Ａ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

Experimentalpmodel as CAT
supporting toolf supporting
forti CAE

A&D Co.Ltd.
Aki Inoue
AkiraIＡ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

The configuration of the next generation’s Testing Concept
Real Vehicle Testing: VMS

Correct Measurement

VMS：Quantify the feelings ofthe test drivere g Shift Shocks
e.g.

Correct Control
Correct Testing

Model based on Real Measured data: MBSModel,
Reproducepreal vehicle Testing:g RR-SimEngine

Crank Shaft

Cylinderycontrol

T/M

Engine Mount（Realization of１００Hz Bench）

Steering

Suspention

e.g.
Variation ofcombustionous oconditions

Shift ShockDrivabilityyＡ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

VMS Data acquisition of Real vehicle at the test
course.
course

WFS

WFS

WFS

風速
速ECU

Wind S
Speed

VMS（Vehicle Measurement System)

GPS
WFS

ECU(車両)情報
ECU(Vehicle) Data
エンジン回転数*Engine Speed*Axle Openness
アクセル開度*T/M location
ミッション位置・・
CAN channel can・ be increased(CAN200CH以上可能）
morethanh 200

WFS(タイヤ)情報
WFS(Tyre) Data
4Wheel6Components
４輪６分力
4Wh l RPM
4Wheel
４輪回転速度
2Wheel Yoa
２輪操舵角
GPS(車体)情報
３軸加速度Data
GPS(Vehicle)
3WheelAcceleration
３軸レート
3WheelRate
３軸姿勢角3WheelBalanceAngle
GPS位置
GPS location
・(各社対応可能)Wind(Environmental)
風速(環境)情報
Data
風速/風向
Velocity/Direction
Temperature
気温情報演算処理●推定演算
Data Computation+Estimated
路面勾配Computation
対地速度
Slope, Velocity●ロジック演算+Logic
L i Computation
Ct ti
Driving Friction
走行抵抗
Slip Detection
Slip Factor
スリップ判定Road Surface (Mu)
スリップ率
路面μ

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Real vehicle behavior is measured with VMS
VMS Measured Data
Vehicle speed(Rear Wheel)

3rdVehicle Speed(Front Wheel)N
2ndThrottle Positioon [%]D3rdAcceleration Pedal (ECU)

Vehicle Speedd [km/h]

Starting and shifting
shock data can bemeasured at the realvehicle with VMS.

Longiitudinal force of D
Driving wheel

Shift Position

Driving force

1stEngine Speed
Engine Speed [rpm]Driving wheeel Torque [Nm]Vehiclle longitudinal accceleration [m/s2]

Driving Wheel Torque

VehicleAcceleration(Driving Direction)

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Engine Speed
1stEngine Speed

2nd

2nd → 3rd
Longitudinal Acceleration

Driving Wheel Torque2ndEnginee Speed [rpm]① Torque down due to thedisconnection at the clutch(Torque Layer)② Torque increase due to theconnection at the clutch(Inertia Layer)

Driving whheel Torque [Nmm]

2nd → 3rdShift Position
SDriving Torque

3rd① Disconnection of theclutch (Torque layer)② Connection of theclutch (Inertia layer)

Vehicle longitudinal acceleratiion [m/s2]

Longitudinal Acceleration

Enngine Speed [rpmm]

1st → 2nd

Vehicle longitudiinal acceleration [m/s2]
V

1st → 2nd

Drivinng wheel Torque [Nm]The shift shock impact can beobserved at the longitudinal
acceleration.

Shift Positioon

VMS Measured Data (Expanded data)

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MBSim Concept

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Basic Structure of the Vehicle model

Torque Converter

EngineN1Gear
N2TireN3

÷×＋－×÷Capacity
Coef.
Map

TorqueRatio
Map

GearRatio
Map

1/Js

K/sC

1/Js

VerticalForce

V1SlipRatio
Calc.

R

1/J
1/Js

Friction
Coef.
Map

V2＋－

1/Ms

K/s＋＋×××

Engine T0＋－
Map

T1×××

÷
×＋－T2

T3＋＋－－

R

Driving
Resistance

ChassisCDriving
Resistance
Calc.

