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Collaborative Engineering of Integrated Chassis Control for Ground Vehicle

Presentation at IEEE ICM 2017, Gippsland, Australia

Valentin Ivanov

on 12 February 2017

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Transcript of Collaborative Engineering of Integrated Chassis Control for Ground Vehicle

Collaborative Engineering of Integrated Chassis Control for Ground Vehicle
Valentin Ivanov, Klaus Augsburg,
Dzmitry Savitski, Viktor Schreiber
TU Ilmenau (Germany)

Schalk Els
University of Pretoria (South Africa)

Miguel Dhaens
Tenneco Automotive (Belgium)
Integrated Chassis Control
Test Platform

This work is supported by the European Union Horizon 2020 Framework Program,
Marie Skłodowska-Curie actions, under grant agreement no. 645736
Design Aspects of Automotive Mechatronics
Cross-domain engineering
Complex fusion of validation and test methods
Collaborative engineering
Product-relevant knowledge
Research & Educational
Design through Lifelong Learning Technologies
Benefits of
Lifelong Learning
R&D for niche products
Ideas outside of mainstream
Shared access to test facilities
Interaction with different R&D environments
For industry
For academia
Access to know-how from basic and applied sciences
Feasibility check of new methods
Use Case of Lifelong Learning: Project EVE

Design and testing of integrated chassis control through collaborative engineering and training
Intersectoral and international staff exchange for transfer of knowledge and joint experiments
EVE Consortium
Six industrial and nine academic partners from Germany, Belgium, Spain, Sweden,
the Netherlands, France, UK, South Africa and the USA
EVE: Main Research and Innovation Areas
Advanced Tyre and Vehicle Modelling and Validation
Shared, Distributed and
Remote Experiments
Integrated Chassis
Real-time tyre contact models
Multi-body vehicle dynamics
Validation of models
Vehicle software simulators
Decoupled brake systems
Dynamic tyre pressure control
Active suspension
System integration
Hardware-in-the-loop tests
X-in-the-loop test methods
Multi-domain experiments
Multi-host experiments
Integrated Chassis Control: Approach
Three active systems (for brakes, tyre pressure and rear suspension)
Sliding mode and model predictive control for low-level controllers and control allocation
Steady-state, short-term and long-term rejection of disturbances (hysteresis of actuators, road roughness, fading, etc.)
Integrated Chassis Control: Collaborative Design
Terramechanic test rig -

Virginia Tech
Tyre measurement trailer -

TU Ilmenau
Setup with wheel load cell -
University of Pretoria
Tyre modelling
and testing
Real-time models
14 DoF RT reference vehicle model -
TU Ilmenau
ASM Vehicle dynamics model -

Multi-body vehicle model -

University of Pretoria
Controllers and Hardware
Decoupled brake system control -
TU Ilmenau (with support of ZF-TRW)
Suspension design -

On-board DAQ and control -
Integrated Chassis: Slip Control Part
Control error by wheel slip
Control torque by PID and ISMC control
Integrated Chassis Сontrol: Overview
Individual wheel slip control
Support by dynamic tyre pressure and suspension control for critical maneuvers and road conditions
Dual observer technique
Control allocation using model predictive approach
Baseline vs. Integrated Control
Continuous control
Baseline control
* Slow motion video
Better pitch dynamics due to vehicle jerk minimization
X-in-the-loop (XIL) Test Platform: Motivation
Testing and validation of
complex systems
Connected (Test) Environments
Big (Test) Data
Cyber-physical (Test) Systems
Real-time connection of test setups in different locations and from different domains
Shared experiments
Distributed test procedures
Comprehensive test scenarios
Finding new dependencies
New level of accessibility
XIL Based on Integration of HIL Test Setups
Feasibility check for real-time tyre models to be used in the controllers
Validation of real-time multibody vehicle models and benchmarking of different software applications for their realization
Functional validation of the integrated controller as well as individual controllers of active chassis systems
Advanced XIL Architecture
*RTC - real-time controller
Remote and Shared XIL Architecture
Target: Connection of test rigs between Pretoria (South Africa) and Ilmenau (Germany)
Method: a formal gradient-based optimisation
Approach: (i) the test rig at the first location to obtain gradient information and (ii) vehicle system tests at the second location to obtain accurate objective function values that can be used in the optimisation algorithms
Synergetic effect from integration of academic and industrial research processes
Easier access to state-of-the-art and advanced experimental facilities
Reduced time for validation and verification of new models and controllers
Gaining experience in project-based research at different educational environments and industrial production systems
Full transcript