TNO

  • TNO

  • Steenovenweg 1

    5708 HN Helmond

  • 0613261898

Internship MapleSim benchmark

Setup and validation of a multi-body motorcycle model in MapleSim

Internship at TNO, department Integrated Vehicle Safety in the field of modeling of dynamic systems

Introduction

At TNO, a model-based approach is used for control development. The better one knows the system dynamics, the better control-performance and robustness can be reached. TNO has all the tools that are required for such development. Hardware test-rigs (e.g. hydraulic spring-damper testing, tire force measurements) together with physical systems simulation software (Matlab/Simulink/SimMechanics) are used to identify and validate system behavior.

One of the areas of growing interest is the integrated controller. This controller uses the full model description to determine the optimal actuator inputs to perform a desired task. This type of control is usually referred to as full-state-feedback control. For this control it is necessary to know the full state of the system. Some of the system states can be measured using on-board sensors (e.g. accelerations, angular rates); however most system states cannot be measured directly. This shows the need for a state estimator. A state estimator is an algorithm which contains the model dynamics and, based on the inputs and the available sensors, reconstructs the actual state of the system.

Problem background

Currently the internal estimator model is setup using a semi-automated process to convert the multi-body equations into analytic equations. The resulting analytic model is a 100% match of the system; however the size of the equations is rather large. If more complex dynamic systems are to be modeled, the size of the equations will significantly increase which introduces increasing calculation times.

Using an analytic programming language, such as Maple, the system model can be setup analytically from the start and the powerfull Maple-kernel will provide all the mathematical tools to end up with an as small as possible set of analytic equations, yet still resulting in a 100% model match. These equations can then further be used in the control and/or estimator development.

Since MapleSim is currently not used by TNO, we first want to benchmark an already existing Multi-Body model in Matlab/SimMechanics against the same model setup in MapleSim.

Your assignment

·       Set up a Multi-Body simulation model of a motorcycle (Yamaha FJR1300) in MapleSim.

·       The model shall replay previously recorded experimental maneuver data

·       The results (accuracy, simulation time, etc…) are benchmarked against the already existing Matlab/SimMechanics variant of the motorcycle.

·       Explore possibilities of the resulting analytic equation for implementation in control algorithms.

·       Results are to be presented in a powerpoint presentation and reported in a short report.

·       The timeline of this internship is about 3 months

Your profile

We expect you to have:

·       provable experience with the software package Maple and/or MapleSim

·       basic knowledge of Matlab/Simulink

·       an interest in physical modeling

Contact

Arjan Teerhuis

Phone:                    088 86 65772

Email:                     arjan.teerhuis@tno.nl

 

Hanno Schouten

Phone:                    088 86 65792

Email:                     hanno.schouten@tno.nl

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TNO

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