Vehicle Driveline and HEV Tutorials GT-SUITE

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GT-SUITE

Vehicle Driveline and HEV Tutorials

VERSION 7.4

by

Gamma Technologies

All information contained in this manual is confidential and cannot be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without

the express written permission of Gamma Technologies, Inc.

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Address: 601 Oakmont Lane, Suite 220 Westmont, IL 60559

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8:00 A.M. to 5:30 P.M. Central Time Monday - Friday

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TUTORIAL 1: Dynamic In-Gear Acceleration

This tutorial has been prepared to assist a new user of GT-ISE for vehicle and driveline applications by giving step-by-step instructions for building a simple driveline model. It is recommended that one reads the description of each object and attribute from the Vehicle_Driveline_and_HEV reference manual or the online help while entering the data for that object. The final output of Tutorial 1 is a simple vehicle model that will run a dynamic acceleration from 60km/hr to 100km/hr in fourth gear.

Launch GT-ISE: If working on a PC, double click on the GTise icon. If an icon has not been created, one can map a new icon pointing to $GTIHOME\Vx.x.x*\GTsuite\bin\GTise.exe. From UNIX or PC, one can also launch the program by typing "gtise" at the command line. Once the program has started, a blank window will be created.

1.1 Creating a New Project Map

Select File\New\GT Project map. A dialog window entitled "Create New Document with Pre-Loaded Templates" will appear. Select GT-SUITEmp, then Vehicle and HEV Fuel Economy & Performance and click Finish. This will load the standard templates necessary for these tutorials into the project (this is necessary in order to use them to create objects and parts). Then select File\Open and go to the

$GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\01-DynamicAccel directory and open the "DynamicAccel-begin.gtm". This file contains some maps that are necessary for the simulation. Select Window\Tile vertically. Within the "DynamicAccel-begin.gtm" model, expand the

"XYZMap," "FrictionCoulomb," and "FrictionStaticConstr" references in the project library, as shown below.

Template Library Project Library Project Map

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Drag the BMEP-map, BSFC-map, and FMEP-map from "DynamicAccel-begin.gtm" to the new project library. Also drag the Coulomb and Lock-5RPM friction objects into the new project library. Once the data has been dragged into the new document, "DynamicAccel-begin.gtm" can be closed.

The basic idea in GT-ISE is that templates are provided which contain the unfilled attributes needed by the models within the code. Objects are created from the templates by defining the template's attributes.

When component and connection objects are placed on the project map, they become parts. In this architecture, templates can be used to make multiple objects and objects can be used to create multiple parts. These objects and parts may also call reference objects which contain data that is common to multiple component objects (e.g. material properties, etc.). At this point there are a few reference templates in the project and are those which describe the transmission and engine performance maps.

1.2 Defining Objects

Before starting to build the drivetrain model, select File\SaveAs and save the project. Save the file as

$GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\01-

DynamicAccel\DynamicAccel. Maximize your project window so that the main Template Library is no longer visible. The first step in building any drivetrain model is to define the propelling torque of the drivetrain. This is done through the use of the 'EngineState' template which defines a map-based engine.

The maps describe various outputs like Brake Power, fuel consumption and emissions as a function of engine speed, accelerator position and BMEP. There are already several 'XYZMap' objects defined (e.g.

BMEP, FMEP, and BSFC). These maps will be referenced from the 'EngineState' object we create.

Double click on the 'EngineState' template and name the object "Engine". Fill in the attributes with the following values:

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The engine type and displacement defined in the "Main" folder are used in conjunction with the

"Mechanical Output Map" to convert BMEP into torque and vice-versa. The minimum operating speed defines the lowest speed the engine can reach before stalling. This also represents the lower most speed point that must be included in any of the engine performance maps. The fuel density is used to convert fuel consumption values to volumetric units and the heating value is used to determine the energy generated by the fuel.

The attributes in the "State" folder are filled as shown below. The only maps required for this simulation are the "Mechanical Output" and "Fuel Consumption" maps.

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There are two ways to select a reference object for a particular attribute. The first way is to simply type in the name of the reference object. An important item to remember is that the reference object names are case sensitive, so the name must be typed exactly as it is displayed in the object tree. The second way is to select right-click in the particular attribute cell and select "Value Selector…" from the pop-up menu.

The "Value Selector" dialog box contains detailed information about the types of data that can be entered into that specific attribute. In this dialog, there is a list of available reference objects that can be selected instead of typing the name directly in the cell. Using this method is preferred since it eliminates typing errors. Also note that the "Value Selector" can be reached by left clicking on the gray box in the right side of the attribute field.

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Note: When you enter the names of the Maps in the "State" and "Secondary Maps" folders the text turns green indicating that a hyperlink has been created. By double-clicking on the hyperlink, GT-ISE will open the underlying 'XYZMap' reference object. If this reference object has not yet been defined, then double-clicking on the hyperlink would allow you to create a new one. You will be able to choose from a list of allowed reference objects for that particular attribute.

The "Emissions Maps" and "Friction Correction" folders attributes are pre-filled with "ign" indicating these attributes should be ignored and are not required for this simulation. These two folders contain optional analysis considerations for emissions and corrections to the results based on engine friction as a function of temperature. Finally, select the "Mechanical Output Map Plot" from the Map Plots folder to request that the plot be created and output. Then select the "OK" button to save and close the 'EngineState' template.

After we have defined our map based engine using the 'EngineState' template, we can now define the engine/transmission coupling using the 'ClutchConn' object. Double-click on the 'ClutchConn' template and enter the following attribute values.

The next component to model is the transmission. We will use the 'Transmission' object to create a 5 speed manual transmission. Enter the values in the two folders with the following data

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Because we want to simulate acceleration from 60km/hr to 100km/hr we have selected fourth gear.

The 'VehicleBody' template contains data regarding the vehicle body, suspension and some component locations. Double click on the 'VehicleBody' template and enter the attributes with the following values:

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Because we want the vehicle to reach 100km/hr we are interested only in the results up until the vehicle reaches 100 km/hr. To optimize the simulation we use the "Halt Simulation" folder and enter 100 km/hr as the vehicle speed to halt simulation.

