Co-simulation and simulation integration for a full vehicle dynamic system

Figures & data

Figure 1. Diagram of the EPS mechanism.

Figure 2. Bond graph model with derivative causality for a column-type EPS system.

Figure 3. Bond graph model without derivative causality for a column-type EPS system.

Figure 4. ADAMS full vehicle model and single-bump road profile.

Figure 5. Different simulation techniques.

Figure 6. Control block diagram of EPS system.

Figure 7. Concurrent simulation technique executing Matlab EPS and ADAMS mode.

Figure 8. Simulation integration technique executing Matlab only with DADS subroutine.

Figure 9. Load on the left front tie-rod.

Figure 10. Left front tyre centre fore – aft acceleration.

Figure 11. Left front tyre centre vertical acceleration.

Figure 12. Comparison of the left front tyre centre vertical accelerations.

Figure 13. Comparison of rack displacements obtained using the co-simulation and simulation integration methods.

Figure 14. Comparison of lateral accelerations obtained using the co-simulation and simulation integration methods.

Table

Total mass of the complete vehicle	M = 1411 kg
Sprung mass of the vehicle	M s = 1269 kg
Unsprung mass of the vehicle	M us = 141.1 kg
Overall height of the vehicle	H = 1.689 m
Height of centre of gravity from ground	H cg = 0.6 m
Wheel base	L = 2.708 m
Distance of centre of gravity from front axle	a = 1.044 m
Distance of centre of gravity from rear axle	b = 1.664 m
Front track width	T f = 1.549 m
Rear track width	T r = 1.549 m
Mass moment of inertia about x-axis	I xx  = 450 kg m^2
Mass moment of inertia about y-axis	I yy  = 2303 kg m^2
Mass moment of inertia about z-axis	I zz  = 2446 kg m^2
Yaw product	I xz  = 45 kg m^2
Front and rear suspension type	Independent