Haldex used Simulink®, Stateflow®, and Simulink Control Design™ to develop their braking control algorithms. They optimized the performance of these algorithms for a range of vehicle and maneuvers using models of the vehicle dynamics and the braking actuators.
Working with MathWorks Consulting, Haldex used Simulink and Simscape Multibody™ to develop a library of vehicle modeling blocks for simulating the acceleration, braking, and cornering dynamics of single units and articulated heavy vehicles. With these blocks, Haldex engineers now easily assemble vehicle models to simulate the wide range of vehicles on which their products are used.
"With our 'virtual vehicles,' and by evaluating control strategies in the safe environment of Simulink, we reduced the role of the actual vehicles to system validation," Lane says. "Also, Simscape Multibody enabled us to rapidly create vehicle models and avoid the time-consuming and error-prone process of deriving the vehicle equations by hand."
Given the different model configurations and results that Haldex engineers would need to review to complete their design, Haldex hired MathWorks Consulting. The consultants used MATLAB® to create a user interface that enabled engineers to change vehicle parameters and visualize and analyze simulation results with a single user interface.
Following model testing and track evaluations, the stability system was tested in a fleet of vehicles, and received positive feedback from the fleet managers. The product is now in production, selling well, and proving popular with customers. Haldex is working to establish its hardware-in-the-loop testing capabilities that incorporate real-time models. This will enable them to perform much of their software and hardware validation before they go to the test track.
As a direct result of this project, MathWorks products are now core tools in the development of new-generation EBS, ABS, and stability projects at Haldex, including the second generation of the EB+ Stability system.
"This project solidified the importance of Model-Based Design and MathWorks tools for Haldex," notes Lane. "Simulink is now a core tool in the development of our future products."