Within the ACHILES project, low-fidelity models and control strategies have been developed for a generic representation of the Chassis systems.

They will be used in the simulation environment to optimize their design and the design of the overall architecture.

  • An electromechanical brake system model, a parametric model used to describe the overall stiffness of the electro-mechanical brake systems of different clamping classes, developed by Fraunhofer. The model is also scalable to support the design process and to compare and calibrate the model in the overall system context and possibly also with operational data. In addition, low-fidelity models for brake disc, ball screw, planetary gear, ball bearings and electric motor have been developed.
  • Power electronics subsystems models, developed by Elaphe and VUB, such as Multi-inverter for multi-motors, which comprises two DC/AC inverters that convert the DC voltage from the battery pack to the AC voltage for driving two permanent magnet synchronous motors, DC-DC converter for auxiliary components, used to convert the high DC-link voltage of 400V from battery pack to low DC voltage of 12 V and on-board charger for converting the input three-phase AC voltage of 400V from the grid to DC voltage of 210-400 V.
  • A novel and modular battery system model developed by VUB, based on cell specification and innovative characterization techniques for determining both the electrical and thermal models and the lifetime model.
  • A vehicle multi body model, developed by TECNALIA, including chassis, steering and suspension and wheels modelling.
  • A Torque path model, also from TECNALIA, covering from the acceleration pedal interpretation to the torque command for each in-wheel motor after the torque vectoring strategy and taking into account the vehicle dynamics and other constraints coming from e-drive, energy storage system and the MC switch.

Figure: Break Disc & Schematic of the battery model