This content is not included in your SAE MOBILUS subscription, or you are not logged in.
An Advanced Flexible Realtime Tire Model and its Integration Into Fraunhofer's Driving Simulator
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 01, 2014 by SAE International in United States
Annotation ability available
In the last two years, Fraunhofer has developed an advanced tire model which is real-time capable. This tire model is designed for ride comfort and durability applications for passenger cars and trucks, as well as for agricultural and construction machines. The model has a flexible belt structure with typically about 150 degrees of freedom and a brush contact formulation. To obtain sufficient computational efficiency and performance for real time, a dedicated numerical implicit time-integration scheme has been developed. Additionally, specific coordinate frames were chosen to efficiently calculate and use the needed Jacobian matrices.
Independently from this, Fraunhofer ITWM has developed and installed the new driving simulator RODOS (RObot based Driving and Operation Simulator), which is based on the industrial robot KUKA KR1000. The main application area of this driving simulator are interactive human-in-the-loop simulations with agricultural and construction machines, but also with trucks and passenger cars.
For an interactive full-vehicle simulation on the driving simulator, typically at least four tires - together with a real time capable vehicle model - have to be simulated and interactively coupled with the simulator and its human operator. Thus, an administration framework is necessary that organizes and coordinates the simulation of all involved components, as well as the data exchange, in an efficient manner.
In this contribution, we describe the development and the implementation of the real time tire model and a coupling strategy for the real time simulation of a full vehicle and four tires. At the end we demonstrate this method in combination with the Fraunhofer driving simulator RODOS.
|Technical Paper||Life Prediction of a Refuse Truck Cab for Automatic Side Loading operation using Inertia Relief|
|Technical Paper||Loads Cascading in the Frequency Domain|
|Technical Paper||Towards an Understanding of “Beaming” in Large Trucks|
CitationGallrein, A., Baecker, M., Burger, M., and Gizatullin, A., "An Advanced Flexible Realtime Tire Model and its Integration Into Fraunhofer's Driving Simulator," SAE Technical Paper 2014-01-0861, 2014, https://doi.org/10.4271/2014-01-0861.
- Kleer M., Hermanns O., Dreßler K., Müller S.. “Driving simulations for commercial vehicles - A technical overview of a robot based approach.”, In Espisé S., Kemeny A. and Mérienne F., editors, Proceedings of the Driving Simulation Conference Europe, Pages 223-232, Paris, 2012.
- Kleer M., Hermanns O., Müller S.. “Konzeption eines Fahrsimulators für die Nutzfahrzeugindustrie auf Basis eines Industrieroboters.”, In Berns K., Schindler C., Dreßler K., Jörg B., Kalmar R. and Zoylinski G., editors, Proceedings of the 2nd Commercial Vehicle Technology Symposium, Pages 49-58, Kaiserslautern, 2012.
- “Specification KR1000 Titan”, Kuka Roboter GmbH, 2010.
- Sawa, N., Nimiya, Y., Kubota, Y., Itsubo, T. et al., “Fatigue Life Prediction on Rough Road Using Full Vehicle Co-simulation Model with Suspension Control”, SAE Technical Paper 2010-01-0952, 2010, doi:10.4271/2010-01-0952.
- Gallrein, A., Baecker, M., and Gizatullin, A., “Structural MBD Tire Models: Closing the Gap to Structural Analysis - History and Future of Parameter Identification”, SAE Technical Paper 2013-01-0630, 2013, doi:10.4271/2013-01-0630.
- Baecker, M., Gallrein, A., Heim, R., “Exploring new fields of virtual load prediction by accurate tire simulation for large deformations and flexible rim support”, Materialwissenschaft und Werkstofftechnik, Volume 42, Issue 10, pages 909-920, October 2011.
- Baecker, M., Gallrein, A., Hack, M., and Toso, A., “A Method to Combine a Tire Model with a Flexible Rim Model in a Hybrid MBS/FEM Simulation Setup,” SAE Technical Paper 2011-01-0186, 2011, doi:10.4271/2011-01-0186.
- Baecker, M., Gallrein, A., and Haga, H., “A Tire Model for Very Large Tire Deformations and its Application in Very Severe Events,” SAE Int. J. Mater. Manuf. 3(1): 142-151, 2010, doi:10.4271/2010-01-0373.
- Baecker, M., Gallrein, A., Haga, H., “Simulating very large tire deformations with CDTire”, SAE World Congress, Detroit, MI, USA, April 2009, Session: Load Simulation and Analysis in Automotive Engineering: Tire and Terrain Modeling Techniques and Applications.
- Reifenmodell FTire, http://www.cosin.eu/.
- Reifenmodell RMOD-K7, http://www.rmod-k.com/.