1/Ms

＋＋×＋－＋－＋F1

F2･ Basically, these are the object model of Sprig-Mass 4 terminal model･ Terminal interface is physical parameters which can be measured with the sensors･ Model is expressed as Gｒay-Box model. Gray-Box model is the combination ofBl k box
Blackb modeld l whichhi h expresses ththe NNon-LinearLicomponents
t withith M
Map constantt tdetermined from real measured data, and white-box model which uses mathematical
approach.
･The model is designed as layered Structure, which can be divided according thepowertrain configuration parts.

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Model terminal and sensor measurement points
Meas. Point 1

Meas. Point 3

Meas. Point 2

EngineDriveShaft

Transmission
N1

N2÷×Meas. Point 4

Tire(Rotation)

Tire(Slip)

N3＋－×÷Tire(Longitudal)

R

V2

V1SlipRatio
Calc.

Driving
R it
Resistance

Chassis＋－

1/Js
Capacity
Coef.
Map

Engine
Map

1/Js

Gear
Ratio
Map

K/s

CFriction
Coef.
Map

Vertical
Force

1/Js

1/Ms

K/s

＋＋

T0

×××＋－

Sensor 1

TorqueTRatio
Map

T1××＋－

T2

÷××＋－

T33

Sensor 2

R

Sensor 3

C

Driving
ResistanceCalc.

1/Ms＋＋×＋－＋－F1

F2

Sensor 4

Shaft Torque T(t)Torque My(t)Engine Torque T(t)Longitudinal Force Fx(t)Ａ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

Model Identification example “Torque Converter”
Capacity Coefficient Map and Torque Ratio Map of the Torque Converter will be identified
from real measured data.
EngineTorque Converter
N1①

N2③÷×Gear

Tire
N3＋－×÷

Driving
Resistance

ChassisV1SlipRatio
Calc.

R

V2＋－

1/Js
Capacity
Coef.
MapEngine
Map

TorqueRatio
MapGear
Ratio
Map

1/Js

K/s

C

1/Js

VerticalForceFriction
Coef.
Map

1/Ms＋＋

T0×××＋－T1②××＋－④×÷×T2

T3＋－－R

Capacity Coefficient[Nm/rpm2]①⇒Reall measured①⇒R
dddata ffrom VMS②⇒Calculate from T0 and J1×dN1/dt③⇒Calculate from multiplying theGear ratio to N3④⇒Calculate from Gear Ratio,T3 andJ×dN2/dt

CK/s

Driving
ResistanceCalc.

1/Ms＋＋

×＋－＋－

F1

F2

Torque Ratio

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Model Identification Example “Driving Resistance”
Identify the Driving Resistance from coasting driving dataEngineGear

Torque Converter
N1

N2

Tire

ChassisN3÷×＋－×÷RV2

V1SlipRatio
Calc.

Driving
Resistance＋－

1/Js
Capacity
CoefCoef.
MapEngineMap

TorqueRatio
Map

GearRatio
Map

1/Js

K/K/s

C

1/J
1/Js

VerticalForceFriction
Coef.
Map

1/1/MsK/s＋＋T0×××＋－T1×××

÷
×＋－T2

T3＋－－

R＋－＋－F1

F2

V2[m/s]F2[N] = - ( a×V22 + b×V2 + c )Fitting from vehicle parameters→（a=0.57、b=0、c=123）

Driving
ResistanceCalc.

1/1/Ms＋＋×V2⇒F1 =0 when vehicle is coasting, therefore
the equation of the loop will be
V2＝1/Ms*F2Parameter will be fitted with 2nd orderformula of the velocity.
yFitting from the measured data→（a=0.61、b=1.8、c=111）

CF2[N]

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Model Identification Example “ Friction coefficient of the tire”
Identify the driving friction coefficient map from low μ driving data

EngineDriveshaft

Transmission
N1

N2
÷×（Rotation direction）①

N3＋－×÷

④

1/Js

GearRatio
Map

K/s

C

VerticalForce

1/Js

Friction
Coef.
Map

②

Chassis×××＋－

T1

××＋－T2

÷××＋－

T3

R＋－

⑤
1/Ms

K/s

①⇒Front wheel rotation speed, VMS(Vf), Driving wheel②⇒Rear wheel rotation speed, VMS(Vr), Non driving wheel③⇒Longitudinal force, compensate VMS(Fx) with M④⇒Vertical force, measure with VMS(Fz)⑤⇒Slip ratio, Formula calculation （①－②）÷①

C

Driving
ResistanceCalc.

