Slide 1: Vehicle Dynamics Library
Vehicle Dynamics Library Topics on vehicle analysis ©2022 Modelon. All Rights Reserved.
Slide 2: Peter Sundström
Peter Sundström Industry Product Lead Mechanical ©2022 Modelon. All Rights Reserved.
Slide 3: About Vehicle Dynamics Library
ABOUT VEHICLE DYNAMICS LIBRARY An environment for the design and analysis of vehicles and vehicular components On the market since 2004 ©2022 Modelon. All Rights Reserved. ©2022 Modelon
Slide 4: Wide range of model fidelities
Desired characteristics, KPIs Wide range of model fidelities Parametric multibody Characteristics based suspension models Extract KPIs Full fidelity verification Define requirements Evaluate specific suspension topologies towards requirements Verify requirements Lumped compliance at hub or Final des
Slide 5: Chassis
Chassis Analysis and design ©2022 Modelon. All Rights Reserved.
Slide 6: Dynamic Maneuver
Dynamic Maneuver Example: Obstacle Avoidance test - Find highest possible Initial speed from initial speed into maneuver without hitting cones 15-22m/s Closed loop driver, path defined in ground model ©2022 Modelon. All Rights Reserved.
Slide 7: Steady state chassis analysis
Steady state chassis analysis Template with quasi-static robot and inputs/outputs to hook up with the steady-state solver in OCT Handling diagram from ramp steer Acceleration ramp for brake dive, brake bias ©2022 Modelon. All Rights Reserved.
Slide 8: Frequency Analysis
Frequency Analysis Dynamic simulation Run sine frequency sweep on pad positions, analyze output ©2022 Modelon. All Rights Reserved.
Slide 9: Frequency Analysis
Frequency Analysis Linearization Set up inputs/outputs Linearize system Analyze frequency response ©2022 Modelon. All Rights Reserved.
Slide 10: Suspensions
Suspensions Analysis and design ©2022 Modelon. All Rights Reserved.
Slide 11: Suspension Analysis
Suspension Analysis Template with inputs and outputs for steady-state solver Solve for steady state (der(*)=0) in each point Kingpin axis and instant centers can be calculated accurately in each point Accurate solutions in each point, damping effects excluded automatically ©2022 Modelon. All Rights
Slide 12: Early prototype: Hardpoint optimization
Early prototype: Hardpoint optimization Optimization using steady-state solver and Scipy.optimize Make small perturbations around z=0 to get gradients and compare to targets Adjust hardpoint parameters to get as close as possible to targets (also force based gradients can be included, to set bushing
Slide 13: Verification
Verification • Evaluate performance with varying parameters • Example: Payload, changing c.g. position ©2022 Modelon. All Rights Reserved.
Slide 14: Real-time: DIL
Real-time: DIL Vehicle Dynamics Library is compatible with driving simulators from VI-Grade Fmus exported from Modelon Impact Cloud are directly compatible with Concurrent iHawk (running RedHawk 7.x) With templates in VDL, any model (that runs fast enough) can be exported and driven on a VI-grade si
Slide 15: Bonus: Unconventional vehicles
Bonus: Unconventional vehicles ©2022 Modelon. All Rights Reserved.