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Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software www.umlab.ru [email protected] Universal Mechanism

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Page 1: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation of dynamics of road vehicles in

Universal Mechanism software

www.umlab.ru [email protected]

Universal Mechanism

Page 2: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Contents

Background

Road vehicle as a mechanical system

Creating models

Simulation of vehicle dynamics

Verification

Page 3: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Background

Kinematics of cars

Road vehicle components

Page 4: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Engine

Page 5: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Off-road vehicle

Page 6: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Transmission components

Differential

Cardan shaft

Page 7: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Grader

Grader GS 18-05 byBryansk factory of road machines.

Velocity: 40 km/hPavement: asphalt in satisfactory condition

Author: Vlad Govorov, BSTU, Bryansk, Russia

Page 8: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

VAZ 2109

Dynamic test: vertical load

Page 9: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

UM Caterpillar

Simulation results

Page 10: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

UM Caterpillar

Simulation results

Page 11: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Truck/trailer

SAE lane change, V=88 km/h

Page 12: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

B-double

Low-speed 90º turn, V=10 km/h, R=11.25 m

Page 13: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Pulse steer

Pulse steer, V=100 km/h

Page 14: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Step steer

Step steer, V=100 km/h

Page 15: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Three-wheeled light vehicle (1)

Double lane change, V=14 km/h

Page 16: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Three-wheeled light vehicle (2)

Double lane change, V=14 km/h

Page 17: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Student work

Single-cylinder engine

Page 18: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Student work: cart

Police turn

Page 19: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Student work: police turn

Police turn

Page 20: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Student work: drifting

Drifting

Page 21: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Contents

Background

Road vehicle as a mechanical system

Creating models

Simulation of vehicle dynamics

Verification

Page 22: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation workflow

Real mechanical system or its prototype

Preparing input data and conception of a model

Describing kinematical model

Describingdynamical model

Automatic generation of equations of motion

Analyzing model’s dynamical performances

tqqQqqkqqM ,,,

Page 23: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Technical objects as multibody systems

Bodies+

Joints+

Force elements

Page 24: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Rigid bodies

Rigid body:• Image

• Inertial parameters

Page 25: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Joints

Joints

Translational Rotational

2 - 6 d.o.f. joints Quaternion

Rod

Page 26: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Force elements

For Hendrickson Pacific Ltd.

Damper

Air spring

Bushing

Bushing

Page 27: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Force elements

0

10000

20000

30000

40000

50000

60000

0.15 0.17 0.19 0.21 0.23 0.25 0.27 0.29

Length, m

Fo

rce,

NAirspring

Damper

-12000

-10000

-8000

-6000

-4000

-2000

0

2000

4000

-0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8

Relative damper velocity, m/s

Fo

rce

, N

Page 28: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Heavy vehicle suspension

Cobblestone pavement, V=100 km/h.

Page 29: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

UM FEM: Flexible bodies

For Hendrickson Pacific Ltd. Finite-element model of the leaf spring

Page 30: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

UM FEM: principle of operation

Simulation of hybrid system(system of rigid and flexible bodies)

Import of dynamic and static modes from FEM software(ANSYS, MSC.NASTRAN)

FEM-model

from

ANSYS,MSC.NASTRAN

+ =Rigid body model

from

UniversalMechanism

Hybrid model

in

UniversalMechanism

Page 31: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Durability analysis

Workflow

AN

SY

S /

MS

C.N

AS

TR

AN

Un

iver

sal M

ech

anis

m

UM rigid body model

UM hybrid (rigid+flexible)

model

Running series of numerical

simulations

Modal coordinates time history

UM Durability post processing

Results - Stresses - Damage Sum - Life prediction

Finite-element mesh of flexible bodies

Mode shapes according to the

Craig and Bamptone approach

Page 32: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Kompass 3D –> Universal Mechanism interface

Page 33: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

SolidWorks –> Universal Mechanism interface

Page 34: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Autodesk Inventor –> Universal Mechanism interface

Page 35: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Matlab/Simulink interface

ψ

F M

m, I

Example 1. Stabilization of the inverted pendulum

Mechanical part

(Universal Mechanism)

Control part (Matlab/Simulink)

ψ

F

Page 36: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Matlab/Simulink interface

Free motion Controlled motion

Example 1. Stabilization of the inverted pendulum

Page 37: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Matlab/Simulink interface: ABS simulation

ABS model in Matlab/Simulink

Page 38: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Braking coefficient / Slip diagram

Kienhöfer, F.W., Cebon, D. Improving ABS on Heavy Vehicles Using Slip Control

Page 39: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation results: vehicle speed

Vehicle speed

with ABS without ABS

Page 40: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation results: with ABS

Page 41: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation results: without ABS

Angular velocity Longitudinal slip

Page 42: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation in Matlab

Page 43: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Contents

Background

Road vehicle as a mechanical system

Creating models

Simulation of vehicle dynamics

Verification

Page 44: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Creating models (UM Input)

Screen shot of UM Input program

Tree of elements

IdentifiersInspector

Page 45: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Equations of motion

Deriving equations in symbolic form using a built-in computer algebra

system (C, Pascal codes)

Numeric-iterational generation

very fast!

