ADM740_WorkshopsWS16_Mechatronics

1、WORKSHOP 16 Adams/Car Mechatronics,Mechatronics,Use Adams/Car Mechatronics to investigate vehicle dynamics through a lane change event with and without an Electronic Stability Program (ESP) system active. The Control systems will be based on either: Adams/Solver function expressions Compiled control

2、 system libraries created in MATLAB/Simulink.,Import the model Start Adams/Car MD in Standard Interface mode. Load the Adams/Car Mechatronics plugin using the menu picks: Tools - Plugin Manager. Load the assembly named MDI_Demo_Vehicle_lt_ABS_ESP_01.asy from the amech_shared database, which is autom

3、atically added to the session when the Mechatronics plugin is selected.,Baseline Simulation,Baseline Simulation,Running a Baseline Simulation: You will run a lane change simulation on a road surface having two very different traction characteristics: the left lane is slippery (mu = 0.2) while the ri

4、ght lane has greater traction (mu = 0.9). The ABS and ESP systems will be deactivated for the baseline simulation as the steering wheel is guided through a prescribed motion. Deactivate the control systems: From the menus, select Mechatronics - Control System - Modify In the Modify Control System pa

5、nel, right-click the Name dialog box and browse for the system named: .MDI_Demo_Vehicle_lt_ABS_ESP_01.ABS_system_01.ues_ABS Set the Active flag to be off. In a similar fashion, turn off the ESP system named: .MDI_Demo_Vehicle_lt_ABS_ESP_01.ESP_system_01.ues_ESP,Baseline Simulation,Run a lane change

6、simulation From the menus, select Simulate - Full-Vehicle Analysis - Open-Loop Steering Events - Single Lane Change. Specify the simulation parameters as following, taking care to use the Road 3d_road_smooth_flat_splitmu02.xml Data File, provided in the acar_training_MD/roads.tbl. Run the simulation

7、.,Baseline Simulation,Plot the vehicle yaw rate (ues_cst_body_yaw_rate_model_units), as follows Note the increasing yaw rate after 1.5 seconds as the vehicle begins to spin out of control near the end of the event. (Note that the steering wheel has a prescribed motion throughout the simulation, so n

8、o driver correction occurs to counteract the yawing).,Function Expression Control System,Activating the Function Expression ESP Controller Now activate the ESP and ABS controllers that are built into the Adams/Car Mechatronics demo model. These controllers are based on Adams/Solver Function Expressi

9、ons alone, so neither MATLAB nor EASY5 are required. Activate the control systems From the menus, select Mechatronics - Control System - Modify In the Modify Control System panel, right-click and Browse for the system named: .MDI_Demo_Vehicle_lt_ABS_ESP_01.ABS_system_01.ues_ABS Set the Active flag t

10、o be on In a similar fashion, turn on the ESP system named: .MDI_Demo_Vehicle_lt_ABS_ESP_01.ESP_system_01.ues_ESP,Function Expression Control System,Re-run the lane change simulation From the menus, select Simulate - Full-Vehicle Analysis - Open-Loop Steering Events - Single Lane Change Use the same

11、 settings as for the last simulation, but change the Output Prefix to be with_esp_functions Compare the vehicle yaw rate (ues_cst_body_yaw_rate_model_units) between the with- and without-ESP simulations. Also plot the left and right front brake torques (ptl,r_front_brake_torque_data) for the with-ES

12、P simulation. The effect of the ESP system activating the brakes should be apparent from the yaw rate plot. This ESP system has a target maximum yaw rate of approximately 10 deg/sec; the ESP simulation results should clearly show this.,Function Expression Control System,Yaw Rate and Brake Torque Com

13、parison, Function-based Controller,External Control System,Change Function Expression ABS and ESP Controllers to use controller built externally using Easy5/Matlab. Activate the control systems From the menus, select Mechatronics - Control System - Modify In the Modify Control System panel, right-cl

14、ick and Browse for the system named: .MDI_Demo_Vehicle_lt_ABS_ESP_01.ABS_system_01.ues_ABS Change System Type to External System Library. For the Library property File use the ABS_control_system_01.esl in the amech_shared/external_system_libraries.tbl directory In a similar fashion, turn on the ESP

15、system named: .MDI_Demo_Vehicle_lt_ABS_ESP_01.ESP_system_01.ues_ESP. For the ESP controller use the ESP_control_system_01.esl from the the amech_shared/external_system_libraries.tbl directory,External Control System,Re-run the lane change simulation From the menus, select Simulate - Full-Vehicle Ana

16、lysis - Open-Loop Steering Events - Single Lane Change Use the same settings as for the last simulation, but change the Output Prefix to be with_esp_external Compare the vehicle yaw rate (ues_cst_body_yaw_rate_model_units) between the with- and without-ESP simulations. Also plot the left and right f

17、ront brake torques (ptl,r_front_brake_torque_data) for the with-ESP simulation.,External Control System,Yaw Rate and Brake Torque Comparison, Imported Library Controller,The characteristics of the function-based and external system based controllers are shown to be slightly different. Factors such as different gains/settings used while building the library can affect the results. For using the Co-simulation method the knowledge base article below: KB801776