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After the 'VehicleBody' is finished we can move on to defining the drive shaft. Double click on the 'Shaft' object and enter the attributes as follows

Next we will define a 'Differential' for the vehicle. Select the 'Differential' component, double click on it and enter the following data into it

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The axles for all four wheels of the car are the same, even though only two of them will be powered. So, we will define only one axle and make multiple copies of it to use in the model. Double click on the 'Axle' component and enter the values as shown below

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The wheel-road interface is defined by the 'TireConnRigid'. We can create this link by double clicking on the 'TireConnRigid' template and entering the values as follows,

The final component we need to define is the environment. The 'VehicleAmbient' describes the air properties, used in the drag force calculation.

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1.3 Placing and Linking Parts

It is now time to place parts on the project map and connect the components together. Click and hold on the 'EngineState' object named "Engine" and drop it on the middle left side of the map. Repeat this with the items listed, in the order listed, from left to right:

Clutch, Transmission, DriveShaft, Differential, Car, Axle, Tire, Env, Road(def)

When placing templates on the map, some icons will be initially placed in different orientations or the icons may differ from the ones shown below. To change a part icon on the map, right click the part, select

"Choose Part Icon", and select an image. This option is not available for all templates. To change the orientation of the icon, right click the part, select "Rotate/Invert Icon(s)", and select an action.

Bring three additional Axle and Tire parts to the map to complete the vehicle. Re-size and position the parts so that it looks similar to the figure shown below. To turn the grid on and off go to View\Grid.

It can be seen that, when a part is dropped onto the map, it is renamed with a "1" at the end. Whenever a part is used more than once, this number is appended for each case. This can be seen in the 'Tire' and 'Axle' parts in this particular model. It must be noted that, the parts that are repeated on the map are renamed to something that is representative of their location. For instance, the 'Axle' parts when placed on the map would have been names "Axle-1", "Axle-2" etc. They have now been renamed depending on their location on the driveline as "Axle-FL" (Front Left) or "Axle-FR" (Front Right) and so on. Now right click on the empty part of the map and select "Create Link Mode". Once this is done the mouse pointer turns into crosshairs. Now start connecting the parts that we have placed so far till the map looks like the diagram shown below. In order to displace elements and connections for display purposes, go back to the

"Select mode". Note that the name of the connections does not have to be identical to the picture below because the name will depend on the order of which the connections are created.

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Another important aspect is the port number. The port numbers are the light grey numbers next to the parts after a connection is made. Make sure that the port numbers are identical to the figure. If not, these can be changed by double clicking on the link. Double click on a link going into one of the 'Axle' parts from the connected 'Differential' part. This will open up the following dialog box.

The Link dialog is available for every component, primitive or compound. The title of the dialog will indicate the part name of the particular component. The dialog box will have three columns for each possible port that the link can enter or exit the part. The first column gives the port number, the second gives the port name, and the third tells one whether or not that port is required for the simulation to run.

This dialog box indicates that the Axle can have three possible connections namely, the driveline (port 0), the wheel/brake (port 1), and the bearing (port 2). We want to connect the 'Differential' to 'Axle' through the driveline. This is achieved automatically when the connection is made from the 'Differential' to the 'Axle'.

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As a final step, we make a connection between the 'VehicleBody' object to the 'EngineState' object. You will notice that, the automatic connection is the 'PointerConn'. This tells the solver which engine is connected to which vehicle, which is vital while running more complicated models.

1.4 Run Setup/Case Setup

Once the model is fully built, information still has to be entered to describe the simulation type and the values that should be output. Most of this is accomplished through selections under the Run menu. To begin, select Run\Run Setup. A total of seven folders are inside Run Setup and several of them have values that are required in order to run the model. One folder to fill is the "TimeControl" folder. Click on the appropriate folder and enter the values as shown below.

Click on the "Initialization" folder and set the attribute "Initialization State" to "user_imposed". Now go to Run\Output Setup. Under the General folder change the "Legend for Plot Header" as follows:

Turn on the “Vehicle Energy Use and Loss Plots” as shown. This plot will display all the losses in the vehicle while it is running.

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Click OK and return to the project map. Now double click on all the parts on the map and turn on all plots. The "Plots" folder is always the last selectable folder in every part on the map.

Go to the Run menu then select Start Simulation or click on in order to run the simulation. Then, open GT-POST using the Run menu or by clicking on .

Refer to the GT-ISE and GT-POST manual for details related to post processing.

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TUTORIAL 2: Dynamic Mode with Driver

In this tutorial we will modify the model created in tutorial 1 to include actuation of the accelerator and brake pedals. This tutorial will run the model through an acceleration event for 30 seconds and then it will run a braking event for the next 10 seconds. Select File\Open and go to the

$GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\01-DynamicAccel directory and open DynamicAccel.gtm previously created. If you skipped tutorial 1 then you can open DynamicAccel-final.gtm instead.

2.1 Defining Objects

Before continuing further, select File\SaveAs and save the project. Save the file as

$GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\02- DynamicWithDriver\DynamicWithDriver.

Open the $GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\02- DynamicWithDriver\DriverProfiles.gtm file Select Window and then Tile Vertically. Then drag all the reference objects into DynamicWithDriver. These objects contain both time and normalized profiles of accelerator, brake and clutch actuator positions. These profiles will be used by the 'VehDriver' part to operate/control the 'EngineState' and 'VehicleBody' parts. Also drag and drop the 'XYZmap' which is named "BrakeMap" from the project library to the current project library. Close DriverProfiles.gtm and maximize your DynamicWithDriver project window. Maximize your project window so that the main Template Library is no longer visible. We can now begin defining the extra objects we need to complete this tutorial. First we define a brake component that will act on all four wheels. We can use different size brakes for different axles, but for simplicity we will use just one in this model. Double click on the 'Brake' component and enter the data as shown. Click OK when finished.

Double click on the 'VehDriver' template and name the object "Driver". Fill in the attributes with the following values:

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The 'VehDriver' component is used in dynamic simulations to function as the master control over all of the input attributes of the system, like the accelerator, clutch and brake pedal positions. The 'VehDriver' is also used to select gears when controlling a manual transmission. We will now define the shifting strategy. Go to the "Gear Shift" folder and right click and select

"Value Selector". Double click on 'TransShiftStgyRPM'.

