DOI QR코드

DOI QR Code

Study on Concurrent Simulation Technique of Matlab CMDPS and A CarSim Base Full Car Model

매트랩 CMDPS와 카심 기반 완전차량모델의 동시시뮬레이션 기술에 관한 연구

  • Jang, Bongchoon (Dept. of Mechanical Engineering, Andong National University)
  • 장봉춘 (안동대학교 기계공학과)
  • Received : 2013.01.08
  • Accepted : 2013.04.11
  • Published : 2013.04.30

Abstract

The Column type Motor Driven Power Steering(CMDPS) systems are generally equipped among passenger vehicles ensuring better vehicle safety and fuel economy. In general to analyze systems and to develop a controller a full vehicle model from CarSim developed by Mechanical Simulation Incorporation interacting with MDPS control algorithm from Matlab Simulink was concurrently simulated. This paper describes the development of concurrent simulation technique in detail for analyzing Matlab Simulink MDPS control system with a dynamic vehicle system because the specific method has not been revealed in detail. The steering wheel angle input was evaluated and well compared with proving ground experimental data. The comparisons from concurrent simulation show an effective way to develop and validate the control algorithm. This concurrent simulation capability will be efficiently used for CMDPS performance evaluation and logic tuning as well as for vehicle handling performance.

칼럼 타입의 전동조향장치(MDPS) 시스템은 차량 안전성과 연료 효율 향상을 보장하기에 승용차에 보편적으로 장착하고 있다. 시스템 해석과 제어기 개발을 위해서는 보통 Mechanical Simulation사에서 제작한 CarSim 프로그램과 매트랩 시뮬링크의 두 프로그램을 이용하여 제어 알고리즘과 차량 모델이 결합되어 하나의 시스템처럼 동시에 동작하도록 시뮬레이션을 수행한다. 매트랩 시뮬링크의 MDPS 제어 시스템과 완전 차량 모델의 동시시뮬레이션 기술개발에 대한 구체적이 방법이 소개된 적이 없기에 본 연구에서 상세히 소개하기로 한다. 본 연구에서는 사인 파형의 조향핸들입력을 이용한 시뮬레이션 결과가 보여 지고 실험결과와 잘 비교되었다. 이러한 동시시뮬레이션 기술은 차량의 핸들링 성능 평가나 CMDPS 평가 수행 및 로직 튜닝을 위해 효과적으로 사용될 수 있다.

Keywords

References

  1. B. C. Jang and S. C. Lee, Mathematical Model of a Power Steering System, Transactions of Korean Society of Automotive Engineers, Vol.5 No.4, pp.39-47, 1997.
  2. T. O. Tak, K. C. Kim, and J. R. Yun, "Steering Model for Vehicle Dynamics Analysis", KSPE, Vol.16, No. 12, pp.214-221, 1999.
  3. C. S. Hahn, J. Shin and J. E. Oh, "Study on the Graphical Inducing Method of State-space Equation of Bond Graph", Vol.22, No.9, pp.1675-1683, 1998.
  4. T. J. Park, S. C. Yun and C. S. Han, "Development of Hardware-in-the-Loop Simulation System For a Electric Power Steering System", Transactions of Korean Society of Mechanical Engineers, A-Vol 24 No.12, pp. 2883-2890, 2000.
  5. C. S. Hahn, M. H. Rhee, J. E. Oh, H. Park, "Development of Simulator for Performance Test of Electric Power Steering of Light Weight Vehicle Steering Simulator", Transactions of Korean Society of Mechanical Engineers, A-Vol. 25. No.6, pp. 923-929, 2001.
  6. J. Bang, J. Song, et al., "Development of A 250 W DC Motor Controller," KAIS 2012 Spring Conference, pp. 693-695, 2012.
  7. Y. S. Lee, et al., "Controller Design of PMSM Drive System Using Embedded Target in MATLAB/ SIMULINK," KAIS 2007 Fall Conference, pp. 148-151, 2007.
  8. B. C. Jang, C. W. Liang, "Co-Simulation/Integration of Electric Power Steering System and Vehicle Dynamics", GM Internal Report., GME2000-12, Dec., 2000.
  9. CarSim Manual v8.03, Mechanical Simulation Corp, 2010.
  10. B. C. Jang, "Co-Simulation Technology Development for 'Free Control' of SUV Vehicle Equipped with Electric Power Steering System", KSME Kyungbook Div. Conference, April, pp.29-36, 2003.
  11. B. C. Jang, "Study on Concurrent Simulation Technique of MDPS and A Full Car Model," KAIS 2010 Fall Conference, pp. 785-787, 2010.
  12. MATLAB users manual, v. 5.3.1, MathWorks, Inc., 2000 .
  13. ADAMS/Solver Reference Manual, Mechanical Dynamics, Inc., v. 10.0, 2000 .
  14. Using ADAMS/Controls, ver. 10.0, Mechanical Dynamics, Inc., Aug. 15, 1999.