B0222 - DYNAMICS AND COMPLIANT DESIGN OF ROAD VEHICLES M

Conoscenze e abilità da conseguire

L'obiettivo del primo modulo è fornire conoscenze sulla dinamica del veicolo. A tal fine verranno discussi approcci teorici e numerici, come strumenti che consentiranno agli studenti di prevedere le prestazioni delle auto in termini di dinamica longitudinale, dinamica laterale, maneggevolezza, comfort e stabilità. L'obiettivo del secondo modulo è fornire le basi teoriche e le competenze pratiche necessarie per progettare hardware e firmware embedded conformi agli standard industriali (sicurezza, interoperabilità, manutenibilità). Inoltre, verranno considerati il model-based design e la generazione automatica del codice in ambiente Matlab/Simulink.

Contenuti

Wheel-terrain contact models (10 hours)
Main parameters for 3D tire models (slip, camber, caster and other angles). Deformable tire models. Quarter car model and effect of suspended masses on ride harshness.

Longitudinal dynamics (10 hours)
Performance limits and goals. Powertrain modeling. Torque and power curves. Gear ratios and their optimization. Traction limits. Aerodynamic loads. Simplified numerical models for longitudinal dynamics and component-based software tools.

Handling: lateral and 3D dynamics (10 hours)
Main types of suspension. Kinematics of suspensions. Roll center. Steering architectures and their kinematics.
Geometry of masses. Stability, oversteering and understeering, stability plots.
Numerical models with many degrees of freedom and multibody software tools.

Embedded hardware for compliant systems (2 hr)
Sensing, control, actuation, redundancy, power supply, insulation.

Structured approach to firmware design (2 hr)
V-model, levels of abstraction, validation, verification, documentation.

Implementation: the building system (5 hr)
Source code, preprocessor, compiler, assembly language, machine code, internal operation of the CPU, registers, stack, assembler, linker, optimization.

Software testing and documentation (2 hr)
Unit testing, static and dynamic code analysis, code coverage, process documentation, inline documentation, Doxygen, authoring tools.

Version control systems (2 hr)
Concurrent development, centralized vs. distributed VCSs, SVN, GIT, repositories, update, commit, branching, tagging, merging.

Standards (1 hr)
Standardization organizations, operation, stage codes.

Safety standards (2 hr)
Introduction to safety standards, safety integrity levels, good programming practices.

Coding standards (2 hr)
Motivation, MISRA C, CERT C, Barr Group, rule examples.

Communication protocols (2 hr)
CAN, CANopen, J1939, introduction to industrial communication protocols.

Fixed point ALUs (5 hr)
Fixed point numeric formats, fixed point arithmetic, normalized fractional format, calculations with normalized quantities, examples (Ohm’s law, magnetic flux observer for IMs), TDL calculation structures, µC vs. DSP, fixed point numeric saturation.

Real time computation (2 hr)
Numerical approximation of functions and differential calculus, optimization.

Watchdogs (1 hr)
Timeout watchdog, windowed watchdog, hardware watchdog, independence, best practices.

Bootloaders (1 hr)
MCU vs. FPGA and SoC, MCU booting sequence, interrupt vector table relocation, OpenBLT.

Memory management and protection (1 hr)
Paging, alignment, MMU/MPU, virtual memory, error checking and management.

Testi/Bibliografia

Georg Rill. Road Vehicle Dynamics: Fundamentals and Modeling. CRC press.

William F. Milliken e Douglas L., "Race car vehicle dynamics", SAE Society of Automotive Engineers, 1995, ISBN 978-1-56091-526-3.

PDFs, presentations and other material provided by the teacher.

Metodi didattici

Lezioni in aula ed esercizi con strumenti informatici.

Modalità di verifica e valutazione dell'apprendimento

Esame orale con domande sugli argomenti trattati a lezione e discussione sugli esercizi al calcolatore svolti durante il corso.

Strumenti a supporto della didattica

MATLAB, Simulink, hardware-in-the-loop systems.

Orario di ricevimento

Consulta il sito web di Alessandro Tasora

Consulta il sito web di Carlo Concari