…………………………………………………………. _Frc_Vctr[1] := _._ap[3]*_.ix+_._ap[3]*_.mass*_._c2* _._c3*_.length*_.length+_._ap[3]*_.mass*_._c3*_.length*_.length-_._ap[3]*_.mass*_.length*_.length* _._s2*_._s3+ _._ap[3]*_.mass*_.length*_.length-0.1634* _._ap[3]*_.mass*_._c2*_._c3*_.length-0.1634*_._ap[3]*_.mass*_._c3*_.length+0.1634* _._ap[3]*_.mass*_.length*_._s2*_._s3-0.3268* _._ap[3]*_.mass*_.length+0.02669956*_._ap[3]*_.mass +2*_._ap[2]*_.ix+_._ap[2]*_.mass*_._c2* _._c3* _.length*_.length+2*_._ap[2]*_.mass*_._c3*_.length* _.length +2*_._ap[2]*_.mass*_._c2*_.length *_.length-_._ap[2]*_.mass*_.length*_.length*_._s2*_._s3………………………………………………………….

Elements of equations are computed on each step of numeric integration

Automatic generation of equations of motion

Generation of equation in symbolic form and the following compiling them as DLL is one of the reason why UM is faster that many other software

also implemented in UM (sometimes very useful)

Page 46: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Contents

Background

Road vehicle as a mechanical system

Creating models

Simulation of vehicle dynamics

Verification

Page 47: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Analysis of Models (Simulation Module)

Screenshot: Simulation ModuleAny number of animation and plot window

Page 48: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation

Simulation: on-line visual representation of results• 3D animation of motion

• 3D animation of vectors (forces, velocities, accelerations)• 3D animation of trajectories

• plots (coordinates, velocities, accelerations, applied and reaction forces etc.)

Expander: direct dynamic problem

Page 49: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation tools

Processing of VariablesEvery computed variable from graphical window or from list of variables can be processed with

•Table processor• Window of statistics

Page 50: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation tools

Original Filtered

Page 51: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Steering wheels

Cobblestone pavement, V=100 km/h.

Page 52: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

UM Automotive: tire models, library of suspensions

Tire models

Pacejka Magic Formula

Pacejka Magic Formula

FIALA tiremodel

FIALA tiremodel

Tabular and experimental tire

models

Tabular and experimental tire

models

Road excitations

Pointwise input(for measured data)

Pointwise input(for measured data)

Analytical expressions

Analytical expressions

Synthesis of the road profile based on its

spectral power density

Synthesis of the road profile based on its

spectral power density

Superposed pointwise/analytical/generated by spectral power density road profile

Superposed pointwise/analytical/generated by spectral power density road profile

Library of spectral power density of typical road surfaces

Library of spectral power density of typical road surfaces

Page 53: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

UM Automotive: maneuvers

Maneuvers with closed-loop steer control

Trajectory+

Driver model(MacAdam’s model, Second order preview model)

Trajectory+

Driver model(MacAdam’s model, Second order preview model)

Page 54: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Eigenmodes

0,40 Hz

1,10 Hz

0,82 Hz

1,39 Hz

Page 55: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Contents

Background

Road vehicle as a mechanical system

Creating models

Simulation of vehicle dynamics

Verification

Page 56: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Heavy Vehicles

National road transport commission of Australia

Model 1: B-double

Model 2: Truck-trailer

• ADAMS CAR• UMTRI’s Yaw/Roll• AUTOSIM

• Universal Mechanism

SAE Lane change, 88 km/h

Page 57: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation results: pulse steer

ADAMS

Yaw/Roll

AUTOSIM

UM

Page 58: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation results: pulse steer

ADAMS

Yaw/Roll

AUTOSIM

UM

Page 59: Universal Mechanism Simulation of dynamics of road vehicles in Universal Mechanism software @umlab.ru Universal Mechanism

Universal Mechanism

Simulation of dynamics of road vehicles in

Universal Mechanism software

www.umlab.ru [email protected]

Thanks for your kind attention