1/Ms＋＋×

③

V2

V1＋＋

T0

Driving
Resistance

Tire（Longitudal）

＋－＋－

F1

F2
● ACC100%● ACC25%● Snow Condition● Ice Condition● Dappled Condition

Friction Coeefficient

EngineMap

TorqueRatio
Map

Slip
Raito
Calc.

R

1/Js
Capacity
Coef.
Map

Tire（Slip）

Tire

Slip ratio

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Identification Example “Shift change logic”
Identify the shift change from the engine speed and wheel torque curve data.
Evaluate the reproduction of the behavior by adding the necessary functions.
E iEngineT
TorqueC
Convertert
N1①

N2③÷×G
Gear

Ti
Tire

Ch i
ChassisN3＋－×÷

V1

Slip
Ratio
Calc.

R

Driving
Resistance
V2＋－

1/Js
Capacity
Coef.
Map

EngineMapp

TorqueRatio
Map

Gear
Ratio
Map

1/Js

K/s

C

1/Js

VerticalForceFriction
Coef.
Map

1/Ms

K/s＋＋

T0×××＋－T1②××＋－④×÷
×T2

Added Engine Torque Cut function

T3＋－－R

C＋＋×＋－＋－F1

Added Clutch Model
Engine Speed [rpm] Model Engine Speed [rpm]R^2=0.995

R^2=0.991
Simulated Behavior matched to the realmeasurement by tuning shift logic(Added Torque cut and half clutchmodel)

Driving
Resistance
Calc.

1/Ms

Real Wheel Torque [Nm] Model Wheel Torque [Nm]F2

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Layered Structure Model (Example at Gear Model)
EngineTorque Converter
N1GearN2First Layer÷×TireChassis

N3First Layer＋－×÷TorqueRatio
MapGearRatio
Map

1/Js

K/sRC1/Js

V1

Slip
Ratio
Calc.

1/Js
Capacity
Coef.
Map

VerticalForceFriction
Coef.
Map

V2＋－

1/Ms

K/s＋＋×××

Engine T0
Mapp＋－××＋－

T1

T2

Design the model layer
according to the parts
configuration.
fiti×

÷×

Second Layer

＋－－

T3

Planetary Gear

Drivingg
Resistance

C＋＋×＋－

R

Driving
ResistanceCalc.

1/Ms＋－

F1

ClutchF2

Final Gear

Final

Cl t hClutchPlanetary Gear

Third Layer
Ring

N

PlanetaryPl
Planetaryt
Sun

TNSunGearTN
RingGearTN
PlanetaryCarrier

TＡ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

Bench & Model (Example:RRSim)
EngineTorque Converter
N1GearN2÷××÷

Tire (Lateral Direction)

Tire (Rotating Direction)
N3＋－

V3R

Capacity
Coef.
MapEngine
Map

TorqueRatio
Map

Gear
Ratio
Map

1/Js

K/s

C

VerticalForce

1/Js＋＋

T0×××＋－

T1××÷
×＋＋－

T2＋－－

T3

V1

Slip
Ratio
Calc.

1/Js

Friction
Coef.
Map×

F3

Chassis

1/Ms

V2＋－C

K/s＋＋－＋＋－

F1

Real Vehicle

Driving
ResistanceCalc.

1/Ms＋＋×R

Driving
ResistanceF2

Tire Road surface Modl

Roller＋－

ShaftNRDynamometerController

N＋－＋－K/s

C

1/Js

K/s＋＋1/Js

C＋＋

R＋－＋－TTFP

I/s+++

DynamoMap

RRSim and Controller

Fｘ Feedback

Can be considered as the converter of model to real.

