CTI: Next Generation Tire Model Interfacing

CTI: Next Generation Tire Model Interfacing

EHTC 2008
Strasbourg
CTI: Next Generation Tire Model Interfacing
Michael Gipser, Esslingen University of Applied Sciences, Germany
Interfacing of Suspension/Tire/Road Models
vehicle/suspension model
rim position and velocity
spindle forces and moments
calls
tire model
distributed contact forces
detailed surface geometry
calls
rigid or flexible
road/terrain model
TYDEX STI
STI (Standard Tyre Interface)
established between 10/1993 and 12/1996
by the TYDEX Working Group:
tire model users and developers; no MBS software providers
BMW AG
Robert Bosch GmbH
Centro Ricerche Fiat
Continental AG
FHT Esslingen (the author)
Ford Werke AG
Goodyear S.A.
IPG GmbH
Mercedes-Benz AG
Michelin
NedCar
Porsche AG
PSA
Steyr-Daimler-Puch
Toyota (TCL)
Volkswagen AG
Volvo Car Corp.
Volvo Truck Corp.
TNO
University of Berlin
University of Delft
University of Karlsruhe
University of Vienna
TYDEX STI
STI (Standard Tyre Interface)
(A) suspension/rim
tire
SUBROUTINE DTYRE (
+ NDEV, ISWTCH, JOBFLG, IDTYRE,
+ TIME, DIS, TRAMAT, ANGTWC, VEL, OMEGA, OMEGAR,
+ NDEQVR, DEQVAR, NTYPAR, TYPARR,
+ NCHTDS, CHTDST, ROAD, IDROAD,
+ NROPAR, ROPAR, NCHRDS, CHRDST,
+ FORCE, TORQUE, DEQINI, DEQDER, TYRMOD,
+ NVARS, VARINF, NWORK, WRKARR,
+ NIWORK, IWRKAR, IERR)
(B) tire
road/terrain
SUBROUTINE ROAD (
+ TIME, DIS, IFLAG, JFLAG, IDTYRE, IDROAD,
+ NROPAR, ROPAR, NCHRDS, CHRDS, NPRSUR, NROAD,
+ Z, DZ, DDZ, DFLAG, PRSURF, IERR)
TYDEX STI
What Is Wrong With It?
STI (Standard Tyre Interface)
STI was meant for simple tire models like Magic Formula 1989 and 1994
but: some modern tire models are most complex:
• FTire model family
• Rmod-K model family
• CD-Tire model family
STI is old-fashioned Fortran 77
C and C++ not supported
STI assumes: tire model is a small time-continuous sub-system
co-simulation mode not supported
some definitions in 'STI standard' are ambiguous
lack of memory management
lack of management of concurrent tire instances
lack of detailed output (geometry, footprint states,..)
tire equations of motion mechanically wrong, if road marker is accelerated
CTI
Important Features
CTI (COSIN Tire Interface)
easy-to-use API, calling FTire Model Family and 3rd-party tire models from a
wide variaty of different vehicle/suspension simulation programs
supports C, C++, Fortran 77, Fortran 90, Fortran 95, ..
implememted as plug-in (DLL / shared object)
works in co-simulation mode
dynamic memory management
management of up to 50 concurrent tire instances
management of operating conditions (inflation pressure, temperature,..)
