Andersson, A., Nyberg, P., Sehammar, H., and Öberg, P., "Vehicle Powertrain Test Bench Co-Simulation with a Moving Base Simulator Using a Pedal Robot," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 6(1):169-179, 2013, doi:10.4271/2013-01-0410.
To evaluate driver perception of a vehicle powertrain a moving base simulator is a well-established technique. We are connecting the moving base simulator Sim III, at the Swedish National Road and Transport Research Institute with a newly built chassis dynamometer at Vehicular Systems, Linköping University.The purpose of the effort is to enhance fidelity of moving base simulators by letting drivers experience an actual powertrain. At the same time technicians are given a new tool for evaluating powertrain solutions in a controlled environment.As a first step the vehicle model from the chassis dynamometer system has been implemented in Sim III. Interfacing software was developed and an optical fiber covering the physical distance of 500 m between the facilities is used to connect the systems. Further, a pedal robot has been developed that uses two linear actuators pressing the accelerator and brake pedals. The pedal robot uses feedback loops on accelerator position or brake cylinder pressure and is controlled via an UDP interface.Results from running the complete setup showed expected functionality and we are successful in performing a driving mission based on real road topography data. Vehicle acceleration and general driving feel was perceived as realistic by the test subjects while braking still needs improvements. The pedal robot construction enables use of a large set of cars available on the market and except for mounting the brake pressure sensor the time to switch vehicle is approximately 30 minutes.