CarSim

CarSim
®
ゞਔㆇേ䉲䊚䊠䊧䊷䉲䊢䊮䉸䊐䊃
CarSim 䈫
UC-win/Road䈱ㅪ៤
®
®
䊶 CarSim 䈱᭎ⷐ⚫੺
䊶䊄䊤䉟䊎䊮䉫䉲䊚䊠䊧䊷䉺䈻䈱ᔕ↪
ᩣᑼળ␠䊋䊷䉼䊞䊦䊜䉦䊆䉪䉴
Virtual Mechanics Corporation
1
CarSim
®
䊋䊷䉼䊞䊦䊜䉦䊆䉪䉴䈱⚫੺
CarSim 䈫䈲䋿
„
•䊜䉦䊆䉦䊦䉲䊚䊠䊧䊷䉲䊢䊮䋨☨࿖䋩䈱ᣣᧄ࿖ౝᱜⷙઍℂᐫ
„
•ഃ┙ 㪈㪐㪐㪐ᐕ
„
ᧄ␠䋺ฬฎደᏒ
®
®
®
• CarSim TruckSim BikeSim 䈱⽼ᄁ䇮䉰䊘䊷䊃
CarSim
®
®
ゞਔ䈱 ‛ℂ⊛䈭᜼േ䉕⸘▚ 䈜䉎䉸䊐䊃䉡䉢䉝
䊌䉾䉬䊷䉳
䋴ベ䊐䊦䊎䊷䉪䊦䈱ቢᚑ䈘䉏䈢䊝䊂䊦䉕ឭଏ
䊚䉲䉧䊮ᄢቇ੤ㅢ⎇ⓥᚲ 㩿㪬㪤㪫㪩㪠㪀䈪⎇ⓥ䈘䉏䇮㪈㪐㪐㪍ᐕ䈮䊜
䉦䊆䉦䊦䊶䉲䊚䊠䊧䊷䉲䊢䊮␠䈫䈚䈩⁛┙䈚໡ຠൻ
⎇ⓥຬ 㪤㫀㪺㪿㪸㪼㫃㩷㪮㪅㩷㪪㪸㫐㪼㫉㫊㪃㩷㪧㪿㪅㪛䇮ᢎ᝼ 㪫㪿㫆㫄㪸㫊㩷㪛㪅㩷㪞㫀㫃㫃㪼㫊㫇㫀㪼㪃㩷㪧㪿㪅㪛
•ゞਔ೙ᓮ㐿⊒䈮㑐䈜䉎䉮䊮䉰䊦䊁䉞䊮䉫䇮㐿⊒ᆔ⸤
UMTRI
•ਥ䈭䊡䊷䉱䊷᭽
Mechanical Simulation
⥄േゞ䇮䊃䊤䉾䉪䇮䋲ベ䊜䊷䉦䊷
⥄േゞㇱຠ䊜䊷䉦䊷䇮䉺䉟䊟䊜䊷䉦䊷
ᄢቇ䇮⎇ⓥᯏ㑐╬
2
Virtual Mechanics Corporation
⵾ຠ⟲
3
Virtual Mechanics Corporation
CarSim
CarSim
®
®
®
CarSim
ਸ਼↪ゞ↪⸃ᨆ䉸䊐䊃䉡䉢䉝
BikeSim
®
®
TruckSim
Virtual Mechanics Corporation
CarSim 䈪૗䈏䈪䈐䉎䈱䋿
®
ੑベゞ↪⸃ᨆ䉸䊐䊃䉡䉢䉝
䊋䉴䇮䊃䊤䉾䉪↪⸃ᨆ䉸䊐䊃䉡䉢䉝
4
Virtual Mechanics Corporation
5
CarSim
CarSim
®
੐଀⚫੺䋱
䉻䊑䊦䊧䊷䊮䉼䉢䊮䉳
®
䌁䌂䌓೙ᓮ䊨䉳䉾䉪䈱ᬌ⸽
{Double Lane Change}
DLC: C-Class, Hatchback
䊃䊦䉪㈩ಽ೙ᓮ䊨䉳䉾䉪䈱ᬌ⸽
{Ride}
Roll Sine Sweep: A-Class, Hatchback
{K and C Test}
Bounce Test: D-Class, Sedan
Roll Stiffness Test: D-Class, Sedan
{Simulink}
Yaw Control Diff. (Detailed, CS7), DLC w/