Now we have to define the Engine RPM at which each of the gear shifts will take place. Click on the 'Gears' folder of the reference object and enter the values as shown in the figure below. When you are done, click OK to close out of the 'TransShiftStgyRPM' and click OK to close out of the 'VehDriver'.

Now we can revisit the 'EngineState' object. Go to the 'State' folder. In a dynamic simulation the engine load is specified and the response of the vehicle is calculated. Therefore any speed attributes in the model represent the initial conditions. Once the simulation has begun, all of the speeds in the system are calculated. For this model we set the initial Engine Speed to 950 RPM.

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Before we continue, we need to change a few values in the "Car-1" part. Open up "Car-1" and click Edit Object. Then change the "Initial Vehicle Speed" from 60 to 0. Then go into the "Halt Simulation" folder and change "Vehicle Speed to Halt Simulation" from 100 to "ign."

2.2 Placing and Linking Parts

It is now time to place parts on the project map and connect the components together. Place four brake components next to each of the axles and make connection between the corresponding brakes and axles.

Take care to ensure that each brake links to port 1 of the connected axle. The model should look as below:

Next, for making the model clutter free, we will now introduce something called a SubAssembly. This allows us to select a number of parts and put them together in a different folder and have a representative block on the main screen. For achieving this, select the parts "Transmission-1", "DriveShaft-1",

"Differential-1", "Car-1", "Road", "Environment-1", all four 'Axle', 'Brake', and 'Tire' components along with all the connecting parts between them. Multiple selections can be made using the Control key. After selecting all the parts right click on them and select "Create Subassembly".

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After clicking on the "Create Subassembly" button, the map should look similar to the figure shown below.

Double Click on the "Assembly" folder on the upper left part of the window and re-name it to "Vehicle".

The subassembly icon may be changed by right clicking the subassembly and selecting "Part Display Settings/Choose Icon". Select "Choose GTI Image", and select "Car.jpg". Now, resize the subassembly and move the parts around re-shaping parts as needed so that the map looks similar to the figure shown below.

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Now that the vehicle is properly configured, it is possible to add the 'Driver' object to the map. Drag the 'Driver' and drop it above the vehicle subassembly. A number of signals will be connected between the driver and the vehicle, to specify accelerator and brake positions, as well as gear number.

To connect the 'Driver' we will need to add a series of connections within the Vehicle subassembly.

Double click on the Vehicle subassembly to enter it. We will now add several 'SubAssInternalConn' parts so that we can link the main window to parts in the subassembly. Drag and drop a 'SubAssInternalConn' part near the "Car-1" part and three 'SubAssInternalConn' parts near "Transmission-1". Next, make a connection between "Car-1" and its nearest 'SubAssInternalConn'. Additionally, connect the three remaining 'SubAssInternalConn' parts to "Transmission-1", as shown below. You will notice that these connections are dashed rather than solid. This is due to the fact that they are incomplete connections.

Re-enter the main project map by clicking on the "Main" folder at the top. To begin with, make a connection from the 'EngineState' to "Driver-1". Make sure that the connection is sensing engine speed, and the input to "Driver-1" is 'Tachometer reading'.

To sense the vehicle speed, make a connection between the "Vehicle" subassembly and "Driver-1". The following dialog will open up.

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Click on "Car-1 [VehicleBody]" and then click on "OK". This will open a second dialog, which will ask for which quantity you want sensed and what the driver is sensing.

Click on "Vehicle Speed" and "Vehicle Speed (Speedometer)" and hit "OK". You will notice that a 'SensorConn' will automatically appear. Now, make two more connections between the "Vehicle"

subassembly to "Driver-1". Make sure that they are connected through the ports that specify the "Gear Number"/"Initial Gear Number and the Shift Indicator". You will notice that for each of these connections a 'SensorConn' will automatically appear.

Now, make a connection between "Driver-1" and the 'Vehicle' subassembly. Select "Requested Gear Number" for both ports and an 'ActuatorConn' will automatically appear. Now that we have defined a driver, we need to reset the initial gear number. Click on the Vehicle folder to enter the subassembly, double click on the "Transmission-1" object. Click on the "Edit Object" button, and change the

"GearNumber" attribute from 4 to 1. Now hit "OK" and come back to the main folder. At this point, the map will look similar to the diagram shown below. Once again, make sure all port numbers are identical to the ones shown.

Now make two connections from "Driver-1" to the 'EngineState' and 'ClutchConn'. Make sure that the connections are "Accelerator Position" to the 'EngineState' and "Actuator Position" to the 'ClutchConn'.

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Now, double click on the 'ReceiveSignal' template and enter "DriverSignal" for the object name. Then enter "BrakePedalPosition" in the "Signal Description". Select the value selector for the "Signal Name or RLT Name" and navigate to "VehDriver". Within the "Main" folder of "Driver-1" select "Brake Pedal Position" and hit OK. Go into the 'Vehicle' subassembly and drag and drop four "DriverSignal" objects on the map. Connect a "DriverSignal" to each of the 'Brake*' parts as shown below. Select the Link ID associated with "BrakePedalPosition".

At this point of time the map should look similar to the figure shown below.

2.3 Run Setup/Case Setup

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Once the model is fully built, information still has to be entered to describe the simulation type and the values that should be output. Most of this is accomplished through selections under the Run menu. To begin, select Run\Run Setup. Set the "Maximum Simulation Duration" under the 'Time Control' folder to 40s.

Next, select Run\Output Setup. A total of five folders are inside the Output Setup and several of them have values that are required in order to run the model and analyze the results. In the General folder, type the following label to describe the model and type of simulation being performed. Then hit the enter button to load the attribute.

Click "OK" and return to the project map. Now double click on all the parts on the map and turn on all plots.

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TUTORIAL 3: Dynamic Driving Cycle

In this tutorial we will modify the model created in tutorial 2 to run a complete driving cycle in dynamic mode. This tutorial will run the model through the FTP75 driving cycle to calculate fuel consumption

and emissions. Select File\Open and go to the

DynamicWithDriver directory and open DynamicWithDriver.gtm previously created. If you skipped tutorial 2 then you can open DynamicWithDriver-final.gtm instead.

