate stiff differential equations


strong nonlinear force characteristics

We need:

implicit integration formulas


Euler, ..., Gear, ...

keep in mind:

vehicle model is not accurate


there are discontinuities in derivatives
integration step size is limited
road
h 4x
0.12
v
30 = 4 ms
vehicle

df
dx

in consequence:

cannot be calculated analytically

use a modified implicit Euler








Implicit Euler Algorithm divide et impera


10/16

Euler backwards formulas applied to each part


Vehicle Framework
y k+1 = y k + h K y k+1
z k+1 = z k + h M y

1


k+1 1

z k+1
swap

q y k+1, z k+1, k+1, w


k+1

Wheel Rotation / Drive Train


k+1 = k + h k+1
swap
k+1


k
k+1 k+1
k+1
= + h r y ,z ,

Dynamic Force Elements



wk+1 = wk + h s y k+1, z k+1, wk+1
semi-implicit Euler








Implicit Euler Algorithm Use Physical Knowledge


11/16

state change of
dynamic force variables

state change of
vehicle framework

z }| {
z
}|
{
k
k+1
k
k+1
wk wk+1
y y , z z
slower than



s
wk+1 wk + |{z
}
s y k+1, z k+1, wk+1 s y k , z k , wk +
w
less
important

new
dynamic
force
states

wk+1 = wk + h


E

s
w

1

s y k , z k , wk

change of
wheel ang. vel.

state change of
vehicle framework

z
}|
{
z }| {
k
k+1
k
k+1
y y , z z
slower than k k+1



r k+1
k+1 k+1
k+1
k k
k
k
r y ,z ,
r y ,z , +
+ |{z
}

less
important

new
wheel
angular
velocities

k+1

= + h

r
E

1

r y ,z ,








Implicit Euler Algorithm Implicit Displacement Estimation


12/16

Vehicle Framework
z

k+1

= z + hM y
k

k 1

q y

k+1

,z

k+1

k+1

,w

k+1

k 1

= y + hK y
z k+1




with M y k+1 M y k and K y k+1 K y k
y

k+1

q y k+1, z k+1, k+1, wk+1


q y k +h z k , z k , k+1, wk+1

q  k+1
k
+
z
z
z 

q
k+1
k
k
+
y
y h z + |{z
}
y | {z }
h. o. t.
1
h K(y k ) z k+1

z k+1 = z k



 1 k
q
k
2 q
k 1
+ h M y h z h y K y
q y +hz k , z k , k+1, wk+1








Implicit Euler Algorithm Global Derivatives


13/16

TB

dnum
global
derivative

dTB/d

+TBM
TBS

global
derivative

global
derivative

2
exact
derivative

global
derivative

TBM

modified
implicit Euler
global
derivative

k+1

TB

TB
k


d TB k+1
k
+
+
d

TB TBS
d TB

d
k 0

no jumps !








Implicit Euler Algorithm Driving and Braking on Rough Road


velocities

120

vehicle
wheel

100

100
80

60

[rad/s]

[kmh]

80

40

60
40

20

20

0
-20

14/16

wheel angular velocity

120

[s]

10

drive torque

800

[s]

10

brake torque

0
-200
-400
[Nm]

[Nm]

600
400

-600
-800

200
0

-1000
0

[s]

10

-1200

[s]

10








Implicit Euler Algorithm Gear - Euler - Gear


wheel angular velocity

100

80

80

80

60

[rad/s]

100

60

60

40

40

40

20

20

20

[s]

10

Gear): = 103, 11 170 f-calls


hmean = 3.3 ms / hmax = 10 ms

[s]

10

brake torque

-400

-400

-400
[Nm]

-200

[Nm]

-200

-600
-800

-800

-1000

-1000

-1000

[s]

10

-1200

[s]

[s]

10

brake torque

-600

-800

-1200

-200

-600

Gear): = 106, 40 927 f-calls


hmean = 1 ms / hmax = 5 ms

mod. impl. Euler 5 000 f-calls


h = 2 ms

brake torque

15/16

wheel angular velocity

120

100

[Nm]

wheel angular velocity

120

[rad/s]

[rad/s]

120

10

-1200

*) Nordsieck Form for Gears Method: Scientific Subroutine Library (SSL II), Tokyo, Japan, 1989-1998

[s]

10








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Final Conclusion
The presented modified implicit Euler-Algorithm is
simple,
effective and
robust
It is well suited for solving Vehicle Dynamic Equations)

*) veDYNA: MATLAB/Simulink Application, TESIS DYNAware, www.tesis.de








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