Title: Development and validation of a real-time capable vehicle dynamics simulation environment for road and test bench applications

Authors: Alexander Ahlert; Alexander Fridrich; Werner Krantz; Jens Neubeck

Addresses: Institute of Automotive Engineering (IFS), University of Stuttgart, Former Institute of Internal Combustion Engines and Automotive Engineering (IVK), Pfaffenwaldring 12, 70569 Stuttgart, Germany ' Institute of Automotive Engineering (IFS), University of Stuttgart, Former Institute of Internal Combustion Engines and Automotive Engineering (IVK), Pfaffenwaldring 12, 70569 Stuttgart, Germany ' Institute of Automotive Engineering (IFS), University of Stuttgart, Former Institute of Internal Combustion Engines and Automotive Engineering (IVK), Pfaffenwaldring 12, 70569 Stuttgart, Germany ' Research Institute of Automotive Engineering and Vehicle Engines Stuttgart (FKFS), Pfaffenwaldring 12, 70569 Stuttgart, Germany

Abstract: Holistic, real-time capable models, which are able to describe the overall 3D vehicle dynamics and nonlinear wheel suspension behaviour, are necessary for different applications like, e.g., control system design and HIL test system operation. In this paper a vehicle dynamics modelling approach is presented together with a methodology to derive the equations of motion and adapt them to special applications like simulating a vehicle on a test bench. With the presented methodology and by using symbolic computation, the equations are obtained in analytical form with a minimal set of ordinary differential equations. The equations can be easily manipulated, simplified and evaluated according to the given task. This is especially valuable for overall vehicle test benches, wherefore the equations are needed for model-based control design and parameter identification. To prove the simulation environments' validity, the resulting vehicle model for road applications is compared to commercial, state of the art vehicle dynamics simulation tools.

Keywords: nonlinear multibody vehicle model; real-time simulation; modelling and simulation methodology; multi-purpose modelling; LEICHT wheel suspension.

DOI: 10.1504/IJVSMT.2021.122814

International Journal of Vehicle Systems Modelling and Testing, 2021 Vol.15 No.4, pp.222 - 243

Received: 22 Jul 2019
Accepted: 06 Apr 2020
Published online: 13 May 2022 *

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