3.1 Defining Objects

For this tutorial we will first need to modify some existing objects, define new ones and copy several existing 'XYZPoints' objects into our project. Before we do this we should save our new model. Save the file as $GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\03-

DynamicDrivingCycle\DynamicDrivingCycle. Open the

DynamicDrivingCycle\DynamicDrivingCycle-RawData.gtm file. Select Window and then Tile Vertically. Then drag all of the 'XYZPoints' objects from the RawData project library into the DynamicDrivingCycle project library. These objects contain scattered x,y,z data points, where the x and y axes are engine speed and load, for various emissions quantities of the engine. Close DynamicDrivingCycle-RawData.gtm and maximize your DynamicDrivingCycle project window.

Now we can revisit the "Engine-1" 'EngineState' part. There are several modifications we need to make.

Double click on the "Engine-1" part, then click on the Edit Object button and modify the attributes as shown below.

We have changed the Fuel Consumption Map Object to reference a 'XYZPoints' object containing scattered fuel consumption data. With the 'XYZPoints' reference objects, there are additional steps taken by the solver to pre-process the data and convert it into a map for lookup during simulation. The data is interpolated and normalized to fit the domain defined by the Mechanical Output Map. For this reason it is always important that the data points in the 'XYZPoints' objects extend over the entire engine operating range. This will increase the quality of the interpolated maps. If little data is provided along the

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boundary of the operating range, erroneous values may be introduced as the solver attempts to extrapolate internal points to define the boundary.

As an additional note, the 'XYZPoints' reference objects have their "Action Outside Range" object values set to "endpoints." This will avoid potential errors due to data points not lying within the operating range.

We will also add some work specific emissions data to our model. Finally we want to select plots showing the normalized maps generated for each of the scattered data sets we included.

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Click OK to save the changes and exit out of the 'Engine' object. Now we have to make changes to the 'Driver' object. Double click on the "Driver-1" part, then click on the Edit Object button and modify the attributes as shown below.

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The rest of the attributes can be left as previous. We can set the accelerator and brake pedal positions as zero because they will be externally actuated by the 'ControllerVehicle' object which we will define next.

Double click on the 'ControllerVehicle' template in the template library under Controls Components and name it "Controller" and change the following attributes. The 'ControllerVehicle' will automatically recognize certain attributes which are important in calculating the pedal positions necessary to follow the driving cycle as long as the "Automatic Model Recognition" box is checked. This will reduce the number of attributes that need to be entered. By checking the "Display Performance Monitor" box, a performance monitor will be shown at runtime that displays the actual vehicle speed against the target vehicle speed, as well as the accelerator and brake pedal positions.

In this tutorial, we will use the 'ControllerVehicle' to target the FTP75 driving cycle. Right click in the

"Target Speed" attribute and enter the Value Selector. The following dialog box will show up. Select FTP75 which is available in the GT-SUITE Library tab and keep the link as an Implicit Link to Template Library Object. Click OK. The rest of the attributes will be left default. Click OK to finalize the changes to the "Controller" object.

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One last object needs to be defined to run a dynamic driving cycle. Also under Controls Components, double click on 'ICEController'. The 'ICEController' is a dynamic engine controller that is used for idle control, fuel shutoff and interface with other controllers to determine engine start/stop conditions. In this tutorial, we will only be using the idle control and fuel cut capabilities of the 'ICEController'. Name the object "ICEController" and fill in the following attributes as shown below.

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Click OK to finalize the changes to the 'ICEController' object.

3.2 Placing and Linking Parts

Drag one "ICEController" object to the map as well as one "Controller" object. Place the "ICEController"

object between "Engine-1" and "Driver-1". Place the "Controller" object above "Driver-1". Each of these controllers requires several input signals to operate correctly. First, delete the link between the 'Engine-1' and "Driver-1" that defines the accelerator pedal position by deleting the ActuatorConn. Drag a default ControlConn (from Controls Connections) to the map and place it between the "Driver-1" and the

"ICEController-1". Similarly, drag an ActuatorConn to the map and place it between the "ICEController- 1" and "Engine-1".

Create a link between the SensorConn that is sensing the Engine Speed and connect it to port 1 of

"ICEController-1". Next create a link from "Driver-1" port 1 to the default ControlConn and from the ControlConn to "ICEController-1" for the accelerator pedal position. Create an output link from the

"ICEController-1" to the ActuatorConn and from the ActuatorConn to "Engine-1" for the Engine Accelerator Position. The map should now look as shown below.

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Next we will create the necessary links for the "Controller" part. This will require creating two 'SubAssInternalConn' in the "Vehicle" subassembly. Double click on the "Vehicle" subassembly and connect one 'SubAssInternalConn' to "Transmission-1" and a second one to "Car-1". Navigate back to the main screen and create a link between the "Vehicle" subassembly and "Controller-1". Select

"Transmission-1" [Transmission] in the Inter Assembly Connection. Select the ports to define the transmission gear ratio, as shown below.

Create the second link between the "Vehicle" subassembly and "Controller-1". Select the ports to define the actual vehicle speed, as shown below.

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The last input signal that "Controller-1" needs is the engine speed. Connect the engine speed sensor coming from "Engine-1" to the appropriate port on "Controller-1". Now we can take the pedal position output signals from "Controller-1" and connect them to "Driver-1". Create a link between port 1 of

"Controller-1" and port 5 of "Driver-1" (under the Pedal Positions folder) as shown below.

Create the similar link for the brake pedal position. The project map should now look as shown below.

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3.3 Run Setup/Case Setup

In General under Run\Output Setup folder, enter the following title to describe the model and type of simulation being performed.

Also under RLT-Output change the "RLT Update Interval" to "1" and increase the "Maximum Time RLT Data Storage Points" to 2000. Another important change to be made is in the "TimeControl" folder of Run Setup. In this folder, change the Maximum Simulation Duration to 1874 seconds, so that there is enough time to run the entire Federal Test Protocol (FTP75) cycle.

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TUTORIAL 4: Torsional Drivetrain Analysis

In this tutorial we will modify the model created in tutorial 3 to run two separate cases: one that is identical to the case run in tutorial 3 (following an FTP75 driving cycle) and one that will go through a fourth gear "tip-in" procedure with torsional drivetrain components. This tutorial will show how to model torsional drivetrain components and how they affect results. In addition to torsional drivetrain components, we will add slipping abilities to the tires. These are minor and simple changes in models that are often implemented to increase model fidelity, when applicable.