Low Mu: B-Class, Sports Car RWD
ᠲ❑቟ቯᕈ⹜㛎
{Slalom}
140 km/h, 15 deg., 0.5 Hz: E-Class, Sedan
䊥䊚䊁䉾䊄䉴䊥䉾䊒䊂䊐䈱ⵝ⌕
{Powertrain}
4WD LSD, 0.2 Throt., Split Mu: E-Class, SUV
บ਄䊁䉴䉺䊷䈪䈱⸘᷹
{Simulink}
ABS: Split Mu: B-Class, Hatchback
ォୟ⹜㛎
{Rollover}
Fishhook - Outrigger: E-Class, SUV
ਸ਼䉍ᔃ࿾⸃ᨆ
੐଀⚫੺䋲
䉻䊮䊌䊷෻ജ೙ᓮ䊨䉳䉾䉪䈱ᬌ⸽
䉟䊔䊮䊃ᯏ⢻
{Event-Driven Tests}
Events: Reverse Spin (w/ Tire Forces)
ⶄᢙゞਔ
䊃䊧䊷䊤䊷䉥䊒䉲䊢䊮
{Simulink}
Active Susp.: D-Class, Sedan 10cm
Bump
{* CS 8.0 Traffic and Sensors}
1 Sensor, 25 Objects
{Trailer Towing}
Brake in Turn: SUV, Full Size w/ 2A Boat Trl.
Virtual Mechanics Corporation
6
7
Virtual Mechanics Corporation
CarSim
®
CarSim
®
CarSim 䈱䉸䊐䊃᭴ᚑ
®
䊑䊤䉡䉱䊷䊶䊂䊷䉺䊔䊷䉴
⸳ቯ
CarSim 䈱ਛり䈲
®
䈬䈉䈭䈦䈩䉎䈱䋿
䉝䊆䊜䊷䉺
ᬌ⸽
ታⴕ
ゞਔ⸘▚䊒䊨䉫䊤䊛
Virtual Mechanics Corporation
8
Virtual Mechanics Corporation
䊒䊨䉾䉺
9
CarSim
®
CarSim
®
ゞਔ䊝䊂䊦
CarSim 䉸䊐䊃䉡䉢䉝䈱䉮䊮䉶䊒䊃
®
૶䈇䉇䈜䈘䉕ㅊ᳞䈚䈢䇮䉣䊮䊄䊡䊷䉱ะ䈐䈱
ゞਔㆇേ䉲䊚䊠䊧䊷䉲䊢䊮䉸䊐䊃
䉴䊁䉝䊥䊮䉫
䉴䊁䉝䊥䊮䉫
䊋䊈਄䊗䊂䉞
䊋䊈਄䊗䊂䉞
䊑䊧䊷䉨
䊑䊧䊷䉨
Š ྾ベ䊐䊦䊎䊷䉪䊦䊝䊂䊦
„
Š
Š
Š
Š
ਸ਼↪ゞ䇮㪪㪬㪭♽䇮䊃䊧䊷䊤䊷䈱‧ᒁ
૶䈇䉇䈜䈘䋨౉ജ㸢ታⴕ㸢⹏ଔ䋩
㜞ㅦᕈ䈫቟ቯᕈ䋨䉳䊞䊮䊒䇮ォୟ䇮஗ᱛ䇮ᭂૐㅦน䋩
䊥䉝䊦䈭䉝䊆䊜䊷䉲䊢䊮䇮䊒䊨䉾䊃䈮䉋䉎นⷞൻ
᜛ᒛᕈ䋨Simulink䇮HILS䇮Driving Simulator 䋩
䊌䊪䊷䊃䊧䉟䊮
䊌䊪䊷䊃䊧䉟䊮
䊄䊤䉟䊑䊃䊧䉟䊮
䊄䊤䉟䊑䊃䊧䉟䊮
䉺䉟䊟
䉺䉟䊟
䉰䉴䊕䊮䉲䊢䊮
䉰䉴䊕䊮䉲䊢䊮
10
