1. PowerPoint Slide Shows
Here are some links to an automated slide show. View it in total or in parts. You can quit any section by pressing the Escape key
The Whole Show Click here for the full 13-minute PowerPoint show about CarSim. You can escape the show early by pressing the Escape key.
1. The Company Introduction to Mechanical Simulation, the company that provides CarSim
4. Extending CarSim Many CarSim users extend the models and/or controllers using Simulink.
2. Using CarSim This shows the way you use CarSim, choosing data sets, clicking buttons and viewing results.
5. CarSim RT CarSim runs much faster than real time on PCs, making it well-suited for real-time testing with hardware in the loop (HIL).
3. CarSim Math Models This presents the thinking behind the modeling of vehicle dynamics and the choices of measurable parameters and properties.
Sales Information
Doug Orrin (734) Ext. 209
International Sales
Academic Programs
Damon A. Becker
(734) Ext. 212
More Information
CarSim in PowerPoint

2. Simulated Vehicle Testing
CarSim
Narrated by Michael Sayers, Ph.D.
Chief technical officer at Mechanical Simulation
Simulated Vehicle Testing
Easy to Use
Fast
Accurate
Extensible
Inexpensive
Industry Standard
The CarSim Show

3. Mechanical Simulation
Background
Software company specializing in vehicle dynamics
Founded in 1996
Spin-off of UMTRI (Univ. of Mich. Transportation Research Institute)
Core Competencies
Vehicle dynamics expertise
Testing point of view
Making software productive
Full documentation
Extensive real-time support
Who We Are

4. About Mechanical Simulation
Our Products
TruckSim
Heavy trucks and combination vehicles
Dual tires
CarSim
Four-wheeled cars, light trucks, utility vehicles, race cars
With or without trailers
Real-time versions
BikeSim
Motorcycle dynamics
For release early 2005
About Mechanical Simulation

5. Who Uses CarSim / TruckSim
OEM’s (Car and Truck)
Tier 1 and 2 Suppliers
Testing and Research Organizations
Universities
Our Customers
Who Uses CarSim / TruckSim

6. Product Development and Validation
Vehicle and system definition
Production
Vehicle and system performance
Subsystem and component definition
Component testing and hardware in
the loop
Control strategy and software in the loop
Design
When Do You Use CarSim

7. The Parts of CarSim Using CarSim
Graphical database
Surface animator
Engineering plotter
Vehicle math model solvers
The Parts of CarSim
Use the database to define vehicles, conditions, and test results
View results with animation
View engineering plots
Export results to other software
Using CarSim

8. Simulation Graphical User Interface
The database is organized with 150 graphic screens
Each screen accesses a library of data sets
Navigate like a web browser
Use pull-down menus to select data sets from libraries
Screens show data in context
On-line help for all controls
Easy to copy existing data sets and make changes
Past runs are part of the CarSim database
Using CarSim

9. The CarSim Run Screen Using CarSim To make a run:
The left 1/3 of the screen has inputs for the test run
The middle 1/3 has controls for the run
The right 1/3 shows results of the run
The CarSim Run Screen
To make a run:
Start with an existing data set for a similar test
Maybe change the vehicle
Maybe change the driver controls
Maybe change the road
Click the Run button
Using CarSim

10. Viewing Animations Using CarSim Maybe change the camera settings
Maybe overlay another run
Click the Animate button
Using CarSim

11. Animator Using CarSim Automatic setup Simple user interface OpenGL
Highly extensible
Shading, lighting, textures, fog, …
Automatic surface smoothing
Standard Shape Files
STL
OBJ
Using CarSim

12. CarSim Math Models

13. Main Modeling Objectives
Predict vehicle system response to:
Driver steering control
Driver braking control
Driver throttle and shifting control
Road friction and 3D geometry
Air and wind
Tires are very important
Need realistic shear forces and moments from the tire model: Fx, Fy, Fz, Mx, My, Mz
Must calculate realistic input variables for the tire model: a, , , R
Predict transfer of forces to the sprung mass by the suspension
CarSim Math Models