This tutorial is also intended to introduce parameters and Case Setup, which are used very often within GT-SUITE to easily vary an attribute value in a sweep to study how it can affect a particular model's results.

A tip-in maneuver refers to a sudden opening of the throttle. For our second case, we will use torsional drivetrain components and slipping tires. We will impose an accelerator pedal position that will be at a low value for 0.5 seconds (15% for this tutorial) and suddenly change to 100%. The torsional drivetrain components and slipping tires will have an effect on the response of the vehicle, and particular focus is paid to longitudinal acceleration. More in-depth studies can be done using complex models; however, this tutorial is intended to act as an introduction to modeling torsional components.

Select File\Open and go to the

DynaicDrivingCycle directory and open DynamicDrivingCycle.gtm previously created. If you skipped tutorial 3 then you can open DynamicDrivingCycle-final.gtm instead.

4.1 Defining Objects

First, save the file as $GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV

\04-TorsionalDrivetrain\TorsionalDrivetrain.

Creating and adjusting parameters, which are attributes that can be changed within a model to maintain simple model functionality with small differences, is a very useful tool within GT-SUITE. Any attribute entered within square brackets will become a parameter and gets promoted to Case Setup. This allows us to run different cases for different values of this attribute. We will define these values later in the Case Setup. In Case Setup, one can define cases where the parameter values are swept.

In order to run the two very different cases described above, we will need to parameterize many of the values throughout the model. First, go to the 'Engine' object on the map and click on the Edit Object button. Under the "State" folder, change the "Initial Speed" attribute from "950" to

"[Engine_Init_RPM]". When prompted by a dialog box, accept the defaults and click "OK".

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Then, go to the "Controller" object on the map and click on the Edit Object button. Change the

"Controller Mode" attribute from "Speed_Targeting" to "[CTRLMODE]", "Target Speed" attribute from

"FTP75" to "[Drive_Cycle]", and "Accel Pedal Position" from "ign" to "[Imposed_Accel_Pedal]".

Next, edit the "Driver" object. Under the "Gear Shift" folder, change the "Gear Number" attribute from

"RPMstrategy" to "[Driver_Gear]".

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Inside the Vehicle subassembly, go into the 'Transmission' object on the map and click on the Edit Object button. Change the "Gear Number" attribute from "1" to "Gear_Init" and "Initial (Output) Speed"

from "def" to "Trans_Out_Init_RPM".

Edit the 'Axle' object by changing the "Initial Speed" attribute from "def" to "[Axle_Init_RPM]".

Edit the 'Differential' object by changing the "Initial (Ring) Speed" attribute in the "States" folder from

"def" to "[Axle_Init_RPM]" as well.

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Edit the 'Car' object by changing the "Vehicle Initial Speed" attribute from "0" to "[Vehicle_Init_Speed]".

A simple way to model slipping tires without changing the type of tires that are on the map is to make the following changes to a 'TireConnRigid' template. To make these changes, open a 'Tire' object on the map and click the Edit Object button. Change the "Friction Coefficient Limit" from "ign" to "0.8" and check the "Simple Tire Slip Model" attribute. For our fourth gear tip-in procedure, there will most likely not be any effects of tire slip because the vehicle will have a fairly high initial speed. Tires that have slipping abilities are more likely to affect vehicle models at low speeds and would be applicable in Tutorial 2 where there is a launch event from rest.

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In order to model our torsional drivetrain elements, we will need to import a new template and a new reference object into our project library. Click on the Libraries tab in the lower left corner or go to Window -> Tile With Libraries and use the search box in the toolbar to locate the 'TorsionConn' template and 'ShaftProp' reference object. Import the templates into your project by dragging them from the template library to the project library after double clicking each in the search results. The new reference objects should now appear in the project library. After confirming they are in the project library, maximize the project window so the template library is no longer visible. We will create new objects for each of the new templates that we recently imported.

Double click on the 'ShaftProp' template in the template library and name the object "AxleShaftProp" and fill it with the following attributes.

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Next, find the 'TorsionConn' template and double-click on it to create a new object. We will create two different objects using the 'TorsionConn' template, one of which will model the torsion in the driveshaft, while the other will model the torsion in the axles. Name the first object "AxleTorsion" and fill it with the following attributes.

Name the second object "DriveshaftTorsion" and fill it with the following attributes.

Next, find the 'ProfileTransient' reference object in the project library and double-click on it. Name this reference object "Tip_In". This reference object will define the accelerator pedal position for our tip in case (second case). Fill in this reference object with the following information. In the "Options" folder, be sure to change the "Lookup Method" from "interpolate-linear" to "use-lower-value".

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4.2 Placing and Linking Parts

On the map, delete the 'RigidConn' connecting the 'Transmission' object to the "Driveshaft" object.

Replace this connection with a "DriveshaftTorsion" part. Connect the output shaft of the transmission to the "DriveshaftTorsion" and then connect that to the "Driveshaft" part.

Then, delete the two 'RigidConns' connecting the 'Differential' object to the "Axle-FR" and the "Axle-FL"

parts. Replace each of these connections with and an "AxleTorsion" part. On each side of the 'Differential' part, create a link from the 'Differential' part to the "AxleTorsion" part. Then, add and another link from the "AxleTorsion" part to the 'Axle' part.

The Vehicle subassembly should now look as shown below. The Main map should not have been changed.

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4.3 Run Setup/Case Setup

Select Run\Output Setup. In the Legend folder, enter the following sentence to describe the model and type of simulation being performed.

Enter the Run\Run Setup menu and change the "Maximum Simulation duration (Time)" from "1874" to

"[Sim_Time]".

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Next, enter the Run\Case Setup menu and append a case. Then, enter the values for each of the parameters as displayed below. Careful! The values that are highlighted in pink cannot be explicitly written in; they must be placed in using an equation, which will be described below. In addition to the equations, further explanation of these terms and their values can be found below.

Notice that in Case 1, we can define the initial speeds of the transmission output and the axles as 'def';

however, we cannot use 'def' to define these initial speeds in Case 2 due to the torsional connections in the model. When using rigid connections, we can simply put 'def' for most initial speeds. When this

happens, the solver automatically calculates its initial angular velocity based on the initial angular

velocities of parts that are rigidly attached to them. When using torsional connections, we cannot use 'def' to define the initial speed of rotating parts because a deformable shaft does not require the angular

velocities of each side to be equal at all times. For further details on this subject, please see the "Vehicle Driveline and HEV Application Manual" which can be found at Help -> Manuals -> Modeling

Applications -> Vehicle_Driveline_and_HEV.pdf.