Virtual Mechanics Corporation
CarSim
®
ゞਔ䊝䊂䊦䈱䊗䊂䉞䈫⥄↱ᐲ
1
4
4
1
10
⥄↱ᐲ
䊋䊈਄⒖േ䋨X,Y,Z䋩
䊋䊈਄࿁ォ䋨X,Y,Z䋩
䊋䊈ਅ䉴䊃䊨䊷䉪
ゞベ࿁ォ
䉣䊮䉳䊮䉪䊤䊮䉪䉲䊞䊐䊃
䉺䉟䊟䉴䊥䉾䊒䋨❑䇮ᮮ䋩
䊑䊧䊷䉨ᴤ࿶♽
⸘
3
3
4
4
1
8
4
27
ゞベ䉴䊃䊨䊷䉪
䊋䊈਄⥄↱ᐲ 6
ᓟ
CarSim
®
䊄䊤䉟䊋䊷䊝䊂䊦
䋨䋴ベ⁛┙ ᨞䊝䊂䊦䋩
䊗䊂䉞
䊋䊈਄䊗䊂䉞
䊋䊈ਅ䊗䊂䉞
ゞベ
䉣䊮䉳䊮䉪䊤䊮䉪䉲䊞䊐䊃
⸘
11
Virtual Mechanics Corporation
䉴䊁䉝䊥䊮䉫೙ᓮ䊝䊂䊦
ㅦᐲ೙ᓮ䊝䊂䊦
䊄䊤䉟䊋䊷೨ᣇ ផቯ䉮䊷䉴
ᵈⷞ〒㔌
Vx㬍TPrev
•ೋㅦᐲᜰቯ
⋡ᮡ䉮䊷䉴
ゞベ䉴䊃䊨䊷䉪
•ቯㅦ⿛ⴕ
•ᤨ㑆䋭ㅦᐲ䊙䉾䊒
•䉴䊁䊷䉲䊢䊮䋭ㅦᐲ䊙䉾䊒
MacAdam䊝䊂䊦
•೙ᓮ䈭䈚
䉴䊥䉾䊒ⷺ
ゞベ࿁ォ
೨
Virtual Mechanics Corporation
12
Virtual Mechanics Corporation
13
CarSim
CarSim
®
䋳D〝㕙↢ᚑ
®
㜞䈘
䊦䊷䊒
〝㕙㱘
CarSim 䈲䈬䈉䉇䈦䈩૶䈉䈱䋿
®
䊋䊮䉪
䉮䊷䉴
14
Virtual Mechanics Corporation
CarSim
®
䉴䊏䊷䊂䉞䊷䈭⸘▚
• 䊡䊷䉱䊷ⅣႺ䋨᥉ㅢ䈱䊌䉸䉮䊮਄䋩䈪シᔟ䈮Ṷ▚
Š 䉿䊥䊷᭴ㅧ䈱౉ജ↹㕙
Š ゞਔ⻉ర౉ജ
„
„
„
CarSim
®
䊑䊤䉡䉱䊷䊶䊂䊷䉺䊔䊷䉴
„
15
Virtual Mechanics Corporation
• 䊥䉝䊦䉺䉟䊛䉕䈲䉎䈎䈮਄࿁䉎Ṷ▚ㅦᐲ
䊂䊷䉺ቯ⟵䈏᣿䉌䈎
⸘᷹น⢻䈪䈅䉎
䊂䊷䉺䉕࿑⴫䈪⴫␜
ኸᴺ, ⾰㊂, Ყ
•
䋱㪪㫋㪼㫇㩷㪈㪎㪇㱘㪪㪼㪺
䋨㪠㫅㫋㪼㫃㩷㪚㫆㫉㪼㩷㪉㩷㪛㫌㫆㩷㪫㪎㪉㪇㪇㩷㪉㪅㪇㪇㪞㪟䌺䇮㪮㫀㫅㪻㫆㫎㫊㩷㪯㪧㩷㪪㪧㪉䋩
Š 㕖✢ᒻ䊂䊷䉺
„
„
䊁䊷䊑䊦䉕ណ↪
⹜㛎୯䇮⸃ᨆ୯
Virtual Mechanics Corporation
16
Virtual Mechanics Corporation
17
CarSim
CarSim
®
䋳䌄䉝䊆䊜䊷䉲䊢䊮
®
䊒䊨䉾䊃ᯏ⢻
ኾ↪䊒䊨䉾䉺
WinEP 䈮䉋䉎ᢙ୯⸃ᨆ
䊂䊷䉺䉮䊮䊋䊷䊃ᯏ⢻៞タ
MATLAB mat ᒻᑼ
ⷞὐ䇮ⷞ㊁ⷺ䋨䊋䊷䊄䊎䊠䊷䇮䊄䊤䉟䊋䊎䊠䊷䋩
䉯䊷䉴䊃
䉰䉡䊮䊄ᯏ⢻䋨䉺䉟䊟㖸䇮䉣䊮䉳䊮㖸䇮㘑ಾ䉍㖸䋩
䉥䊷䊋䊷䊧䉟
Virtual Mechanics Corporation
