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Vehicle concept modeling:

methodologies and representative case-studies


Domenico Mundo, Universit della Calabria, Italy
Marie Curie Graduate School on Vehicle Mechatronics & Dynamics
Leuven, 7 February 2013
Any public or commercial use requires the agreement of the author.

Outline
1

Introduction

1.1

University of Calabria

1.2

Dept. of Mechanical, Energy and Management Eng.

Concept design and vehicle development cycle

An overview of vehicle body concept modeling

Concept modeling for vehicle NVH

Concept modeling for vehicle crashworthiness

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Page 2

University of Calabria
14 Departments:

42 Undergraduate degrees
34 Postgraduate degrees
PhD programmes
39000 students
900 teaching staff
21 spin-off companies

Rende

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Department of Mechanical, Energy and Management


Engineering (DIMEG)
Buildings
44C-D, 45C-D, 46 C

51 Professors
30 PhD students
15 Post-doc and collaborators
22 Admistrative Staff

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Department of Mechanical, Energy and Management


Engineering (DIMEG)

technical physics
electrical systems
fluid dynamics
power plants
energy system
thermotecnical plants
environmental and
applied physics

Management

manufacturing
machine design
industrial design
biomechanics
measurement devices
vehicle dynamics
mechanical vibrations
theory of mechanisms

Energy
Energy

Mechanical

Main research areas:

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business organization
production plant
management
logistics system
planning
system optimisation

Page 5

Dynamics of Mechanical Systems (DSM) group

R&D topics

People
-

Domenico Mundo, PhD

Vehicle dynamics

Gianluca Gatti, PhD

Mechanism and machine theory

Antonio Palermo, PhD

Mechanical transmissions

Carlos Garre, MC ER

Active/passive vibration control

Mariano Carpinelli, PhD candidate

Non-linear dynamics

Giovanni De Gaetano, PhD candidate

Biomechanics

Alessandra Treviso, PhD candidate

Robotics

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Outline
1

Introduction

1.1

University of Calabria

1.2

Dept. of Mechanical, Energy and Management Eng.

Concept design and vehicle development cycle

An overview of vehicle body concept modeling

Concept modeling for vehicle NVH

Concept modeling for vehicle crashworthiness

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Page 7

Preliminary steps in vehicle design


1. Vehicle/External entities interactions

2. Vehicle as a system

Functional
analysis

System-level
requirements

Target
cascading

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Vehicle design: attribute domains


Performance
domains
Ride and
handling

Performance Attributes

External entities

Subsystems

Ride isolation
Drivability: Steering and Cornering
Braking

Customer/passenger
Road/Environment

Tire
Suspensions

Noise and
vibration

Quietness
Sound quality
Squeaks and rattle noise

Customer/passenger
Road/Environment
Regulatory bodies

Suspensions
Vehicle body
Tire

Safety and
security

Crash avoidance/Crashworthiness
Durability
Pedestrian safety
Vehicle visibility

Customer/passenger
Road/Environment
Regulatory bodies

Suspensions
Vehicle body
Tire

Styling

Appealing interior space


Attractive exterior look
Price
Cost to own (maintenance, fuel
consumption, taxes)
Acceleration and velocity
Fuel economy
Aerodynamic drag

Customer/passenger
Market/dealer
Customer/passenger
Market/dealer
Manufacturing/shipping
Customer/passenger
Road/Environment
Regulatory bodies

Vehicle body

Passenger comfort
Ease of entrance/egress
Accessibility of commands

Customer/passenger
Market/dealer

Vehicle body

Economic value

Energy use

Human
satisfaction

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Vehicle body
Tire
Vehicle body

Page 9

Refinement engineering

Industrial vehicle development cycle

Concept design

Detailed engineering

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Concept Models

INTERACTIVE: R&D area


- Fast: computational time as short as possible
- Robust: low sensitivity to model uncertainties and variability

- With affordable development time: model built in no more than a few weeks
- Accurate: Make it as simple as possible, but not simpler (Albert Einstein)

Advantages

- Early identification of weakness spots


- What-if cases executable before detailed CAD models are available
- Early exercises of balancing multiple and conflicting performances
- Fast multi-attribute optmization

Improved initial CAD design

Shorter development cycle

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Vehicle Body
- Vehicle Body as the main structural part of a vehicle;

- Built up from sheet metal stampings spot-welded together to create a shell structure.