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For the three values that are shaded in pink, please insert the equations found in the following table.

These equations can be derived from the kinematic relationships between a vehicle and its driveline components (please note that the 300 in the equations refers to the tire radius, 300 mm). Be sure to check that after these values are input that the numeric values match that of the figure above.

Parameter Case # Equation

Axle_Init_RPM 2 =[Vehicle_Init_Speed]*1000/(60*2*PI()*300/1000) Trans_Out_Init_RPM 2 =[Vehicle_Init_Speed]*1000/(60*2*PI()*300/1000)*3.2

Engine_Init_RPM 2 =[Vehicle_Init_Speed]*1000/(60*2*PI()*300/1000)*3.2*1.029 The final item before running is to request plots. For Case 1, it is recommended to view the vehicle speed, gear number, engine speed, engine fuel rate, and engine brake torque. For case 2, we recommend viewing the plots from the 'TorsionConn' parts, the vehicle acceleration, and the engine speed, load, and torque plots. Next go to the Run menu then select Start Simulation or click on in order to run the simulation. Open GT-POST using the Run menu or by clicking on . Refer to the GT-ISE and GT- POST manual for details related to post processing.

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TUTORIAL 5: Dynamic Hybrid Electric Vehicle

In this tutorial we will modify the model created in tutorial 3 to model a Hybrid-Electric Vehicle (HEV).

This tutorial will run the model through three separate cases. The first case will be a simple engine start from rest with the vehicle stationary using the 'ICEController'. The second case will be a regenerative braking event with the engine off. The last case will be an electric launch event, where an electric motor will propel the vehicle from rest with the engine off. Select File\Open and go to the

DynamicDrivingCycle directory and open DynamicDrivingCycle.gtm previously created. If you skipped tutorial 3 then you can open DynamicDrivingCycle-final.gtm instead.

5.1 Defining Objects

For this tutorial we will first need to modify some existing objects, define new ones and copy several existing 'XYZMap' and 'XYTable' objects into our project. Before we do this we should save our new

model. Save the file as

DynamicHEV\DynamicHEV. Open the

DynamicHEV\DynamicHEV-VehicleData.gtm file. Select Window and then Tile Vertically. Then drag all of the 'XYZMap' and 'XYTable' objects from the VehicleData project library into the DynamicHEV project library. Close DynamicHEV-VehicleData.gtm and maximize your DynamicHEV project window.

First, we will define a 'Battery' object. Double click on the 'Battery' template under Electromagnetic Components. Fill out the attributes as shown below and then click OK to save the changes.

The 'Battery' uses an open-circuit voltage model for its State of Charge model. The open circuit voltage and internal resistance is defined as a function of battery state of charge and battery temperature.

However, in this tutorial we will not use the internal battery thermal model. Fill out the attributes for the

"SOC Model" folder as shown below.

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Next, we will define the electric machines. For this tutorial, we will model the traction motor and

generator as identical components. Double click on the 'MotorGeneratorMap' template and name the new object "Motor". Fill out the attributes as shown below.

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Next, create a duplicate 'MotorGeneratorMap' object but name it "Generator" instead.

5.2 Placing and Linking Parts

Before creating any new parts, we will first delete some parts that we no longer need. First, delete the

"Controller-1" part and any associated SensorConn and ControlConn parts from the main project map.

Next, enter the Vehicle subassembly. Delete the unlinked 'SubAssInternalConn' which is connected to

"Car-1". Leave the unlinked 'SubAssInternalConn' which is connected to "Transmission-1" as it will be used in a later step. Double click on "Car-1" and parameterize its initial speed by changing the attribute

"Vehicle Initial Speed" from 0 to [initvehspd].

Re-enter the main project map. We are now ready to add the new parts and associated controls to make them work properly. Drag and drop one "Motor", "Generator", and "Battery" object to the map as shown below.

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Connect "Motor-1" to the "Vehicle" subassembly. By default, the connection will go to the input shaft of the transmission. This is what we desire, so that we can add electric assist at this point in the drivetrain.

Similarly, connect "Generator-1" to "Engine-1". Change the port number on the connection to "Engine-1"

to 1. To connect the motor and generator to the battery, create a new object called "Sum" as shown below.

Add "Sum" to the project map and place it between the electric machines and battery. Connect both

"Generator-1" and "Motor-1" to 'Sum-1' by sensing the electrical power of each machine (port 5). Then output the sum to "Battery-1" and select the Power Consumption port. The map should now look as below.

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Next, create a 'Signal Generator' object as shown below. When prompted for a unit selection, select "No Unit."

Drag the "EngineOnOff" object to the project map and place it to the left of the "IceController-1" and connect it with a ControlConn to the "Engine Ignition State" port. Using this port of the "IceController-1"

allows us to turn the engine on and off. Next, create a switch as shown below.

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Drag the "GenPower" switch to the project map and place it to the left of the "Generator-1" part. Create a ControlConn between "IceController-1" and "GenPower-1" and link from "ICEController-1" to

"GenPower-1" using port 2 of both parts. Then, connect "GenPower-1" to "Generator-1" by specifying the "Requested Brake Power."

Lastly, create another 'SignalGenerator' object, this time called "MotorPower." Similar to the other 'SignalGenerator' object, parameterize the value as shown below. When prompted for a unit selection, select "No Unit."

Drag a "MotorPower" object to the map and connect it to "Motor-1" by specifying the "Requested Brake Power."

The map should now look as shown below.

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One small change that needs to be made is within the "Engine-1" object. In the "State" folder, enter 0 for the "Initial Speed." Additionally, set all of the emissions maps to "ign". The last change that needs to be made is within the "Driver-1" object. In the "Clutch Pedal" folder, enter 100 for the "Clutch Pedal Position."

5.3 Run Setup/Case Setup

To begin, select Run\Run Setup. Set the "Maximum Simulation Duration" under the 'Time Control' folder to 30s.