Microsoft Excel
18
19
Virtual Mechanics Corporation
CarSim
CarSim
®
®
㐿⊒Ꮏ⒟䈮䈍䈔䉎 CarSim
®
䉲䊷䊛䊧䉴䈮
೑↪น⢻
Idea
CarSim 䈲
Product
®
ⷐ᳞ᕈ⢻ᬌ⸛
CarSim ®
૗䈮૶䉒䉏䈩䉎䈱䋿
䉲䉴䊁䊛⸳⸘
CarSim
౒ㅢ䈱䊌䊤䊜䊷䉺
20
ECUᬌ⸽
®
CarSim ®
Virtual Mechanics Corporation
ታゞ⏕⹺
⹦⚦⸳⸘
䉸䊐䊃䊝䉳䊠䊷䊦
䈱ታⵝ䉮䊷䊄
C䉮䊷䊄↢ᚑ
Virtual Mechanics Corporation
CarSim
®
with HILS
CarSim ®
with SILS
21
CarSim
®
MATLAB/Simulink 䈫䈱ㅪ៤
S-Functionゞਔ䊝䊂䊦䉕䌤䌬䌬ൻ䈚䈩ឭଏ
౉಴ജ䊘䊷䊃䉕⥄↱䈮⸳ቯน
CarSim Real-Time
HILS䈻䈱ᔕ↪
HILS䈻䈱ᔕ↪
⁁ᘒ㊂䈱಴ജ
CarSim
®
CarSim
®
®
(Hardware in the loop system)
೙ᓮ䊝䊂䊦
Host PC
೙ᓮ୯䈱౉ജ
Target PC
I/O
GUI 䉮䊮䊃䊨䊷䊦
䊡䊷䉱䊷⁛⥄䈱䊝䊂䊦䉕᭴▽น⢻
ታⴕ䊒䊨䉫䊤䊛
®
CarSim GUI Database
ECU
CarSim䉸䊦䊋䊷฽䉃
MATLAB/Simlink
䊥䉝䊦䉺䉟䊛ⅣႺ
®
CarSim
S-Function
䊥䉝䊦䉺䉟䊛ኻᔕ䉲䉴䊁䊛
䊥䉝䊦䉺䉟䊛ኻᔕ䉲䉴䊁䊛
Plot/Animation
䊥䉝䊦䉺䉟䊛䉝䊆䊜䊷䉲䊢䊮
22
Virtual Mechanics Corporation
•A&D
AD5410,
•A&D
AD5410, AD5435,
AD5435, AD5440
AD5440
•ን჻ㅢ䊁䊮
•ን჻ㅢ䊁䊮 CRAMAS
CRAMAS
•䊅䉲䊢䊅䊦䉟䊮䉴䉿䊦䊜䊮䉿
•䊅䉲䊢䊅䊦䉟䊮䉴䉿䊦䊜䊮䉿
LabVIEW-RT
LabVIEW-RT䋨䋨PXI
PXI 䊗䊷䊄䋩
䊗䊷䊄䋩
•dSPACE
•dSPACE DS1005,
DS1005, DS1006
DS1006
•Opal-RT
RT-LAB
•Opal-RT
RT-LAB
•ETAS
((ㄭᣣኻᔕ੍ቯ
•ETAS
ㄭᣣኻᔕ੍ቯ䋩䋩
CarSim
®
ઁ␠䉿䊷䊦䈫䈱ㅪ៤
䊶Forum8
䊶Mitsubishi Precision
䊶Honda
Vehicle Dynamic Simulation
CarSim
TruckSim