Main functions:
- bearing structure for the engine, suspension, sub-frames, powertrain, seats,
- being the largest visible surface of the car.
Main global mechanical requirements:
- static stiffness, crashworthiness, noise, vibration and harshness (NVH);
Main design goal: fulfill requirements at minimum cost and weight.
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Outline
1

Introduction

1.1

University of Calabria

1.2

Dept. of Mechanical, Energy and Management Eng.

Concept design and vehicle development cycle

An overview of vehicle body concept modeling

Concept modeling for vehicle NVH

Concept modeling for vehicle crashworthiness

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Page 13

Vehicle Concept Modeling: State of the Art

Methods based on predecessor


- Mesh morphing
- Concept modification approaches

Incremental improvement of an
existing vehicle model

Methods from scratch


- Topology design optimization

Shape and size optimization by eliminating


material from the admissible design space

- Functional layout design

Simple geometric description of functional


elements (beams, joints and panels)

Methods concurrent with CAD

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Method 1: Mesh Morphing

Shape modifications implemented through a meshbased parameterization of the model:


-

Any existing (and possibly validated) FE


mesh may be used;

Mesh topology unchanged during


modifications;

Nodes subject to active boundary or loading


conditions fixed;

Possible implementation into a simulation


workflow effective optimization technique

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Mesh Morphing Approaches


DIRECT or FREEDOM MORPHING

Displacements directly applied on the


mesh.

Smooth movement of interface nodes.

Implementation of in plane or out of plane


movements.

INDIRECT or BOX MORPHING

Mesh loaded into morphing boxes.

Box corners as control points.

Each node is displaced according to its


geometric position in the morphing box.

More complex morphing parameters


enabled.

Large changes in shape possible violation of mesh quality criteria;

Optimization results must be checked against element quality failure;

Mesh reconstruction on critical components recommended.

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Example: crash optimization of a vehicle front part


Existing FE model

Optimized FE model

Objective:
Max. OLC

Morphing control boxes

Front wall Engine

Engine Cooler

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Cooler Bumper
Page 17

Method 2: SFE CONCEPT technology


Shape modifications implemented through direct application of changes to the geometry of the
model (Concept modification approach):
-

Fully parametric vehicle model;

Topological connections encapsulated into model part;

Automatic link between changes in geometry to changes in mesh;

Useful for crash and NVH analyses.

AUTOMESHER

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SFE CONCEPT: Optimization and modular construction

SFE CONCEPT

OPTIMIZATION

Shape optimization
Topography optimization
Topology optimization

MODULAR CONSTRUCTION

Sub-assembly library

Assembly library

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Method 3: Topology optimization


Basic principle: homogeneous stress distribution optimal structure

Optimization achieved by incremental (stepwise) removing of material from an admissible region;

Technological and manufacturing constraints taken into account;

Useful also for linear dynamic (modal) and non-linear analyses;

Low number of iterations required.

Original structure

Optimal structure

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Example 1: automotive rear axle knuckle optimization


Original structure

Optimal structure

Results:
- 10% mass reduction;
- static stiffness increased;
- uniform stress distribution.

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Example 2: Beam optimization for crashworthiness


Original topology

Optimal topology

Results:
- same penetration displacement;
-Same total energy absorptions;
- 80% mass reduction.

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Main structural elements of vehicle body


Beams and joints:
Static and dynamic behaviors of the full vehicle mainly influenced by the beams and joints stiffness
and mass properties;
Joints governing up to 60 % of the global stiffness in self-supporting car bodies.

A-Upper

B-Upper C-Upper
C-Pillar

A-Pillar

B-Pillar

C-Lower

Panels
A-Lower
B-Lower

Beam & joint concept modeling tools essential for front-loading engineering of the full vehicle
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Outline
1

Introduction

1.1

University of Calabria

1.2

Dept. of Mechanical, Energy and Management Eng.

Concept design and vehicle development cycle

An overview of vehicle body concept modeling

Concept modeling for vehicle NVH

Concept modeling for vehicle crashworthiness

MC Graduate School on Vehicle Mechatronics & Dynamics


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Page 24

Vehicle body concept modeling: workflow


1. Concept Beams:

Identify beam-members;

Estimate cross-section properties;

Create equivalent concept beams.

2. Joints definition:

Define joint end-sections;

Isolate joints model and estimate stiffness


and inertia properties;

Create equivalent joint models

DMIG

3. Panels definition:

Make a coarse mesh of the panel;

Define Panel-to-Beams connections.

4. Reduce the remainder:

Define beam-to- remainder connections;

Apply dynamic reduction.