detailed output on demand
•
•
•
•
•
•
animation
wheel envelopes
tread states
plot signals
linearized LTI matrices
modal data
record / replay function independent on calling MBS software and model
mechanically correct support of moving roads
TYDEX STI
CTI (COSIN Tire Interface)
(A) suspension/rim
tire
ctiComputeForces (handle, t,r,A,v,w, mode, F,M, status)
(B) tire
road/terrain
ctiEvaluateRoadHeight (handle, t,x,y, z,vx,
vx,vy,
vy,vz,
vz,mu,
mu, status)
(C) driver
road/terrain
ctiEvaluateRoadCourse (handle, s, x,y,z, .., status)
+ more than 35 additional and optional API functions
CTI
Calling Tree
MotionSolve
FTire
Adams
FETire
Simpack
FTire Family
Simulink
COSIN/mbs
CASCaDE
Inhouse
CTI
UTM plugin
RTire
MF 2002
HTire
MF 1989
UHM plugin
CTI
FTire Model Family
MotionSolve
FTire
Adams
FETire
Simpack
FTire Family
Simulink
COSIN/mbs
CASCaDE
Inhouse
CTI
UTM plugin
RTire
MF 2002
HTire
MF 1989
UHM plugin
CTI
FTire Example: Misuse Test Case
Flexible Ring Tire Model
FTire
FETire
FTire Family
RTire
MF 2002
HTire
MF 1989
CTI
FTire Example: Side-Slip Sweep
Flexible Ring Tire Model
FTire
FETire
FTire Family
RTire
HTire
CTI
FTire Example: Tread Wear Simulation
Flexible Ring Tire Model
FTire
FETire
FTire Family
RTire
HTire
CTI
FETire Example: Mode Shape and Stress Distribution
Coarse Finite Element Tire Model
FTire
FETire
FTire Family
RTire
HTire
CTI
RTire
Rigid Ring Tire Model
FTire
FETire
FTire Family
RTire
HTire
simplified rigid-body belt dynamics
ground pressure distribution
approximated by shape functions
tread model like FTire
real-time capable
CTI
HTire
Handling Tire Model
Magic-Formula-based
simplified tire model for
handling on mildly uneven
roads
FTire
FETire
FTire Family
MF versions 1989 and 2002
RTire
MF 2002
completed with efficient
contact algorithm
HTire
MF 1989
completed with 1st order
transient behavior
combined slip
several use modes
real-time capable
CTI
HTire UHM
User-Defined Handling Model
FTire
FETire
FTire Family
RTire
MF 2002
HTire
MF 1989
UHM plugin
uhmLoadTireData
plug-in for user-defined
steady-state F&M models
(file,..)
file,..)
uhmComputeForces (defl,..,
defl,..,kappa
,..,kappa,
kappa,alpha,..,
alpha,..,Fx
,..,Fx,
Fx,Fy,
Fy,Fz,
Fz,Mx,
Mx,My,
My,Mz)
Mz)
CTI
UTM
User-Defined Tire Model
FTire Family
CTI
FTire
FTire
FETire
FETire
FTire Family
RTire
MF RTire
2002
MF 2002
HTire
MF HTire
1989
MF 1989
UTM plugin
UHM plugin
UHM plugin
plug-in for user-defined
dynamic tire models
CTI
UTM Program Interface
User-Defined Tire Model Plug-In
utmLoadTireData
(handle,..,file
handle,..,file)
file)
utmLoadRoadData
(handle,..,file
handle,..,file)
file)
utmComputeForces (handle, t,r,A,v,w,.., F,M)
utmClose
(handle)
CTI
CTI/roads
MotionSolve
FTire
Adams
FETire
Simpack
FTire Family
Simulink
COSIN/mbs
CTI
CASCaDE
UTM plugin
Inhouse
CTI/roads
RTire
MF 2002
HTire
MF 1989
UHM plugin
CTI/roads
Supported Classes of Road Models
internal eval.
COSIN/ev
RGR
TYDEX/STI
CRG
IPG-Road
URM plugin
FTR
User 1
CTI/roads
RDF 2D+3D
User 2
USM plugin
Wavefront
MBS 1
Shell (shl)
MBS 2
3rd party eval.
MBS 3
CTI/roads
Supported Road Models
CTI/roads: Supported Road Models
COSIN/ev Road Models (Cosin)
RGR Roads (Regular Grid Road Files, Cosin)
CRG Roads (Daimler and TÜV SÜD)
FTR Roads (VI-grade)
RDF 2D and 3D files
WaveFront triangulation files (.obj)
Shell triangulation files (.shl)
URM (Program Interface to User-Defined Road Models)
USM (Program Interface to User-Defined Soft-Soil Models)
interface to TYDEX/STI-compatible roads
interface to IPG-Road
interfaces to several user-specific proprietary models
interfaces to several proprietary road models of calling MBS packages
CTI/roads
User-Defined Road Model Plug-In
urm (handle, t,x,y, z,vx,
vx,vy,
vy,vz,
vz,mu,
mu, ..,file)
User-Defined Soft Soil Model Plug-In
detailed description in SAE 2008-01-1410
CTI/roads
Soil Model Demonstrator
CTI/roads
Tools
2D and 3D visualization
RGR file generation
RGR file processing
SHL file generation
CTI
CTI, CTI/roads, FTire, and HTire
will be available in MotionSolve
by the end of 2008
CTI
thanks for listening..
CTI, CTI/roads, FTire, and HTire
will be available in MotionSolve
by the end of 2008
CTI and FTire demo versions
papers & presentations
animations
documentation
updates
at
www.ftire.com