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Hardware in the Loop Simulation of a Heavy Truck Braking System and Vehicle Control System Design

Ashby, Ryan Michael
http://rave.ohiolink.edu/etdc/view?acc_num=osu1366046155

Abstract Details

2013, Master of Science, Ohio State University, Mechanical Engineering.
The purpose of this thesis is to evaluate the findings brought forth from a research project conducted at The Ohio State University Center for Automotive Research. The objective of the research was to accurately model a 6x4 tractor-trailer rig using TruckSim and simulate severe braking and handling maneuvers with hardware in the loop and software in the loop simulations. For the hardware in the loop simulation (HIL), the tractor model was integrated with a 4s4m anti-lock braking system (ABS) and straight line braking tests were conducted. In addition to this, CAN messages were transmitted and received with the electronic control unit utilized by the ABS system. For the software in the loop simulation (SIL), anti-lock braking (ABS) and roll stability control (RSC) algorithms were developed using Simulink and tested with the TruckSim model. By properly simulating the tractor-trailer rig using HIL and SIL simulations, severe maneuvers could be performed and the rig’s response characteristics could be evaluated within a lab environment. The first step in creating the HIL and SIL simulations was to develop a model of a 6x4 tractor using TruckSim. In order to accomplish this, over 100 vehicle parameters were acquired from a real production tractor and entered into TruckSim. Similarly, parameters from a production trailer were acquired and entered as well. By entering these parameters into TruckSim, the dynamic behavior of the actual tractor-trailer could be simulated within a computer environment. The tractor-trailer model was then subjected to simple handling maneuvers without the aid of any vehicle stability controls and its performance was compared against experimental data from the tractor manufacturer. This was done in order to validate the accuracy of the TruckSim model. After the tractor-trailer model was validated, the HIL simulation was developed. Essentially, the HIL simulation integrates actual braking hardware with the computer based tractor model. For this project, the hardware consisted of a 4s4m ABS braking system with six brake chambers, four modulators, a treadle and an electronic control unit (ECU). A dSPACE simulator was used as the “interface” between the TruckSim computer model and the hardware. With the hardware working and communicating with TruckSim, braking maneuvers were carried out. The performance of the model was then compared against experimental data from the tractor manufacturer in which the ABS controller was activated. Tests were conducted on low µ, high µ, jump µ and split µ surfaces in both a laden condition and unladen condition. Overall, the HIL simulator was able to accurately emulate the performance of the actual test vehicle with deviations in stopping time and distances typically being under 10 percent. As tests were being conducted with the HIL simulation, work began on the SIL simulation process. Within the SIL simulation, ABS and RSC control algorithms were developed using MATLAB Simulink and ran in conjunction with the TruckSim model. These algorithms were based on a 4s4m braking scheme since the tractor being modeled utilizes 4s4m controllers. The ABS algorithm was designed to measure wheel deceleration from the TruckSim vehicle model. In the event that a predefined deceleration threshold was exceeded, the controller was designed to apply a dump, hold or build pressure command to the simulated brake modulators. The RSC controller was designed to mitigate vehicle rollover by automatically applying brakes whenever a certain lateral acceleration threshold was exceeded. Upon completion, the ABS and RSC control strategies where evaluated by placing the model through a series of maneuvers. The braking and handling performance of the model was then compared against experimental data from the tractor manufacturer in which the ABS and RSC controllers were activated. Various maneuvers were conducted such as a double lane change, J turn, follow cone path, high dynamic steer input and a constant radius test. Overall, the SIL simulation was able to emulate the performance of the actual test vehicle.
Dennis Guenther, Dr. (Advisor)
Gary Heydinger, Dr. (Advisor)
200 p.
Automotive Engineering; Engineering; Mechanical Engineering
hardware in the loop; hardware-in-the-loop; software in the loop; software-in-the-loop; hil; sil; TruckSim; 6x4; tractor; tractor-trailer; tractor trailer; anti-lock brake; anti lock brake; abs, roll stability control; rsc; pneumatic brakes; dspace;

Recommended Citations

Citations

  • Ashby, R. M. (2013). Hardware in the Loop Simulation of a Heavy Truck Braking System and Vehicle Control System Design [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366046155

    APA Style (7th edition)

  • Ashby, Ryan. Hardware in the Loop Simulation of a Heavy Truck Braking System and Vehicle Control System Design. 2013. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1366046155.

    MLA Style (8th edition)

  • Ashby, Ryan. "Hardware in the Loop Simulation of a Heavy Truck Braking System and Vehicle Control System Design." Master's thesis, Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366046155

    Chicago Manual of Style (17th edition)

osu1366046155
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© 2013, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.
Release 3.2.12