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Beam concept modeling


Concept (1D) FE model

Detailed (3D) FE model

Equivalent beam
properties:

A, I1, I2, I12, It

Geometric approach

Static FE approach

Analyze mass distribution;


Calculate individual
contributions and sum up;
Correction factors.

Apply static loads;


Estimate deformation;
Apply the linear elastic
model.

TL
L
GI t

Dynamic FE approach

Apply modal analysis;


Estimate frequencies;
Apply modal model of
Timoshenko beam model.

d 4
d 2
EI w 4 GI t 2 t2 J t0 0
dx
dx

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Joint concept modeling


Detailed 3D FE model
T-joint :
- cut-out with 3 sections
- add 3 center nodes at end-sections

1. Beam/joint interface
2. Joint concept model

Beam/joint interface:
Why:
Load transmission between the center node and the
detailed mesh of the joint
How:
1. Rigid spiders (RBE2): joint end-sections rigid overestimation of joint stiffness
2. Interpolation elements (RBE3 or MPC):

- 3D motion at center nodes as weighted average of end-section deformation


- Proper definition of interpolation coefficients (e.g., based on load continuity at interface)
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Method 1: Superelement elastic joint representation


B-pillar to rocker joint
Rigid connection

Distributed compliance connection

No joint compliance allowed:


-Easy representation;
-Low accuracy.

Finite-length beams (legs) joined


to a small, rigid framework.

Superelement model of one leg


-

Legs modeled as pin connected beams,


with bending and translational springs
Joint parameters (lengths and stiffness)
determined through an optimization
procedure

Prater et al. (2005)


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Method 2: Tri-spring joint representation


- Joints modeled with 3 rotational springs representing
the 3 main stiffness parameters of the structure;
- Extra DOFs constrained by rigid elements DOF
compatibility with adjacent beams.

Model calibration:
1. CAE based estimation of spring parameters (Autojoint tool at Ford Motor Company):

Isolation of the FE model of each joint from the detailed body CAE model;
Constraints (rigid legs) and loads (flexible leg) applied at each joint to determine the three
rotational stiffness of the joint.

2. Experiment-based estimation of spring parameters allowed as well.

A.M. Shahhosseini, G. Prater, G.M. Osborne, E.Y. Kuo, P.R. Mehta (2010)
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Method 3: equivalent mass and stiffness matrices


Why:
- an equivalent joint stiffness enough for accurate static predictions only;
- strong influence of joints on BIW dynamic behavior.
How:

[KAAX]
Static/dynamic
condensation

[MAAX]

Nastran
DMIG

Advantages:
Straightforward CMS approaches and available as commercial software solution;
Appropriate for structural dynamics;
Easy to couple with concept beam modeling.
Limitations:
- Proper beam/joint interface modeling criticall;
- Concept joint modification is not straightforward (critical during optimization process).
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Page 30

Panel concept modeling


Flat panel
Geometric
definition of the
panel edges

RBE3
+
Celas

Superposition of
the original mesh

Concept beams

Concept panel

Panel morphing
(Stretching + Curving)

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An industrial application case


Beams & Joints
Guyan
reduction

Original Model

Geometric
Equivalence

Concept model

Panels
Coarsening

Remainder
McNeal
reduction

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Page 32

Static load cases


Bending

Torsion

Clamped

Clamped

KB

2F L

B
dz1 dz2

2 L

B arctan

KT

F W

T
dz1 dz2

T arctan

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Page 33

Static validation of the full concept model


Original Model
F

Concept Model

Static Bending Stiffness

F
F
Clamped

Clamped

F
StaticTorsion Stiffness

F
F
Clamped

Clamped

Stiffness difference (%)


Torsion

Bending

FEA
computational
time [s]

Original Model

~ 6000 s

Concept Model

2.0 %

0.4 %

~5s

Model

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Dynamic comparison: MAC values


Original
Model

MAC matrix between the original and


the Concept Model

Concept
Model

Global
Mode

[Hz]

Global
Mode

[Hz]

MAC

27.3

27.3

0.0%

0.95

27.4

27.5

0.4%

0.90

30.4

30.5

0.3%

0.97

31.8

32.0

0.6%

0.91

34.9

35.9

2.9%

0.82

36.8

36.9

0.3%

0.81

37.6

39.8

5.9%

0.72

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Page 35

Concept modeling for NVH: concluding remarks


Advantages: Good accuracy and computational efficiency.
Main limitation: need for correction factors.

