Virtual prototyping of vehicular electric steering assistance system using co-simulations
Doktorsavhandling, 2021

Virtual prototyping is a practical necessity in the vehicle system development. From the desktop simulation towards the test track, several simulation approaches, e.g., co-simulation and hardware-in-loop (HIL) simulation, are used. However, the testing results consistency might not be guaranteed due to interfacing issues. Correspondingly, the inherent shortcomings come from the numerical coupling error and the non-transparent HIL interface, which involves the control tracking error, delay error, attached hardware and noise effects. Hence, this work aims to address these problems and to provide seamless virtual prototypes for the vehicle and electric power assisted steering (EPAS) system development.
On a basic level, accuracy and stability properties of the explicit parallel cosimulation and the HIL simulation are investigated. The imperfect factors propagate in the simulation tools like perturbations, and yield inaccuracy and even instability according to the system dynamics. Based on this, the problems are considered as how to reduce the perturbations (coupling problem) and how to robustify the system (architecture problem).
In the coupling problem, a delay compensation method relying on adaptive filters is developed for the real-time simulation. A novel co-simulation coupling method on H-infinity synthesis is developed, showing accuracy improvement for a wide frequency range and a small computational cost. In the architecture problem, a force(torque)-velocity coupling approach is taken. With the force(torque) variable applied to the larger impedance, e.g., the steering rack (EPAS motor), it yields a smaller loop gain and more robust co-simulation and HIL simulation. On a given EPAS HIL system, an interface algorithm is developed to virtually shift the impedance and thus enhances system robustness.
The theoretical findings and developed methods are tested on generic benchmarks, and implemented on the vehicle-EPAS engineering case. Besides increased simulation speed, accuracy and robustness are improved at the same time. Consequently, consistent testing results and extended validated ranges of the virtual prototypes are obtained.

interface algorithm.

Vehicle and mechatronic system

explicit parallel co-simulation

coupling method

HIL simulation

Opponent: Dipl.-Ing. Dr.techn., Georg Stettinger, Virtual Vehicle Center, Austria


Weitao Chen

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

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Proceedings of the 13th International Modelica Conference,; (2019)p. 717-724

Paper i proceeding

Explicit parallel co-simulation approach: analysis and improved coupling method based on H-infinity synthesis

Multibody System Dynamics,; Vol. In press(2021)

Artikel i vetenskaplig tidskrift

Real-time Co-simulation Method Study for Vehicle Steering and Chassis System

IFAC-PapersOnLine,; Vol. 51(2018)p. 273-278

Paper i proceeding

Chen W., Bruzelius F., Klomp M. and Jacobson B., A Method to Improve Stability and Transparency for Mechanical Hardware-in-the-Loop Simulation

Steer by wire Opportunities, performance and system safety (SWOPPS)

VINNOVA (2017-05504), 2018-03-09 -- 2021-07-01.

Virtual Architecture for Development and Verification of Chassis Mechatronic Systems

Volvo Cars, 2016-07-01 -- 2022-06-30.

Europeiska kommissionen (EU) (675999), 2016-07-01 -- 2022-06-30.




Elektroteknik och elektronik



Informations- och kommunikationsteknik




Grundläggande vetenskaper

Lärande och undervisning

Pedagogiskt arbete



Doktorsavhandlingar vid Chalmers tekniska högskola. Ny serie: 4991


Chalmers tekniska högskola

Opponent: Dipl.-Ing. Dr.techn., Georg Stettinger, Virtual Vehicle Center, Austria

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