2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control
INTELLIGENT ACTIVE ROLL CONTROL
SHAUN TATE
1 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control
Production Experience & Awards
Series Production – 12V
BMW 7 Series 2015 BMW 5 Series 2017 RR Phantom 2018 Series Production – 48V
Bentley Bentayga 2015 Audi SQ7 2016 Porsche Panamera 2017 Porsche Cayenne 2017 Bentley Continental 2018 Award‐Winning System
German Innovation Award Vehicle Dynamics International Award Auto Test Sieger PACE Award 2016 2016 2016 2017
Feature to Product Mapping
Stationary Ride Comfort Feature Adaptive Suspension Setup Agility & Stability Conditions Improvement
Control
Response
Clearance Vertical
Acceleration Exit Base Stability
/ Roll Leveling
Acceleration Steering Products ‐ Easy Loading Easy Entry Easy Parking Adapt Ground Adapt Wheel Increase Articulation Load Reduce Acceleration Reduce Lateral Reduce Yaw Adapt Self Adapt Steering Dynamic Body Trailer
iARC
2 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control
Market Trends & Features
Trend 3: Large Trucks/SUVs/Vans for improved comfort and more safety Weight Trend 2: HEV/EV for improved comfort and system availability Vehicle
Trend 1: SUV for improved comfort and agility
Vehicle Center of Gravity
Selling Features Using Schaeffler iARC System
Feature Driving Dynamics Comfort Features ADAS Support L3 / Active Safety
‐
Roll
Into m
Lane Mode ‐ Self Steering Yaw
Ride
Stability Body Tilt
Control Control
Emergency Split Free Speed
Road
Vehicle Class ‐ Stability Active Control Dynamic Steer Off Dynamic Low Smooth Control Active Acc. Enh. Steering Enh. Trailer Dynamic Stabilization Ratio Maneuverability Corner Changes Control
Sports Car
Luxury Sedan / Coupe
SUV
Trucks / Off‐Road Vehicle
3 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control
Dynamic Body‐Roll Control
Passive
Comfort
Sport
► Control body‐roll‐angle relative to lateral acceleration, steering angle input and vehicle speed
► Angle
Enhancing body‐roll‐control performance using roll acceleration, strut accleration or suspension displacement signals Roll ► Supporting different tuning modes Lateral Acceleration m/s2
Adaptive Self‐Steering Behavior
M FA>M RA M FA ► Adaptation of roll‐moment distribution through look‐up tables (e.g. relative to vehicle speed) ► Support of different tunes through mode selections ► Enhanced performance opportunities through integration with ESC by adaptation of roll‐moment‐to‐road‐conditions or stability rating relative to dynamic vehicle reference model 4 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control Improved Ride Comfort & Off‐Road Capabilities ► Reduction of copying behavior through wheel‐force decoupling between left and right ► Increased suspension articulation through reduced‐static‐roll stiffness ► Enhanced dynamic comfort control using wheel acceleration and displacement sensors System Evolution Generation 1 Generation 2 Design 2 November 2015 Launch Bentley Bentayga 1st Generation 48V 1200 Nm 48V Split Gears External ECU 48V Design 3 Design 1 June 2020 July 2015 Launch Generation 2 Launch BMW 7 Series 48V + + 1st Generation 1400 Nm 12V 12V Torque Sensor 900 Nm Elastic Decoupling Unit Torque Sensor External ECU Elastic Decoupling Unit Fully Integrated Modularity Performance Product Cost 5 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control Gen 2 Attributes ► Nominal voltage 48V ► Nominal torque up to 1400 Nm ► CAN, CAN FD or FlexRay Communication ► Power on demand with 90% efficiency ► Integrated torque sensor (optional) ► Road disturbance rejection up to 12 Hz ► Integrated decoupling device (optional) ► Plug and play / maintenance free ► ø 91 x 311 mm (without bars) ► Total weight 12 kg + roll bars Harness to ECU Torque Sensor Housing Brushless DC Motor Angle Sensor Planetary Gear Sets Decoupling Unit Stabilizer Bushing Stabilizer Bar Top Level Control Strategy Body Roll Agility & Handling Lateral Acceleration Roll Torque Torque Roll Steering Angle Distribution Vehicle Speed Front Rear Torque Torque iARC Front iARC Rear Front Rear Speed & Speed & Wheel Angle Angle Motion Wheel Disturbance Acceleration Observer Comfort 6 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control Simulation Environment Vehicle Level Subsystem Level Vehicle / Chassis Driving Maneuver Linear, non‐linear, … Constant Radius, Double Lane Change, … Teamwork Tire Driver Type Chassis Systems Pacejka, F‐Tire, … economic, sport, … iARC, iRHA, iRWS… Chassis Controller for Simulation Low & High Level Controller Simulation Vehicle Data Test Rig Converter Verification Conversion of K&C Data for K&C analysis in Kinematic & Compliance (K&C) Model CarMaker™ 7 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control Simulation Example Passive Vehicle iARC Vehicle Simulation Example Oversteer Understeer 8 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control Simulation Example Passive Vehicle iARC Vehicle Simulation Example Passive Vehicle iARC Vehicle 9 2018 Schaeffler Symposium 9/6/2018 Intelligent Active Roll Control 10