The BOSCH-CS Simulation Concept - Simpack.com

SIMPACK USER-Meeting 2003 

SIMPACK as a 

MBS-Tool in 

the 

BOSCH-CS 

Simulation 

Concept 

CS-AS/ESF 08.04.2003 

Albert Lutz 

CS-AS/ESF 

Robert Bosch GmbH 

© Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 1

Overview 

� Simulation in the development process of Vehicle Stabilising Systems: 

The BOSCH-CS Simulation Concept 

� MBS-vehicle model 

� Realisation and process 

� Next steps 




A Mechatronic System requires various Tools 

Sensors: Yawrate, AY 

Wheel speed, Steering 

angle, Precharge pressure 

Tools: 

EDYSON, ... 

ECUs: 

ESP, ABSR, DME 

Tools: 

SABER, ... 

Mechanics: 

Chassis with 

suspension, steering 

system, drivetrain, tyres 

Tools: 

FASIM, SIMPACK, PKW0 

Miscellaneous: 

Driver, Environment 


Application Software: 

Control and Safety Algorithm 

Tools: MS-Developer Studio, C- 

Compiler, Simulink, ASCET-SD 

Foundation and Actuation: 

MC, Booster, Wheel Brake 

Cylinder 

Tools: CoBrake 

Brakehydraulics: 

HU,Brakeline 

Tools: AMESIM, 

EDYSON, ... 



Local Simulation Activities imbedded into the Concept 

S 

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Realtime 

Models 

Functional 

Models 

Hydraulics 

System Design 

Structural 

Models 

Vehicle Dynamics Simulation with Control 

Realtime Models 

Electronics 


Foundation 

Functional Models 


Actuation 

Behavioural Models 

Structural Models 








SIMPACK 

complex/ 

reduced 


Agreed Simulations Concept at BOSCH-CS 

Data 

� 

AMESIM 


reduced 

Data 


Integration Platform MATLAB/SIMULINK 

MATLAB/SIMULINK 

Models 

S-Functions 

Co-Simulation: 

Interface Concept 

and –Definition 

(„Steckersammlung“) 

SABER 


reduced 

Data 

Controller 

© Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 5 

Data 

... 

Aspects: 

• One integration platform 

to set-up the complete 

system by agreed interfaces 

• Agreed interfaces 

enable direct 

implementation of the 

models or coupling by 

communication modules 

(CoSimulation) 

• Tool decision 

platform is 

MATLAB/SIMULink


Simulation in the Development Process of Vehicle 

Stabilising Systems 

� Systems Development 

� Design of Control Algorithm 

� Systems Application 

� Component Development 

� Fundamental Research 

� Knowledge Management 

� Co-operation with Customers 



Amplitude 

MBS-Vehicle Model 

Application Area of Vehicle Models 

Functional MBS- 

Model 

Handling 


USER 

Comfort 

Structural 

MBS-Model 

Frequency 

Oscillations 

Specialists, 

Developer 

of Bodies 

Structural 

MBS-Model 

with FEM 

Structural 

Oscillations 



Mastertitelformat bearbeiten 

SIMPACK 

SIMPACK: 

One Tool 

One Basic Dataset 

One Modeltyp 

Model Development Model Application 

SIMPACK 

Stand alone 

Vehicle Modelling 

Fundamental Investi- 

gations w.r.t. MBS 

SIMPACK 

in CoSimulation (SIMAT) 

- ABS-Development 

- MBS-Investigations 

- New Actuator Concepts 

- Wirkketten-Engineering 

- Small number of projects, 

- SIMPACK know how 

Code Export - CS_CAR 

Plugin to SIMULink 

- SW-Development and 

Quality Assurance 

- System Development 

- System-Application 

- Big number of projects, 

- no SIMPACK know how 

CS-AS/ESF21.08.2001 

© Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.


Specification of CS-CAR 

� Vehicle with rigid bodies and 15 DOFs 

� Suspension kinematics described by kinematics maps 

� Interfaces for tyre models of different complexity 

� Environment described by files and evaluated by SIMPACK-function 

� Interfaces for other vehicle components 

� Interfaces to BOSCH components (sensors, actuators, controller, brake, ...) 