Next, select Run\Output Setup. A total of five folders are inside Output Setup and several of them have values that are required in order to run the model and analyze the results. In the General folder, type the following label to describe the model and type of simulation being performed. Then hit the enter button to load the attribute.

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Select Run\Case Setup and click on 'Append Case' 2 times. Enter the following data. Note that 'engonoff' has not been defined yet.

Double click on "engonoff", select "Yes" and then "ProfileTransient". Go to the "Arrays" folder and enter the following data.

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Now the engine will be off until after 10s, when "Generator-1" will act as a starter and bring the engine to operating speed.

Return to the project map, double click on all the parts and turn on all plots. However, we will want to turn off the 'Engine-1' Map Plots for this tutorial since we have deleted the emissions maps.

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TUTORIAL 6: Forward Kinematic Analysis

In this tutorial we will modify the model created in tutorial 1 to run a Forward Kinematic simulation.

This tutorial will run the model through each of the different gears individually to calculate the gradability and acceleration capability of this particular engine/vehicle combination. Select File\Open and go to the

$GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\01-DynamicAccel directory and open DynamicAccel.gtm previously created. If you skipped tutorial 1 then you can open DynamicAccel-final.gtm instead.

This tutorial will go through a process to obtain static analysis plots for a vehicle, and one must follow many steps inside of GT-POST in order to generate these static plots. In tutorial 8, we will introduce an automated procedure for generating static analysis plots, which is the standard means of obtaining static analysis plots in GT-SUITE. This tutorial, however, is still a good means of learning how to use some useful tools within GT-POST that can be applied to other types of analyses.

6.1 Defining Objects

First, save the file as

ForwardKinematicAnalysis\ForwardKinematicAnalysis. We can now define the objects necessary for this model. Double click on the 'VehKinemAnalysis' template and name it as "VKA". Enter the following data into it, and note that "ramp" has not been previously defined.

Now double click on the green highlighted "ramp" reference object and select a "ProfileTransient" and click OK. Click on the "Arrays" folder and enter the following data.

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The "ramp" is now a sweep from idle speed to red-line speed over a 20 second duration. Next, we will make a couple minor adjustments to the "Transmission-1"part. Double click on the part and change the attribute "Gear Number" from 4 to [GEAR-NUMBER]. In the Advanced folder of "Transmission-1", change the "Velocity Constraint Stabilization Factor" to 5. This is done specifically in the static analysis mode to minimize constraint drift. For further information, consult the Mechanical Modeling Theory manual.

Before we continue, we need to change a few values in the "Car-1" part. Open up "Car-1" and change the

"Vehicle Initial Speed" to 0. Then go to the "Halt Simulation" folder and change the "Vehicle Speed to Halt Simulation" to "ign".

Next, open up the "Clutch-1" connection and open the "Kinematic" folder. Set the "Minimum Kinematic Output Speed" to 950 RPM as shown below.

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6.2 Placing and Linking Parts

Drag the "VKA" object to the project map and drop it above the transmission. The "VKA-1" will be used to impose the engine speed defined in the "ramp". First connect "Car-1" to "VKA-1". A 'SpeedBoundaryConn' will automatically be created. Next, connect "VKA-1" to 'Engine-1'. Change the port on "Engine-1" to 1 (Flywheel). The model should look as shown below.

6.3 Run Setup/Case Setup

Select Run\Output Setup. In the Data_Storage folder, change the default settings to store time RLT's, which will be used in the post processing section of this tutorial.

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In the General folder, enter the following sentence to describe the model and type of simulation being performed.

Now select Run\Run Setup. Change the "Maximum Simulation Duration" to 20s. Click OK.

For this model we will run five cases where we will go through each of the five gears in the gearbox.

Enter the Run\Case Setup menu and click on "Append Case…" a total of 4 times. Alternatively, you can click on the drop down box and select "Append Multiple Cases" and enter 4. Then enter the values for each of the parameters as displayed below.

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With that we are ready to run the simulation. Once again select plots for all the parts on the project map and press the Start Simulation button on the GT-ISE Toolbar.

6.4 Post Processing

Now, we will go through a little bit of post processing to obtain some static performance plots. Open GT- POST by clicking on Run\Open GT-POST or by clicking on … Now click on Macros\RLT Plots…

this will open up the RLT creator. On the upper left hand corner of the menu, change the "Plot Type"

from "Case RLT" to "Time RLT". Select "XY Scatter Plot" and click "Next >."

In the tabular column "Cases" click on the gray icon under the row labeled "Plot1." This will bring up a dialog box for "Select Cases For Sweep." Select all 5 cases as shown below. Complete this step for

"Plot2", "Plot3", and "Plot4."

For the "X" column, expand the selection tree main\Components\VehicleBody\Car-1. Then select the

"Distance-Speed" RLT named "Last Vehicle Speed" by clicking on it to place it in "Plot1" to "Plot4." For the "Y1" column, select "Tractive Force" from the "Force & Power" RLT folder, "Acceleration Potential (no grade)", "Grade climbing ability (no accel.)" from the "Static (FWD Kinematic)" RLT folder, and

"Average Gas Mileage" from the "Fuel-Emissions Instantaneous" folder. The menu should look similar to the figure shown below at this point.

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Click the 'Finish' button to create the new ".GU" file with the plots that we just requested. Select File\Save and save the file as "Static Plots". You will now be able to compare "Tractive Force",

"Acceleration Potential", "Grade climbing ability" and "Average Gas Mileage" for each of the five cases.

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TUTORIAL 7: Backward Kinematic Analysis

In this tutorial we will modify the model created in tutorial 6 to run in the kinematic simulation mode.

This tutorial will run the model through the New European Driving Cycle (NEDC) to calculate fuel

consumption and emissions. Select File\Open and go to the

ForwardKinematicAnalysis directory and open ForwardKinematicAnalysis.gtm previously created. If you skipped tutorial 6 then you can open ForwardKinematicAnalysis-final.gtm instead.

7.1 Defining Objects

\07-BackwardKinematicAnalysis\BackwardKinematicAnalysis. Next, go into the "VKA" object on the map and click on the Edit Object button. Then change the "Kinematic Solution Mode" from "impose- engine-speed" to "impose-vehicle-speed." Also change the "Driveline Inertia Option" to "Use-Inertias."

