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PowerPoint Slide ShowsHere are some links to an automated slide show. View it in total or in parts. You can quit any section by pressing the Escape key

1. The Company Introduction to Mechanical Simulation, the company that provides CarSim

5. CarSim RT CarSim runs much faster than real time on PCs, making it well-suited for real-time testing with hardware in the loop (HIL).

3. CarSim Math Models This presents the thinking behind the modeling of vehicle dynamics and the choices of measurable parameters and properties.

4. Extending CarSimMany CarSim users extend the models and/or controllers using Simulink.

2. Using CarSim This shows the way you use CarSim, choosing data sets, clicking buttons and viewing results.

The Whole Show Click here for the full 13-minute PowerPoint show about CarSim. You can escape the show early by pressing the Escape key.

CarSim in PowerPoint

Sales InformationDoug Orrin(734) 668-2930 Ext. 209dorrin@carsim.com

Academic ProgramsDamon A. Becker(734) 668-2930 Ext. 212dbecker@carsim.com

International Saleswww.carsim.com/contacts

More Informationwww.carsim.com

slide 2The CarSim Show

Simulated Vehicle Testing

Easy to Use

Fast

Accurate

Extensible

Inexpensive

Industry Standard

CarSim ®

Narrated by Michael Sayers, Ph.D.Chief technical officer at Mechanical Simulation

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Mechanical SimulationBackground Software company

specializing in vehicle dynamics

Founded in 1996 Spin-off of UMTRI (Univ. of

Mich. Transportation Research Institute)

Core Competencies Vehicle dynamics expertise Testing point of view Making software productive Full documentation Extensive real-time support

Who We Are

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Our ProductsCarSim Four-wheeled cars, light

trucks, utility vehicles, race cars

With or without trailers Real-time versions

TruckSim Heavy trucks and

combination vehicles Dual tires

About Mechanical Simulation

BikeSim Motorcycle dynamics For release early 2005

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Our Customers OEM’s (Car and Truck) Tier 1 and 2 Suppliers Testing and Research Organizations Universities

Who Uses CarSim / TruckSim

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Control strategy and software in

the loop

Product Development and Validation

Subsystem and component definition

Vehicle and system definition Production

Design

Vehicle and system

performance

When Do You Use CarSim

Component testing and hardware in

the loop

slide 7Using CarSim

The Parts of CarSim Use the database to define

vehicles, conditions, and test results

View results with animation View engineering plots Export results to other software

Vehicle math model solvers

Graphical database

Surface animator

Engineering plotter

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Simulation Graphical User Interface The database is organized

with 150 graphic screens Each screen accesses a

library of data sets Navigate like a web browser Use pull-down menus to

select data sets from libraries

Screens show data in contextOn-line help for all controls Easy to copy existing data

sets and make changesPast runs are part of the

CarSim database

Using CarSim

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The left 1/3 of the screen has inputs for the test run

The middle 1/3 has controls for the run

The right 1/3 shows results of the run

The CarSim Run ScreenTo make a run: Start with an existing data set for a similar test Maybe change the vehicle Maybe change the driver controls Maybe change the road Click the Run button

Using CarSim

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Viewing Animations Maybe change the camera

settings Maybe overlay another run Click the Animate button

Using CarSim

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Automatic setup Simple user interface OpenGL

Highly extensibleShading, lighting,

textures, fog, …Automatic surface

smoothing Standard Shape Files

STLOBJ

Animator

Using CarSim

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CarSim Math Models

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Main Modeling Objectives Predict vehicle system

response to: Driver steering control Driver braking control Driver throttle and shifting

control Road friction and 3D

geometry Air and wind

Tires are very important Need realistic shear forces and

moments from the tire model: Fx, Fy, Fz, Mx, My, Mz

Must calculate realistic input variables for the tire model: , , , R

Predict transfer of forces to the sprung mass by the suspension

CarSim Math Models

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Inertia Measurement

Built on 30 Years of Research at UMTRI

Tire Testing

SuspensionMeasurement

Modeling, Algorithms, & Simulation

Testing andAnalysis

ParameterMeasurement

CarSim Validation

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Lateral G

0 10 20-0.5

0

0.5

System-Level Modeling Ideal model complexity for chassis control

development & proving ground correlation. Models are computationally stable Models run real time on PC’s All model parameters can be measured

CarSimRoad Test

CarSim Math Models

0 10 20-20

-10

0

10

20

Yaw rate—deg/s

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Parameters Simple Properties

• Known to be significant• Shown on screen in context• Dimensions, masses, ratios

Measurable No need to be a simulation

specialist to understand them

CarSim Math Models

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Nonlinear Properties Represented with tables of

measurable quantities Obtained from lab Obtained from other software

(simulated measurements)

CarSim Math Models

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3D Roads Simple tabular descriptions

Horizontal, vertical, 3D incremental elevation

Tables are independent Data from CAD, spreadsheet,

GPS, etc. Mixture of spline and

straight-line interpolation

Automatically create shapes for surface animator

Roads can be open-ended or looped

CarSim Math Models

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CarSim Model State Variables 30 multibody states

• 6 sprung mass DOF

• 4 suspension jounce / axle roll DOF

• 4 wheel rotation DOF

• Engine rotation DOF

14 Auxiliary dynamic states• 8 tire dynamic states• 4 fluid states

35 extra states• ABS control• Suspension and

steering compliance• Wheel lockup

Dynamic states are defined by differential equations

. X = f

Raw Output

Simulated test conditions

Math Model of System

Equation Solver

Vehicle Properties

CarSim Math Models

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Extend with Simulink

Simulink (add-on to MATLAB) is the “most used” simulation environment

Extensibility

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Simulink Support / Interface CarSim math models are available as Simulink

S-Function blocks Use Simulink from CarSim Use CarSim from Simulink

Extend CarSim with Simulink

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Import from Simulink to CarSim 160+ Imported variables

Control inputs Tire/ground inputs Tire forces and moments Spring and damper forces Steering system angles Driveline torques Brake torques & pressures Wind inputs Arbitrary forces & moments

Variables can be defined in Simulink

Variables can be defined in other software and linked to CarSim with Simulink

Imported variables are added to similar variables “internal” to CarSim

Extend CarSim with Simulink

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Exported variables are available for user-defined extensions 560+ exported variables (4-wheeled models)

Position and orientation Motion variables

• Velocities and accelerations• Rigid bodies and force components (springs, shocks)

Forces and moments of most components Most control variables All ground and wind information

Export from CarSim to Simulink

Extend CarSim with Simulink

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Real-Time Testing with Hardware In the Loop

CarSim is “the Loop”

Hardware Testing

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CarSim RT Host Machine w. Windows

Database Animator & Plotter User Interface

Target Machine w. RT OS CarSim math models Hardware-in-the-loop interface Works with most RT systems

CarSim RT for Hardware in the Loop

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Driving Simulators Marketing Research Training

CarSim RT for Hardware in the Loop

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CarSim / CarSim RT Comparison Math models are identical

• Same equations of motion

• Same fixed-step integrators

• Same time steps

• Same set of importable (input) variables

• Same compatibility with Simulink Same Database, Animator, Plotter

CarSim RT for Hardware in the Loop

slide 28The CarSim Show

Review

CarSim Easy to Use

Fast

Accurate

Extensible

Inexpensive

Industry Standard

®