Target Fｘ

Ａ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

Validation of the Experiment Model
Validate the reproduction of the vehicle’s behavior.
Comparison with real vehicle testing data and simulated data from Experiment Model
Real Vehicle Drive Wheel torqueM d l DriveModel
D i Wheel
Wh l ttorque

Model andReal Vehicle

Model Engine Speed

Half clutch + Torque cut model
Reproduce the behavior of 1st ⇒ 2nd

Half clutch Model
Reproduce the behavior of2nd ⇒ 3rd

Enginee Speed [rpmm]

Driving wheel Torque [NNm]Real Vehicle Engine Speed

Ａ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

RRSim （Real Road Simulator)

Ａ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

Validation with RRSim
R lV
RealVehicle
hi l

RRSim
Drivingg wheel Torque [NNm]Vehiclle Speed [km/h]

Engiine Speed [rpm]

RR-CD Driving Wheel torque

RR-CD Speed

Real Vehicle
speed

2nd⇒3rd
RR-CD Engine Speed
Real Vehicle Engine Speed

RR-CD Driving Wheel torque

RR CD Engine
RR-CDE i SSpeeddDriving wheel Torque [Nm]Driving wheeel Torque [Nm]1st⇒2nd

Real Vehicle Driving
Wheel torque

RR-CD Engine Speed

RR-CD Driving Wheel torque

Real Vehicle Engine Speed

Real Vehicle Driving Wheel torqueEngine S
Speed [rpm]Vehiclee Speed [km/h]

Drivingg wheel Torque [NNm]Real Vehicle Engine Speed

Engiine Speed [rpm]Real Vehicle driving
Wheel torqueＡ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

Engine Bench System

U-ECU

CAS

Emission gas analyzer■Capable to measure the transient behavior of the Engine.
■Able to change the spark timing from using U
U-ECUECU■Measure each combustion pressures from CAS System■Installed high response exhaust emission gas analyzer system.

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Validation from Engine Bench System

0Vehicle Model
Driving Wheel torque[Nm]Engine Bench
Engine Speed[rpm]75250Engine bench
Vehicle Speed [km/h]
Enginne Speed [rpm]50

Driving wheeel Torque [Nm]25Vehicle Model
Vehicle Speed[km/h]
Enginne Speed [rpm]車両
両速度[km/h]
VehicleSpeed [km/h]
S

50

Engine Bench

Vehicle Model
Engine Speed[rpm]75Driving wheeel Torque [Nm]Vehicle Speed [kmm/h]

Vehicle Model

Engine Bench
Driving Wheel torque[Nm]-2525Vehicle Model

Engine Bench
Engine Speed [rpm]

Drriving wheel Torqque [Nm]-2525Vehicle Model

Engine Bench

EngineEi usedd at theh benchb h isidifferent from the modeled
Engine.

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Comparison of 4 Systems(Real Vehicle,Vehicle Model,
Model RRSim,
RRSim Engine Bench)
Engine Speed

Vehicle Speed
Driving Wheel torqueEngine Speed [rpm]Vehiccle Speed [km/h]

Vehicle SpeedpEngine Speed [rpm]Driving w
wheel Torque [Nmm]Vehiccle Speed [km/h]

Engine Speed

Driving w
wheel Torque [Nmm]

RRSim

Real Vehicle Measurement (VMS)

Driving Wheel torque

Driving Wheel torqueEngine Speed

Vehicle Speed
Driving Wheel torqueEngine Speedd [rpm]Vehicle Speed

Driving wheel T
Torque [Nm]Engine Speed

Vehicle Speeed [km/h]

Engine Bench

Engine Speedd [rpm]Driving wheel T
Torque [Nm]Vehicle Speeed [km/h]

Vehicle Model (Offline Simulation)

Ａ＆Ｄ Ｃｏｍｐａｎｙ，Ｌｔｄ．

We introduced the Experiment Model as one of the technology ofCAT (Computer Aided Tool).
Unfortunately, we had to omit the detail explanation of thetechnology due to the available time.
timeA&D will continue to offer CAT supporting tool to support CAE.

Thank you for your kind attentions