Research On Key Technologies Of Multi-solver Simulation Platform For Driving Simulator

The vehicle dynamic model based on characteristics has been widely applied to automobile product development and electronic system verification process. Now there are many real time vehicle dynamic models internationally. In order to explore the application of multi-solvers for the vehicle driving simulator, this paper compared and analyzed multi-solvers model theory. Taking the vehicle dynamics model of State Key Laboratory of Automotive Simulation and Control of Jilin University( ASCL for short)、Car Sim and ve DYNA vehicle model for this study. Completed the three vehicle models parameters conversion. Multi-solvers are running with an unified set of model parameters. The main research contents of this paper including:Compared and analyzed on the difference of modeling theory. Real time vehicle is modeled with seven modular, such as whole vehicle system, aerodynamic system, power transmission system, braking system, steering system, suspension system, and wheel system etc, compared and analyzed the seven subsystems modeling difference for three vehicle models. The whole vehicle system modeling theory is consistent. These models established vehicle body’s six freedom to calculate motion state, and established one freedom of the un-sprung mass to calculate wheel center vertical deformation. The three vehicles has the same the air dynamic modeling mechanism, established air resistance six component model. In power transmission system, built engine model based on MAP. ASCL and Car Sim model’s clutch model based on friction characteristics. ve DYNA model considers the freedom of the clutch disc, calculating the motion state of the clutch shaft dynamically. Considering freedom of the semi-shaft, which based on spring damper system. ASCL and Car Sim established differential model by friction effect. In brake system, ASCL and Car Sim established the characteristic model of brake pedal, vacuum booster, brake master cylinder, proportional valve, brake wheel cylinder. The characteristics of assembly and components are described detailedly. ve DYNA established a relatively simple model of the braking system, which only describes the simple transmission of the braking force. In steering system, ASCL set up three freedom including the small gear and steering body around the main pin freedom. ve DYNA considered one rack freedom, expressed the steering mechanism dynamics. Car Sim established the steady state’s steering system model. ASCL and ve DYNA established the dry friction model with static and dynamic friction effects, Car Sim used Coulomb friction model. The suspension model is established based on the roll center, ASCL and Car Sim consider the friction hysteresis characteristics. Considered about steering influence for the K characteristic. These three vehicle models used different tire models. ASCL established a rigid ring wheel model to calculate matrix motion state. Car Sim uses the test data model or magic formula model for tire model. ve DYNA established TM-easy tire model.The vehicle model parameter conversion and verification. This paper studied model parameter transformation method. The correctness of the parameter transformation is verified by the simulation of typical operating conditions.Development of simulation platform for embedded and simulator. Completed the development of the mutil-solvers in embedded and simulator environment. Completed the interface definition、operation control etc. Completed the three solvers are running in the embedded and ASCL simulator environment.