Modelling of working machine driveline and driveline control system
Hepolampi, Antti (2018)
2018
Automaatiotekniikka
Teknisten tieteiden tiedekunta - Faculty of Engineering Sciences
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Hyväksymispäivämäärä
2018-12-05
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201811222731
https://urn.fi/URN:NBN:fi:tty-201811222731
Tiivistelmä
Using simulation models in product development may save time and costs because testing can be performed to a system which does not exist yet. Hardware-in-the-Loop simulation (HIL) uses a real hardware of the system as a part of the simulator, and can also be a part of testing the hardware.
A terminal tractor is a working machine that resembles a tractor of a semi-trailer but is designed to move containers in a container port. A simulation model of a terminal tractor driveline and its control was implemented for product development. The simulation model was implemented using Matlab, Simulink and Simscape.
The model consisted of a Diesel engine, an engine control unit (ECU), a torque converter, a planetary transmission, a transmission control module (TCM), a cardan shaft, a final drive and a differential gear, rear axles, tyres, brakes and a chassis. Simscape Driveline blocks were used when possible. Modelling was done according to the data sheets and former studies.
The model was tested in situations similar to moving containers in container port by comparing its output to the data sheets. The test situations consisted of full throttle upshifting, closed throttle downshifting and preselected downshifting. The model was also tested by simulating it using the measurement data from test drives of a real vehicle including accelerating, decelerating and braking. The results were inspected visually in co-operation with the employer, and they and the fidelity of the model were found satisfactory in the range the model was tested.
A terminal tractor is a working machine that resembles a tractor of a semi-trailer but is designed to move containers in a container port. A simulation model of a terminal tractor driveline and its control was implemented for product development. The simulation model was implemented using Matlab, Simulink and Simscape.
The model consisted of a Diesel engine, an engine control unit (ECU), a torque converter, a planetary transmission, a transmission control module (TCM), a cardan shaft, a final drive and a differential gear, rear axles, tyres, brakes and a chassis. Simscape Driveline blocks were used when possible. Modelling was done according to the data sheets and former studies.
The model was tested in situations similar to moving containers in container port by comparing its output to the data sheets. The test situations consisted of full throttle upshifting, closed throttle downshifting and preselected downshifting. The model was also tested by simulating it using the measurement data from test drives of a real vehicle including accelerating, decelerating and braking. The results were inspected visually in co-operation with the employer, and they and the fidelity of the model were found satisfactory in the range the model was tested.