BikeSim
䊶MATLAB/Simulink
䊶SimulationX
®
®
Optimaization
䊶modeFRONTIER
䊶iSIGHT
®
Virtual Mechanics Corporation
CarSim
®
╙䋱਎ઍ䈪䈲
ゞਔᕈ⢻㐿⊒䈱䊆䊷䉵䈮ኻᔕ
External Model
(Controller, Actuator)
Driving Simulator
23
Virtual Mechanics Corporation
HILS
䊶A&D 䊶CRAMAS
䊶ETAS 䊶dSPACE
䊶LabVIEW RT
䊶RT-LAB
24
ᱜ⏕䈭ゞਔ᜼േ䈱ౣ⃻
㜞ㅦ䈭Ṷ▚ㅦᐲ
⋥ᗵ⊛䈮૶䈋䉎䉟䊮䉺䊷䊐䉢䊷䉴
᜛ᒛᕈ
ଔᩰ䇮᳢↪ᕈ䊶䊶䊶
ゞਔ䊝䊂䊦䈲ᰴ䈱䊐䉞䊷䊦䊄䈻
Virtual Mechanics Corporation
25
╙䋲਎ઍ䈻
CarSim
CarSim
®
®
䊄䊤䉟䊎䊮䉫䉲䊚䊠䊧䊷䉺䈻䈱ⷐ᳞੐㗄
ᓥ᧪䈱ゞਔᕈ⢻㐿⊒䈱⠨䈋ᣇ
⃻ታ䈮ㄭ䈇ᗵⷡㆇォ⠪䈮㍲ⷡ䈘䈞䉎
᳿䉄䉌䉏䈢䊌䉺䊷䊮䈱ਛ䈪⹜㛎䉕ⴕ䈋䈳䉋䈎䈦䈢䇯
〝㕙⁁ᴫ䇮ᄖ᧪ⷐ࿃䈲න৻⊛䈪䉋䈎䈦䈢
䊥䉝䊦䈭↹௝
᥊ⷰ䇮⒖േ‛䈱ឬ↹䇮ᔕ╵ᕈ
ᔘታ䈭〝㕙ⅣႺ䈱ౣ⃻
䊍䊠䊷䊙䊮䉟䊮䉺䊷䊐䉢䊷䉴
ITS䈱ㅴൻ䈫౒䈮
ゞਔ೙ᓮ䈎䉌੤ㅢ೙ᓮ䈮䊶䊶䊶
ⶄ㔀ൻ䈜䉎౉ജᖱႎ
䋨䊧䊷䉻䊷䉶䊮䉰䊷䇮↹௝౉ജ䇮ゞ䋭ゞ㑆ㅢା䇮ゞ䋭䉟䊮䊐䊤ㅢା䊶䊶䋩
㜞ㅦ䈭⸘▚ㅦᐲ
ᄙ䈒䈱౉಴ജ䊘䊷䊃
ᠲ૞ᕈ䊶䊶䊶䊡䊷䉱䊷䉟䊮䉺䊷䊐䉢䊷䉴
᜛ᒛᕈ䊶䊶䊶䊂䉞䉴䊒䊧䉟᭴ᚑ䇮䊝䊷䉲䊢䊮ⵝ⟎
᳢↪ᕈ䊶䊶䊶䊨䊷䊄䊒䊨䊐䉜䉟䊦䇮᥊ⷰ䇮ゞਔ╬䈱౉ᦧ
ଔᩰ
䈘䉌䈮ゞਔ೙ᓮ䈮䈲ੱ㑆䈱ᠲ૞♽䈏฽䉁䉏䉎
ੱ㑆䈲੍᷹ਇ⢻䈭ⴕേ䉕ข䉎੐䈏䈅䉎䋨⥄ゞ䇮ઁゞ䋩
•ᓥ᧪䈮ή䈇౉ജ䈏⊒↢
•⹏ଔ䊌䉺䊷䊮䈱ᮡḰൻ䈏ᧂᢛ஻
䊍䊠䊷䊙䊮䉟䊮䉺䊷䊐䉢䊷䉴
䈫⚿ว䈏ᔅⷐ
⹦⚦䈪䊥䉝䊦䈭ゞਔ䊝䊂䊦
CarSim
®
䊄䊤䉟䊎䊮䉫䉲䊚䊠䊧䊷䉺
26
Virtual Mechanics Corporation
CarSim
CarSim
®
®
䈫䈱ធ⛯᭴ᚑ
䊄䊤䉟䊎䊮䉫䉲䊚䊠䊧䊷䉺
CarSim 䉕䉸䊦䊋䊷䈮૶䈦䈢
䊄䊤䉟䊎䊮䉫䉲䊚䊠䊧䊷䉺
27
Virtual Mechanics Corporation
®
䊝䊷䉲䊢䊮
®
CarSim
䊌䊤䊜䊷䉺⸳ቯ
䉴䉪䊥䊷䊮
ゞਔ⁁ᘒ㊂
®
CarSim
Solver Program
ゞਔ᜼േ⸘▚
ᠲ૞
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