� Implemented in SIMULink as a plug in using the SIMULink solver 

� Modelling based on SIMPACK with Code Export 

� Parameterisation capability 

� Vehicle data base according to BOSCH-CS requests 



Realisation and Process 

Structure of CS_CAR 

Model with 

SIMPACK 

Algorithm 


Model Library 

owned by BOSCH by INTEC 

SIMULINK 

IF 

Routines SIMPACK 

Library 

Vehicle 

Data Library 

owned by BOSCH 

Parameters Environ- 

mental 

Parameter 

Initial 

Conditions 



CS_CAR with Components modelled by BOSCH-CS 

Brake Hydraulics 

Tyre 


Vehicle CS_CAR 

Environment 

Vereinfacht, zur Bedienung ESP-IF auf Basis CAN11h 


K1-Si/ESV2-Lutz 

Version: 1.2 

© Alle Rechte bei Robert Bosch GmbH, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns. 11 

(VR_HL+VR_HR)* 

0.5 * iGes 

Motordrehzahl 

N_MOT [U/min] 

Fahrergaspedal 

W_FPDK [%] 

=f(t) 

* 

MD_RAT 

Schnittstelle zum 

Fzg.-Modell 

Schnittstelle zum 

Regler 

ASC_Sollwert_ 

Luftmasse 

MD_ASC_LM 

[%] Init=100% 

MSR_Sollwert 

MD_MSR [%] 

Init=0% 

Motormodell 

Reibmoment 

MD_REIB [%] 

= const = 10% 

Fahrervorgabe 

DROSS_WINKEL 

[%] = W_FPDK 

ASC_Sollwert 

MD_ASC [%] 

Init=100% 

MIN MAX PT1D K TTD K 

Motormoment 

MMot = f(N_MOT, 

W_FPDK) 

MIN 

IF zu MKS- 

Tool 

10000. 

MIN 

MD_RAT 

= 

MD_MAX 

/ 

MD_NORM 

Animation 

Max. Motormoment 

MD_MAX [Nm] 

= 220 Nm 

* 

MD_RAT 

Normmoment 

MD_NORM [Nm] 

= 600 Nm 

Drivetrain 

Engine 

PT1 Mot TTMot 

Motormoment 

MD_IND [%] 

Motormoment nach 

Eingriff 

MD_IND_NE [%] 

PT1 Mot 

TTMot 

+ 

Kurbelwel 

lenantriebs 

moment 

* 

- 

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Process of Model Set-up 

Specification 

Modelling in SIMPACK 

Customer 

Structural 

Model 


Code Export 

Only for structural Models 

S-Function Generation 

Parameterisation 

Verification, Validation 

Archiving 

Customer 

Data 

BOSCH 

Model 

Library 



Process of Model Set-up 

Using CS-CAR for several projects requires 

automised conversion of data sets to target tool 

� Development of tool specific converters 

� Adaptation to different data formats and number of input and output files 

� Conversion of characteristic maps and curves for suspension kinematics 

� Adaptation to transformation matrix parameters and direction of rotation 

� Determination of conversion function concerning spring, damper and anti-roll 

bar 

� Transformation of spring and damper data fields into global coord. system 

� Conversion of tyre maps 

� Estimation formalisms for none available parameters 




Pilot Project with Structure and Interfaces 

. 


Aspects: 

• Feasibility Study 

• Fundamental questions 

• MATLAB/SIMULink 

• used as platform 

• Models of all components 

• all CS-Business Units engaged 

• ESP Controller 

implemented to 

MATLAB/SIMULink 

• using ECU-Code 

• CS_CAR_1 

• specified by BOSCH 

• developed by INTEC 


Next Steps 

Function and Projects 

� Application in different pilot projects 

� Build up of a model library for several projects 

� Using elastokinematics 

� Using structural axis 

SW-Architecture, Environment 

� Set up archiving and data base 

� Documentation 

� GUI 



SIMPACK USER-Meeting 2003 

• Thank you 

for your 

Attention 


Albert Lutz 

CS-AS/ESF

The BOSCH-CS Simulation Concept - Simpack.com

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