14. Built on 30 Years of Research at UMTRI
Inertia Measurement
Tire Testing
Built on 30 Years of Research at UMTRI
Suspension
Measurement
Modeling,
Algorithms, &
Simulation
Parameter
Measurement
Testing and
Analysis
CarSim Validation

15. System-Level Modeling
Lateral G 10 20
-0.5
0.5 10 20
-20
-10
Yaw rate—deg/s
Road Test
System-Level Modeling
CarSim
Ideal model complexity for chassis control development & proving ground correlation.
Models are computationally stable
Models run real time on PC’s
All model parameters can be measured
CarSim Math Models

16. Parameters CarSim Math Models Simple Properties Measurable
Known to be significant
Shown on screen in context
Dimensions, masses, ratios
Measurable
No need to be a simulation specialist to understand them
CarSim Math Models

17. Nonlinear Properties CarSim Math Models
Represented with tables of measurable quantities
Obtained from lab
Obtained from other software (simulated measurements)
CarSim Math Models

18. 3D Roads CarSim Math Models Simple tabular descriptions
Horizontal, vertical, 3D incremental elevation
Tables are independent
Data from CAD, spreadsheet, GPS, etc.
Mixture of spline and straight-line interpolation
Automatically create shapes for surface animator
Roads can be open-ended or looped
CarSim Math Models

19. CarSim Model State Variables
Dynamic states are defined by differential equations
Math Model of System . X = f
Simulated test conditions
Vehicle Properties
Equation Solver
Raw Output
CarSim Model State Variables
30 multibody states
6 sprung mass DOF
4 suspension jounce / axle roll DOF
4 wheel rotation DOF
Engine rotation DOF
14 Auxiliary dynamic states
8 tire dynamic states
4 fluid states
35 extra states
ABS control
Suspension and steering compliance
Wheel lockup
CarSim Math Models

20. Simulink (add-on to MATLAB) is the “most used” simulation environment
Extend with Simulink
Simulink (add-on to MATLAB) is the “most used” simulation environment
Extensibility

21. Simulink Support / Interface
CarSim math models are available as Simulink S-Function blocks
Use Simulink from CarSim
Use CarSim from Simulink
Extend CarSim with Simulink

22. Import from Simulink to CarSim
160+ Imported variables
Control inputs
Tire/ground inputs
Tire forces and moments
Spring and damper forces
Steering system angles
Driveline torques
Brake torques & pressures
Wind inputs
Arbitrary forces & moments
Variables can be defined in Simulink
Variables can be defined in other software and linked to CarSim with Simulink
Imported variables are added to similar variables “internal” to CarSim
Extend CarSim with Simulink

23. Export from CarSim to Simulink
Exported variables are available for user-defined extensions
560+ exported variables (4-wheeled models)
Position and orientation
Motion variables
Velocities and accelerations
Rigid bodies and force components (springs, shocks)
Forces and moments of most components
Most control variables
All ground and wind information
Extend CarSim with Simulink

24. Real-Time Testing with Hardware In the Loop
CarSim is “the Loop”
Hardware Testing

25. CarSim RT for Hardware in the Loop
Host Machine w. Windows
Database
Animator & Plotter
User Interface
Target Machine w. RT OS
CarSim math models
Hardware-in-the-loop interface
Works with most RT systems
CarSim RT for Hardware in the Loop

26. CarSim RT for Hardware in the Loop
Driving Simulators
Marketing
Research
Training
CarSim RT for Hardware in the Loop

27. CarSim / CarSim RT Comparison
Math models are identical
Same equations of motion
Same fixed-step integrators
Same time steps
Same set of importable (input) variables
Same compatibility with Simulink
Same Database, Animator, Plotter
CarSim RT for Hardware in the Loop

28. CarSim Review The CarSim Show Easy to Use Fast Accurate Extensible
Review
Easy to Use
Fast
Accurate
Extensible
Inexpensive
Industry Standard
The CarSim Show