slide 1 powerpoint slide shows here are some links to an automated slide show. view it in total or...
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slide 1
PowerPoint Slide ShowsHere are some links to an automated slide show. View it in total or in parts. You can quit any section by pressing the Escape key
1. The Company Introduction to Mechanical Simulation, the company that provides CarSim
5. CarSim RT CarSim runs much faster than real time on PCs, making it well-suited for real-time testing with hardware in the loop (HIL).
3. CarSim Math Models This presents the thinking behind the modeling of vehicle dynamics and the choices of measurable parameters and properties.
4. Extending CarSimMany CarSim users extend the models and/or controllers using Simulink.
2. Using CarSim This shows the way you use CarSim, choosing data sets, clicking buttons and viewing results.
The Whole Show Click here for the full 13-minute PowerPoint show about CarSim. You can escape the show early by pressing the Escape key.
CarSim in PowerPoint
Sales InformationDoug Orrin(734) 668-2930 Ext. [email protected]
Academic ProgramsDamon A. Becker(734) 668-2930 Ext. [email protected]
International Saleswww.carsim.com/contacts
More Informationwww.carsim.com
slide 2The CarSim Show
Simulated Vehicle Testing
Easy to Use
Fast
Accurate
Extensible
Inexpensive
Industry Standard
CarSim ®
Narrated by Michael Sayers, Ph.D.Chief technical officer at Mechanical Simulation
slide 3
Mechanical SimulationBackground Software company
specializing in vehicle dynamics
Founded in 1996 Spin-off of UMTRI (Univ. of
Mich. Transportation Research Institute)
Core Competencies Vehicle dynamics expertise Testing point of view Making software productive Full documentation Extensive real-time support
Who We Are
slide 4
Our ProductsCarSim Four-wheeled cars, light
trucks, utility vehicles, race cars
With or without trailers Real-time versions
TruckSim Heavy trucks and
combination vehicles Dual tires
About Mechanical Simulation
BikeSim Motorcycle dynamics For release early 2005
slide 5
Our Customers OEM’s (Car and Truck) Tier 1 and 2 Suppliers Testing and Research Organizations Universities
Who Uses CarSim / TruckSim
slide 6
Control strategy and software in
the loop
Product Development and Validation
Subsystem and component definition
Vehicle and system definition Production
Design
Vehicle and system
performance
When Do You Use CarSim
Component testing and hardware in
the loop
slide 7Using CarSim
The Parts of CarSim Use the database to define
vehicles, conditions, and test results
View results with animation View engineering plots Export results to other software
Vehicle math model solvers
Graphical database
Surface animator
Engineering plotter
slide 8
Simulation Graphical User Interface The database is organized
with 150 graphic screens Each screen accesses a
library of data sets Navigate like a web browser Use pull-down menus to
select data sets from libraries
Screens show data in contextOn-line help for all controls Easy to copy existing data
sets and make changesPast runs are part of the
CarSim database
Using CarSim
slide 9
The left 1/3 of the screen has inputs for the test run
The middle 1/3 has controls for the run
The right 1/3 shows results of the run
The CarSim Run ScreenTo make a run: Start with an existing data set for a similar test Maybe change the vehicle Maybe change the driver controls Maybe change the road Click the Run button
Using CarSim
slide 10
Viewing Animations Maybe change the camera
settings Maybe overlay another run Click the Animate button
Using CarSim
slide 11
Automatic setup Simple user interface OpenGL
Highly extensibleShading, lighting,
textures, fog, …Automatic surface
smoothing Standard Shape Files
STLOBJ
Animator
Using CarSim
slide 12
CarSim Math Models
slide 13
Main Modeling Objectives Predict vehicle system
response to: Driver steering control Driver braking control Driver throttle and shifting
control Road friction and 3D
geometry Air and wind
Tires are very important Need realistic shear forces and
moments from the tire model: Fx, Fy, Fz, Mx, My, Mz
Must calculate realistic input variables for the tire model: , , , R
Predict transfer of forces to the sprung mass by the suspension
CarSim Math Models
slide 14
Inertia Measurement
Built on 30 Years of Research at UMTRI
Tire Testing
SuspensionMeasurement
Modeling, Algorithms, & Simulation
Testing andAnalysis
ParameterMeasurement
CarSim Validation
slide 15
Lateral G
0 10 20-0.5
0
0.5
System-Level Modeling Ideal model complexity for chassis control
development & proving ground correlation. Models are computationally stable Models run real time on PC’s All model parameters can be measured
CarSimRoad Test
CarSim Math Models
0 10 20-20
-10
0
10
20
Yaw rate—deg/s
slide 16
Parameters Simple Properties
• Known to be significant• Shown on screen in context• Dimensions, masses, ratios
Measurable No need to be a simulation
specialist to understand them
CarSim Math Models
slide 17
Nonlinear Properties Represented with tables of
measurable quantities Obtained from lab Obtained from other software
(simulated measurements)
CarSim Math Models
slide 18
3D Roads Simple tabular descriptions
Horizontal, vertical, 3D incremental elevation
Tables are independent Data from CAD, spreadsheet,
GPS, etc. Mixture of spline and
straight-line interpolation
Automatically create shapes for surface animator
Roads can be open-ended or looped
CarSim Math Models
slide 19
CarSim Model State Variables 30 multibody states
• 6 sprung mass DOF
• 4 suspension jounce / axle roll DOF
• 4 wheel rotation DOF
• Engine rotation DOF
14 Auxiliary dynamic states• 8 tire dynamic states• 4 fluid states
35 extra states• ABS control• Suspension and
steering compliance• Wheel lockup
Dynamic states are defined by differential equations
. X = f
Raw Output
Simulated test conditions
Math Model of System
Equation Solver
Vehicle Properties
CarSim Math Models
slide 20
Extend with Simulink
Simulink (add-on to MATLAB) is the “most used” simulation environment
Extensibility
slide 21
Simulink Support / Interface CarSim math models are available as Simulink
S-Function blocks Use Simulink from CarSim Use CarSim from Simulink
Extend CarSim with Simulink
slide 22
Import from Simulink to CarSim 160+ Imported variables
Control inputs Tire/ground inputs Tire forces and moments Spring and damper forces Steering system angles Driveline torques Brake torques & pressures Wind inputs Arbitrary forces & moments
Variables can be defined in Simulink
Variables can be defined in other software and linked to CarSim with Simulink
Imported variables are added to similar variables “internal” to CarSim
Extend CarSim with Simulink
slide 23
Exported variables are available for user-defined extensions 560+ exported variables (4-wheeled models)
Position and orientation Motion variables
• Velocities and accelerations• Rigid bodies and force components (springs, shocks)
Forces and moments of most components Most control variables All ground and wind information
Export from CarSim to Simulink
Extend CarSim with Simulink
slide 24
Real-Time Testing with Hardware In the Loop
CarSim is “the Loop”
Hardware Testing
slide 25
CarSim RT Host Machine w. Windows
Database Animator & Plotter User Interface
Target Machine w. RT OS CarSim math models Hardware-in-the-loop interface Works with most RT systems
CarSim RT for Hardware in the Loop
slide 26
Driving Simulators Marketing Research Training
CarSim RT for Hardware in the Loop
slide 27
CarSim / CarSim RT Comparison Math models are identical
• Same equations of motion
• Same fixed-step integrators
• Same time steps
• Same set of importable (input) variables
• Same compatibility with Simulink Same Database, Animator, Plotter
CarSim RT for Hardware in the Loop
slide 28The CarSim Show
Review
CarSim Easy to Use
Fast
Accurate
Extensible
Inexpensive
Industry Standard
®