1. WS15-1 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation WORKSHOP 15 Adams/Car Mechatronics

2. WS15-2 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation

3. WS15-3 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation 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 system libraries created in MATLAB/Simulink.

4. WS15-4 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation ● Import the model 1. Start Adams/Car MD R2 in Standard Interface mode. 2. Load the Adams/Car Mechatronics plugin using the menu picks: Tools -> Plugin Manager. 3. Load the assembly named MDI_Demo_Vehicle_lt_ABS_ESP_01.asy from the amech_shared database. Baseline Simulation

5. WS15-5 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation 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 right 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: 1. From the menus, select Mechatronics -> Control System -> Modify… 2. 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 3. Set the Active flag to be off. 4. In a similar fashion, turn off the ESP system named:.MDI_Demo_Vehicle_lt_ABS_ESP_01.ESP_system_01.ues_ ESP

6. WS15-6 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation Baseline Simulation ● Run a lane change simulation 1. From the menus, select Simulate -> Full-Vehicle Analysis -> Open-Loop Steering Events -> Single Lane Change. 2. 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_MDr2/roads.tbl. 3. Run the simulation.

7. WS15-7 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation Baseline Simulation 4. Plot the vehicle yaw rate (ues_cst_body_yaw_rate_model_units), as follows 5. 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 no driver correction occurs to counteract the yawing).

8. WS15-8 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation 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 Expressions alone, so neither MATLAB nor EASY5 are required. ● Activate the control systems 1. From the menus, select Mechatronics -> Control System -> Modify. 2. 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. 3. Set the Active flag to be on. 4. In a similar fashion, turn on the ESP system named:.MDI_Demo_Vehicle_lt_ABS_ESP_01.ESP_system_01.ues_ ESP.

9. WS15-9 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation Function Expression Control System ● Re-run the lane change simulation 1. From the menus, select Simulate -> Full-Vehicle Analysis -> Open-Loop Steering Events -> Single Lane Change. 2. Use the same settings as for the last simulation, but change the Output Prefix to be ‘with_esp_functions’. 3. 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 (pt[l,r]_front_brake_torque_data) for the with- ESP 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.

10. WS15-10 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation Function Expression Control System Yaw Rate and Brake Torque Comparison, Function-based Controller

11. WS15-11 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation External Control System Change ‘Function Expression’ ABS and ESP Controllers to use controller built externally using Easy5/Matlab. ● Activate the control systems 1. From the menus, select Mechatronics -> Control System -> Modify. 2. 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 3. Change System Type to External System Library. 4. For the Library property File use the ABS_control_system_01.esl in the amech_shared/external_system_libraries.tbl directory. 5. In a similar fashion, turn on the ESP system named:.MDI_Demo_Vehicle_lt_ABS_ESP_01.ESP_system_01.ues_ESP. 6. For the ESP controller use the ESP_control_system_01.esl from the amech_shared/external_system_libraries.tbl directory.

12. WS15-12 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation External Control System ● Re-run the lane change simulation 1. From the menus, select Simulate -> Full-Vehicle Analysis -> Open-Loop Steering Events -> Single Lane Change. 2. Use the same settings as for the last simulation, but change the Output Prefix to be ‘with_esp_external’. 3. 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 (pt[l,r]_front_brake_torque_data) for the with- ESP simulation.

13. WS15-13 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation External Control System Yaw Rate and Brake Torque Comparison, Imported Library Controller

14. WS15-14 ADM740, Workshop 15, June 2007 Copyright  2007 MSC.Software Corporation ● 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: 1-43315471: Using Mechatronics to Incorporate a Vehicle Controller into an Adams/Car Model http://support.mscsoftware.com/kb/results_kb.cfm?S_ID=1-43315471 ● To learn more about building the control system in the template builder go through the tutorial provided in the online help documentation under: Adams/Car – Mechatronics - Tutorials Mechatronics