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Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control

Ultsch, Johannes and Ruggaber, Julian and Pfeiffer, Andreas and Schreppel, Christina and Tobolar, Jakub and Brembeck, Jonathan and Baumgartner, Daniel (2021) Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control. Actuators, 10 (11), p. 301. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/act10110301. ISSN 2076-0825.

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Official URL: https://www.mdpi.com/2076-0825/10/11/301


High-level modeling languages facilitate system modeling and the development of control systems. This is mainly achieved by the automated handling of differential algebraic equations which describe the dynamics of the modeled systems across different physical domains. A wide selection of model libraries provides additional support to the modeling process. Nevertheless, deployment on embedded targets poses a challenge and usually requires manual modification and reimplementation of the control system. The novel proposed eFMI Standard (Functional Mock-up Interface for embedded systems) introduces a workflow and an automated toolchain to simplify the deployment of model-based control systems on embedded targets. This contribution describes the application and verification of the eFMI workflow using a vertical dynamics control problem with an automotive application as an example. The workflow is exemplified by a control system design process which is supported by the a-causal, multi-physical, high-level modeling language Modelica. In this process, the eFMI toolchain is applied to a model-based controller for semi-active dampers and demonstrated using an eFMI-based nonlinear prediction model within a nonlinear Kalman filter. The generated code was successfully tested in different validation steps on the dedicated embedded system. Additionally, tests with a low-volume production electronic control unit (ECU) in a series-produced car demonstrated the correct execution of the controller code under real-world conditions. The novelty of our approach is that it automatically derives an embedded software solution from a high-level multi-physical model with standardized eFMI methodology and tooling. We present one of the first full application scenarios (covering all aspects ranging from multi-physical modeling up to embedded target deployment) of the new eFMI tooling.

Item URL in elib:https://elib.dlr.de/145818/
Document Type:Article
Title:Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Ultsch, JohannesUNSPECIFIEDhttps://orcid.org/0000-0001-6483-8468
Ruggaber, JulianUNSPECIFIEDhttps://orcid.org/0000-0003-4300-9104
Tobolar, JakubUNSPECIFIEDhttps://orcid.org/0000-0002-4888-4664
Brembeck, JonathanUNSPECIFIEDhttps://orcid.org/0000-0002-7671-5251
Date:12 November 2021
Journal or Publication Title:Actuators
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:p. 301
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Series Name:Special Issue Vehicle Modeling and Control
Keywords:eFMI; vertical dynamics control; nonlinear Kalman filter; embedded software; codegeneration; Modelica; model-based development; state estimatio
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Ultsch, Johannes
Deposited On:08 Dec 2021 11:23
Last Modified:24 May 2022 23:47

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