MSC.
Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
M.Sc. Aline Drivet
Monterrey Institute of Technology (ITESM)
Monterrey, Mexico
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Abstract
Title: Virtual Prototyping of an Active Suspension Using Adams/View and
Matlab
Presentation Reference Number: 2006-71
Authors: M.Sc.Aline Drivet, Phd. Ricardo Ramrez-Mendoza
Mechatronics Department, Monterrey Institute of Technology, ITESM.
Ave. Eugenio Garza Sada Sur n 2501 Col. Tecnolgico, MTY. N.L. Mxico
Tel:52(818)3 58 20 00
Email :{ ricardo.ramirez, drivet} @itesm.mx
Abstract: Present the work done to model a passive front suspension of a car in
Adams/View; the methodology to include actuators and controllers using a mathematical
solver such as Matlab. Some preliminary results are included, such as validation of the
model and the results obtained after including different types of controls.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Outline:
Introduction: Some general issues on modeling and
simulation.
Objective and Materials
Modeling a Suspension
Use of realistic actuators
Preliminary results using active suspension
Conclusions
Questions
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Center for Innovation on Design and Technology
Mechatronics and Automation Area
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
DISTANCE IN MILES:
GUADALAJARA, JAL.
481
PHILADELPHIA, PA.
1,776
SAN FRANCISCO, CA
1,653
DALLAS, TX.
567
MEXICO, DF 618
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Introduction:
It is more convenient for a manufacturer of cars, airplanes or any other
vehicle to create accurate designs before producing a prototype, saving
both time and money.
One solution is using software to simulate and test a model before going
into production.
The principal reason is financial.
It is a lot cheaper try an idea in a PC than implement it.
It is very expensive to make a prototype.
It is cheaper and faster to create a digital prototype.
There are some things that can not be digitally tested, these have to be
done with an actual prototype.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
We need a PC to solve simulation problems
We know the math solution, such as differential equations (DEs), homogeny solutions
and particulars, numerical methods, FEM, etc.
But in reality, simulation requires more complicated equations :
4 Steps for a good Simulation
First : modeling of physical system
Usually used in ordinary, partial differential equations, etc.
Second : Introduce the desired model form into a simulation software
Different Syntax for different software.
Third : Simulate the system using an appropriate numeric integration.
fast system? lineal system?
Fourth : analyze the results
Are they reasonable?, What are the outputs of each scenario?
0
) 0 ( ; x t x ax x = = =
&
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Objective:
To obtain a computer model of a Renault Scenics
suspension for active control purposes
Visual Inspection
Data acquisition
Physical measures
Methodology:
1. Modeling the car
2. Validating the model
3. Preliminary Tests
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Materials:
1. Renault Scenic 2.1liter 16v (2001)
2. MTS 810 Material Testing System
3. MSC Adams 2005
Adams/View
Adams/Car
Adams/Controls
4. MATLAB 7
5. Cad Software
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
1. Suspension Modeling
Proceed to disarm the suspension, and take precise measurements.
(if possible use sophisticated coordinate machine)
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Draw all the pieces in a CAD software to obtain Inertias, weight and
other relevant data.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Obtain damper and spring characteristics through testing.
STRUT2 F-x
y =0.0279x - 3.9041
R
2
=0.9056
-4.9
-4.8
-4.7
-4.6
-4.5
-4.4
-4.3
-4.2
-4.1
-4.0
-35 -30 -25 -20 -15 -10 -5 0
Despl (mm)
F
u
e
r
z
a
(
k
N
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Model in Adams/View:
1 - Establish all space coordinates of the joints.
2 Establish type of joints and characteristics (bushings)
3 Build the model in Adams with the inertias, weight and
properties obtained previously.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Use Non linear Characteristics for Spring and Damper.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
2. Validating the model: frequency response analysis and Time
response
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Why introduce mathematical Solver software?
There are many models of controllers already in this type of
software.
There are many models for actuator already in this type of
software. For example: MR DAMPER (Bouc-Wen)
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Why introduce mathematical Solver software?
Use realistic actuators. Bouc Wen Model of MR damper.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Why introduce mathematical Solver software?
Use realistic actuators. Bouc Wen Model of MR damper.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
Use sophisticated Controllers in real time simulations.
Skyhook,Hinf, etc
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
3. Preliminary results: Chassis displacement of open and close
loop.
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MSC.Software VPD Conference | J uly 17-19, 2006 | Huntington Beach, California
Virtual Prototyping of an Active Suspension
Using Adams/View and Matlab
CONCLUSIONS:
Development of models and simulation, reduce cost and time.
Commercial software simplifies the Virtual Product Development
process re: model creation and data entry.
Must be careful to analyze signal/noise; useful signals. Garbage in
=> Garbage out.
We must have a good feeling on the physical relationships of
the model. Do not believe all simulation results!
Analytical models are very useful to understand the vehicle
dynamics. Consider sub-models of the complex vehicle dynamics.
