Car Modeling (Automatic Transmission) using Simulink
Susilo Wibowo Electrical Engineering Universitas Surabaya
Assumption
No loss in the Gear transmission. Straight road. No slip factor on the tire. Torque curve is linear.
BMW 550i
Engine Torque
List of Force
Aerodynamic Force Mass Inertia Force Tangential component of Gravity Wheel Force
Wheel Force
FW = T. Gr . FDr / rW FW : Wheel Force T : Torsi mesin Gr : Gear ratio FDr : Final Drive ratio rW : Wheel radius
Other equations
Acceleration a = v = (Fw + Fm + Fd + Fh) / m Velocity v = a dt = v0 + a.t Displacement D = v dt = (v0 + a.t) dt = v0.t + .a.t2 Engine speed (in rpm) s = 60.v. [Link] / 2. .rw
Aerodynamic Force
Fd = - .Cd.A. .v2
v squa re 5 ca r spe e d
2 D ra g coe fficie nt 1 A ir d e nsity G a in 4 ca r width 3 ca r he ight P ro duct 0 .5 1 D ra g Force
Cd: drag coeffecient : atmosphere density
A : projection area v : velocity
Mass Inertia Force Fm = - m.a
1 2 Whe e l orce 3
4 Ca r m a ss ine rtia T ota l m a ss (Kg)
3 Acce le ra ti
m : mass a : acceleration
V e locit (m /s)
All orce
Hill orce
Di i e
Inte gra tor
Inte gra tor1
l a ce m e nt
1 s
1 s
Ne t
Dra g orce
4 e
Tangential component of Gravity (Road slope) (Fh)
2 T otal m ass
1 S lope S quare 100 100 % S quare1 9.8 G ravitation constanta Add sqrt M ath Function Divide2 P roduct 1 Hill Force
rW = Rr + H = (1/[Link])/2.54 + [Link] /105)
100000 C n sta n t
T ire w i th 2
0 .5 . 1 Gai 1 .5 4 a n t1 Gai
Rr : tire radius Rd : tire diameter tW : tire width
% '
H : Sidewall height AR : aspect ratio
( (
% ! ' &
Ri
ia m e te r
%"
$
#
w ll
ig
"!
'
A sp e ct ra ti
Ti
(i
'
1 1 Ti i ( )
Forces (main process)
1 Net
2 W he e l 3
o rce
1 s Di i e
1 s In te g ra to r1
A ll
o rce 4
C a r m a ss in e rtia
T o ta l m a ss (K g )
V e l city (m /s)
A cce le ra ti n
H ill
o rce
In te g ra to r
D isp la ce m e n t
10
2 1 3
D ra g
o rce
4 rce
0 0
Engine speed (in rpm)
3 T ire radius
77
/7 Gain1 2 ar Speed m/s
6 5 8
T ire 3.38 Final drive ratio Differential
60 1 Gear Gear1 Gain
4
1 En ine speed RPM
6 5
Other Simulink blocks (manual gear selection)
1 Gear 4 .1 7 1 st G e a r 2 .3 4 2 nd G e a r 1 .5 2 3 rd G e a r 1 .1 4 4 th G e a r 0. 7 5 th G e a r 1 G e a r ra tio
th G e a r
A@
0.
G e a r R a tio
e le ctio n
Other Simulink blocks (Automatic gear selection)
A cce le ra tio n 1 1 flo o r
S pe e d2 G e a r
.1 7
1 st G e a r 2 .3
2 nd G e a r 1 .5 2 3 rd G e a r
1 .1
th G e a r 0 .8 7
5 th G e a r 0 .6 9 6 th G e a r
C
A ctu a l G e a r R a tio 1 Gear G e a r R a tio S e le ctio n
S p e e d km /h
R o u n d in F u n ctio n
Air de nsity 1 .2 2 5 Dra g coe fficie nt 0 .2 9 Ca r he ight (m ) 1 .4 8
57. 4 M a x spe e d
Air density Drag coefficient Drag orce E ngine torque Dra g
car height car width car speed
Ca r width (m ) 1 .8 5
pe e d conve rsion 3.
Drag orce
Velocity (m/s)
Engine Torque
Wheel orce Wheel orce
Displacement Displa ce m e nt
RP M 2 T orque Engine speed (RPM)
Tire radius Ge a r subsyste m Tire radi s (m)
1 T hrottle P roduct Hill orce 5 Slope Hill orce Total mass M a in P roce ss Hill orce subsyste m Total mass (Kg) Net orce Ne t orce
Acceleration Acce le ra tion
Car Speed (m/s)
Rim diameter
1800 T ota l m a ss (Kg)
Tire radius
Gear ratio
Aspect ratio
Tire width
Clock S pe e d VS tim e
Ge a r S e le ction Ge a r 1
Gear ratio
T ire 225 width Aspe ct 50 ra tio
17
Rim dia m e te r
Gear
T ire subsyste m
S lope
Actua l S pe e d subsyste m
Gear ratio
Complete Simulink (manual gear)
P P
Dra g orce ca lcula tion
S pe e d (Km /h)
Complete Simulink (Automatic Gear)
Drag Force Engine T orque
Drag Force calcul tion
Drag coefficient car height car width car speed
0.29
Car height (m ) 1.4 8
M x speed
Car width (m ) 1.85
Gear
Drag Force
Velocity (m/s)
3.
Engine Torque
heel Force
heel Force
Displ cement Displ cem ent
RPM 2T orque
Tire radius 0 Slope
Hill Force
Acceleration Acceleration
Engine speed (RPM)
Tire radius (m)
Slope
Total m ss ( g) Hill Force Total m ss
Rim di meter
T otal m ss ( )
Aspect ratio
Car Speed (m/s)
Tire width
Tire radius
Gear
Gear
Aspect ratio
50
Autom tic G ear Selection
T ire 225 width
17
Rim di m eter
Speed (km/h)
TS
Actu l Speed subsystem
1800 T ire subsystem
M in Process
Hill Force subsystem
G ear subsystem
Net Force Net Force
Clock Distance vs T im e Speed vs T im e
Speed conversion
Air density 1.225 Drag coefficient
292.8
Air density
Speed ( m /h)
Complete Simulink (Autocruise Control)
ir density
1.225
ra coefficient car height car idth
0.29
Brake -1
ivide
car speed
%Throttle
in in
Tire radius ( )
n ine speed (
ill orce
i dia eter
ruise speed
Total ass
ctual speed
spect ratio
Tire idth
lope
ar peed ( /s)
Tire radius
cceleration2
ear
distance
slope
ar 100 speed
spect 50 ratio
17
uto atic ear election
` `h
Tire 225 idth
i dia eter
peed (k /h)
1800
Total ass ( g)
ear
ruise control
ctual peed subsyste
Tire subsyste
ill orce subsyste
ain rocess
lock istance vs Ti e peed vs Ti e
r q
ear subsyste
Total ass ( g)
et orce
et orce
u w
Tire radius
ill orce
2Torque
ax
cceleration
ax
n ine Torque
heel orce
heel orce
isplace ent
isplace ent
cceleration
`a
ear
ra
orce
elocity ( /s)
3.
peed conversion
ra
orce
1.4 8
1.85 100.2 ax speed
peed (
/h)
ra orce calculation
t s ut s ut s v v t ` p ` pih d e e ` Y
ir density
ra coefficient
ar height ( ) ar idth ( )
Reference
Dabney, James B. and Harman, Thomas L., Mastering Simulink, Pearson Education Inc., 2004 [Link] [Link] n [Link] [Link]?ChartsID=623