Open the value selector and select the NEDC cycle as the imposed-vehicle-speed by using the implicit reference to the template library.

Next, edit the 'Engine' object. Under the "Fuel" folder, parameterize the attribute value for "Fuel Shut-off Speed" as shown below.

Under the "State" folder, parameterize set the "Engine Load" to "ign". Click OK to save the changes.

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We can now define the new object that we need, namely the "TransControl" object, which determines which gear the transmission will run in. Double-click on the 'TransControl' template and enter the values as shown below; note that "strategy" has not been defined as of yet.

Double-click on "strategy" and select 'TransShiftStgy' and enter the following values under the Gears folder.

Click OK to save the changes.

7.2 Placing and Linking Parts

Now place a "Trans-ctrl" object above the "Transmission-1" part. The Trans-ctrl, when it references a 'TransShiftStgy', requires 4 inputs namely, the vehicle speed, the engine accelerator position, Initial gear number and Shift Indicator.

Create a link between "Car-1" and "Trans-ctrl-1" sensing Vehicle Speed to the Speed input signal port of the "Trans-ctrl-1". Now, make two more connections between the "Transmission-1" and "Trans-ctrl"

parts. Make sure that they are connected through the ports that specify the Gear Number/Initial Gear Number and the Shift Indicator. Next make a connection between the "EngineState" and "Trans-ctrl"

selecting "Accelerator Position" under the "Accelerator" folder for both ports.

Now, make a connection between "Trans-ctrl-1" and the "Transmission-1". Select "Gear Number" for both ports and an "ActuatorConn" will automatically appear. Now that we have defined a shift strategy, we don't need a parameterized gear number. Double click on the "Transmission-1" object. Click on the Edit Object button, and change the "GearNumber" attribute from [GEAR-NUMBER] to 1. Also, in the

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Advanced folder, change the "Velocity Constraint Stabilization" attribute to 1. Click OK to save the changes to "Transmission". The project map should now look as shown below.

7.3 Run Setup/Case Setup

Also under the RLT-Output change the "RLT Update Interval" to 1 and the "Maximum Time RLT Data Storage Points" to 2000. For this model we will run two cases where we will evaluate the benefit of shutting off engine fueling under negative load conditions. Enter the Run\Case Setup menu and delete cases 3-5. Then enter the values for each of the parameters as displayed below.

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Now select Run\Run Setup. Here the information must be entered to describe the simulation type and the values that should be output. Seven folders are found inside Run Setup and several of the attributes have values that are required in order to run the model. Set the Automatic Shut-Off When Steady-State attribute in the TimeControl folder to “off”. Then fill in the remaining attributes as shown.

Next, because of the long simulation duration and complex model, we should make changes that will allow the model to run faster than what the default settings would allow. Find the "ODEControlExplicit"

template in the project library and double-click on it to create a new object. Name this "ODE-Expl".

Change the "Maximum Integration Time Step" attribute from "def" to "0.01" (the default for this value is 0.001, so our model should run about 10 times faster).

Go back to the Run\Run Setup menu. Open the ODEControl folder and change the value of the "Time Step and Solution Control Object" attribute from the default 'ODEControlExpl-def' to "ODE-Expl" which was recently created.

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The final item before running is to request plots. Turn on the Fuel Rate plot in the 'EngineState' to see the instantaneous fuel cut results. Next go to the Run menu then select Start Simulation or click on in order to run the simulation. Open GT-POST using the Run menu or by clicking on .

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TUTORIAL 8: Automated Static Analysis

In this tutorial, we will modify a previously created model and generate static analysis plots automatically using a feature inside the 'VehKinemAnalysis' template. This automatic procedure can simplify static analysis models without requiring the user to make major modifications inside GT-POST (see tutorial 7 for this option).

Select File\Open and go to the

$GTIHOME\Vx.xx*\tutorials\Modeling_Applications\Vehicle_Driveline_and_HEV\08- AutomatedStaticAnalysis directory and open AutomatedStaticAnalysis-begin.gtm.

8.1 Defining Objects

\08-AutomatedStaticAnalysis\AutomatedStaticAnalysis.

After saving, find the 'VehKinemAnalysis' template and double-click on it to create a new object. This object will be responsible for automatically creating our static plots. Name this object "VKA" and fill the

"Analysis" folder with the following attributes.

Then, fill the "Static Analysis" folder with the following attributes. When the "Engine Speed Array"

attribute is set to "def", the solver will automatically generate a test array that will test all engine speeds between the minimum and maximum values of engine speed defined in the Mechanical Output map in a connected 'EngineState' part. For this tutorial, we will leave it as "def".

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8.2 Placing and Linking Parts

In the "Vehicle" subassembly, place a 'SubAssInternalConn' object on the map to the right of the 'VehicleBody' part. Then, create a connection from the 'VehicleBody' part to the new 'SubAssInternalConn' part.

Next, exit the "Vehicle" subassembly and return to the "Main" assembly. Drag a "VKA" object onto the map and place it above all other parts on the "Main" map. Create a connection from the "Vehicle"

subassembly to the "VKA" part on the map. This should automatically create a connection that uses port 0, "Body (Ambient/Force/Trailer)" on the 'VehicleBody' part to port 1, "VehicleBody (Body)" on the

"VKA" part. Then, create a connection from the "VKA" part to the "SIDI_1.5L_Turbo" part. When the Link Creation dialog box appears, chose the following ports.

After these changes have been made, the "Vehicle" subassembly should look like the following figure.

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The "Main" assembly should also look like the following figure.

8.3 Run Setup/Case Setup

The static analysis tool inside of the 'VehKinemAnalysis' template automatically generates and runs the cases necessary for the static plots to appear; therefore, the Run Setup and Case Setup windows do not need to be changed in this tutorial.

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Turn on all of the Static Analysis Plots in the 'VehKinemAnalysis' part to view all of the automatically generated static results. For conventional vehicle models, this is a much simpler way to generate Static analysis results than the forward kinematic mode that was described in tutorial 6.

Next go to the Run menu then select Start Simulation or click on in order to run the simulation. Open GT-POST using the Run menu or by clicking on . The static plots that were automatically generated can be viewed under the "VehKinemAnalysis:VKA-1" part.

Vehicle Driveline and HEV Tutorials GT-SUITE

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