MathWorks Automotive Conference 2007MathWorks Automotive Conference 2007June 19June 19thth

--2020thth2007, Dearborn, USA2007, Dearborn, USA

Hisahiro Ito, Akira Hisahiro Ito, Akira OhataOhataToyota Motor CorporationToyota Motor Corporation

on behalf ofon behalf ofJMAAB Plant Modeling Working GroupJMAAB Plant Modeling Working Group

David SampsonDavid SampsonThe MathWorks, LtdThe MathWorks, Ltd

JMAAB Vehicle Model ArchitectureJMAAB Vehicle Model Architectureand Twoand Two--Way ConnectionWay Connection

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ContentsContents

1. Introduction1. Introduction

2. Two2. Two--Way ConnectionWay Connection

3. Application 3. Application –– Guidelines & Vehicle ModelGuidelines & Vehicle Model

4. Future Work4. Future Work

5. Conclusion5. Conclusion

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IntroductionIntroduction

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Model Based DevelopmentModel Based Development

Real WorldReal World

ValidationValidation

ValidationValidation

CombinationCombination

CombinationCombination

Plant ModelPlant Model Controller ModelController Model

PlantPlant(Engine, Transmission etc.)

ControllerController(Hardware, Software)

HILSHILSRapid Prototype ECURapid Prototype ECU

SILSSILS

Virtual WorldVirtual World

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Component Oriented ModelingComponent Oriented Modeling

Key RequirementsKey Requirements-- partition based on actual parts compositionpartition based on actual parts composition-- standards to enable easy integrationstandards to enable easy integration

A large, complete plant modelA large, complete plant model

Component DComponent D

Component CComponent CComponent AComponent A

Component BComponent B

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TwoTwo--Way ConnectionWay Connection

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Simple Mechanical SystemSimple Mechanical System

( ) ( ) iiiiiiiiext IkkT θθθθθ &&=−+−+ ++− 111,

equation of motion for body equation of motion for body ii

a schematic of the systema schematic of the system

T,θ

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Modeling with Modeling with Signal FlowsSignal Flows

T,θ

Physical Architecture Physical Architecture ≠≠ Model ArchitectureModel Architecture

angle angle angle

torque torque torque

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Modeling with Modeling with TwoTwo--Way ConnectionWay Connection

T,θ

Physical Architecture Physical Architecture == Model ArchitectureModel Architecturemoving towards true moving towards true component oriented architecturecomponent oriented architecture

physicalconnection

physicalconnection

physicalconnection

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Signal Signal TwoTwo--Way Adapter BlockWay Adapter Block

angle

torque

angle

torque

No Change to Numerical BehaviorNo Change to Numerical Behavior

TwoTwo--Way Connection block in R2007a Way Connection block in R2007a SimscapeSimscape v1v1

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ApplicationApplication

JMAAB Style GuidelinesJMAAB Style Guidelines

& Vehicle Model Architecture& Vehicle Model Architecture

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JMAAB Plant Model Style GuidelinesJMAAB Plant Model Style Guidelines

- Component Hierarchy

- Model Implementation

- Methods for Connecting Components

- Integration of Controller and Plant Models

- Use of Data Types

- Use of Coord. Sys., Unit Sys. and Physical Consts

- Methods for Model Parameterization

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Vehicle Model ArchitectureVehicle Model Architecture

1

2

3

4

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Level

Driver Vehicle Tire-Road Environment

Vehicle Ctrl Vehicle Body

Power Train Ctrl Power Train Body

Power Train Chassis Electricity

Engine Transmission DifferentialEngine Mount

- Component Hierarchyvehicle model architecture (template)subsystem layers & component partitions

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Vehicle Model ArchitectureVehicle Model Architecture

- Model Implementationgeneral rules for plant modeling in Simulinkprohibited blocks and constructs, use of fonts and colors, etc.

- Methods for Connecting Componentsrules for use of signal lines, Goto/From blocks, bus signalsfor good readability

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Guidelines for ClosedGuidelines for Closed--Loop SimulationLoop Simulation

- Integration of Controller and Plant Modelsfor use in the hardware-in-the-loop simulationstreamlining of the workflow of closed-loop simulation

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Other GuidelinesOther Guidelines

- Use of Data Typesconsistent choice of data typesphysical value, logical value, Switch block etc.

- Use of Coord. Sys., Unit Sys. and Physical Constsstandard modeling practices among developers*

*developers can span across OEM and suppliers.

- Methods for Model Parameterizationconsistent use of parametersworkspace variables, M-files

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Future Work for JMAAB PMFuture Work for JMAAB PM--WGWG

- Further evaluation of the Style Guidelineswith the vehicle model as a working example

- Identification of requirements for Two-Way Connectionfrom the automobile engineering standpoint

- Benchmark of the vehicle modelto examine the effectiveness of the style guidelines

- Consideration on Data Dictionary for Plant Modelsto enable smooth exchange of models

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ConclusionConclusion

-- Component oriented physical modelingComponent oriented physical modelingtwotwo--way connection in R2007a way connection in R2007a SimscapeSimscape

-- Common rules for MBD plant modelersCommon rules for MBD plant modelersJMAAB Style Guidelines for Plant ModelsJMAAB Style Guidelines for Plant Models

-- Test case in automobile industryTest case in automobile industryvehicle model architecturevehicle model architecture

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Thanks to...Thanks to...T. Kubo, K. Nakashima (Aisin AW)

H. Iino, F. Yamazaki (Cybernet)H. Mori (Denso)

M. Ichinose, H. Ogata (Hitachi)A. Miyauchi, S. Shimada, K. Tsutsumi (Honda)

Y. Hanamura, M. Nishito (Isuzu)F. Katsu, T. Matsumura (Jatco)S. Komori, Y. Shinya (Mazda)

Y. Akemi, M. Yamada (Mitsubishi Electric)M. Taira (Nissan)

T. Degaki, J. Kako (Toyota)

J. Wendlandt (MathWorks)