Next steps:

Improve concept models of beams (no correction factors) and joints


(accurate modeling of beam/joint interface)

Implementation of a multi-attribute optimization strategy

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Page 36

Concept modeling for NVH: some references


S.B. Lee, J.R. Park and H.J. Yim (2002), Numerical approximation of the vehicle joint stiffness by using surface
response method, International Journal of Automotive Technology, Vol.3, No.3, pp. 117-122.
Jin Hong Kim, Hyeon Seok Kim, Dae Woon Kim, Yoon Young Kim (2002), New accurate efficient modeling techniques
for the vibration anlysis of T-joint thin-walled box structures, International Journal of Solids and Structures, Vol. 39,
pp.2893-2909.
N. Bylund, O. Isaksson, V. Kalhori and T. Larsson (2004), Using knowledge enabled engineering with simulation
methods, International Designe Conference Design 2004, Dubrovnik, May 18-21, 2004.
N. Bylund (2004), Fast and Economic Stiffness Evaluation of Automotive Joints, SAE paper 20037025, in the
proceeding of the International Body Engineering Conference, IBEC 2003, 27-29 October 2003, Shiba, Japan.
G. Prater, A.M. Shahhosseini, E.Y. Kuo, P.R. Metha, V.T. Furman (2005), Finite Element Concept Models for Vehicles
Architecture Assessment and Optimization, SAE International, Paper Number 05M-435.
M. Kaufmann, B. Lauber, Dr. C. Katzenschwanz (2007), Optimization of a Vehicle Front Part Structure at AUDI using
ANSA MORPHING and OPTIMUS, Lecture of AUDI and FEDESIGN GmbH at ANSA eta Conference.
A.M. Shahhosseini, G. Prater, G.M. Osborne, E.Y. Kuo, P.R. Mehta (2010), Major compliance joint modelling survey for
automotive body structures, Int. J. Vehicle Systems Modelling and Testing, Vol.5, No. 1, 2010.
P. Mihaylova, N. Baldanzini, A. Pratellesi, M. Pierini (2010), On the improvement of concept modeling of joints within
simplified finite element models with application to structural dynamics, Proceedings of ISMA 2010 including USD 2010.
Mundo, D.; Donders, S.; Stigliano, G.; Van der Auweraer, H.: Concept design of vehicle bodies using reduced models of
beams, joints and panels, International Journal of Vehicle Design (IJVD), 2011, In press

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Outline
1

Introduction

1.1

University of Calabria

1.2

Dept. of Mechanical, Energy and Management Eng.

Concept design and vehicle development cycle

An overview of vehicle body concept modeling

Concept modeling for vehicle NVH

Concept modeling for vehicle crashworthiness

MC Graduate School on Vehicle Mechatronics & Dynamics


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Page 38

Crashworthiness and passive safety


Crashworthiness in fifties: measure of the ability of a structure and any of its components to
protect occupant in survivable crashes (aerospace industry)

Control crush Maintain


survival space

Vehicle body
optimization for
crash

Restrain
occupants

Prevent ejection

Control energy /
Transfer energy

Prevent fire

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Crashworthiness: goals and requirements


Goals:
-First wooden cars: keep structure deformation as low as possible;
-Modern passenger cars:
- control structure deformation integrity of passenger compartment guaranteed;
- control crash deceleration pulse under the threshold of human resistance;
- proper time-history of deceleration pulse (initial peak followed by gradual decay.
Progressive crush (or collapse) zones that absorb kinematic energy by plastic deformation

Difficulties:

Wide range of Crash Tests


Frontal Impact

-Collisions as unique dynamic events (nature of obstacle, multiple crash,..);


-Different impact speeds different levels of kinetic energy;

-Different duration of the event more or less time for the structure to
absorb impact energy.
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Side Impact
Rear Impact
Rollover
Page 40

Experimental tests
EXPERIMENTAL TESTS

Increasing knowledge

Increasing complexity

Method classification

COMPONENT TESTS

SLED TESTS

FULL SCALE TESTS

-Collapse modes
-Energy absorption

-Full passenger compartment


-Dummies

-Crash against barriers at controlled


speed;
-Instrumented vehicle and dummies
(load cells, accelerometers, ..)

Main Motivation: vehicle certification


Main limitations:
- Time consuming;
- Very expensive: > 100 prototype vehicles, with unit
cost of up 750.000 US$
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Need for predictive tools

Page 41

Detailed crashworthiness simulation

FE methods for non-linear dynamic analysis:

Implicit: -Simultaneous
solution
of
system
equations required;
-Assembly of system stiffness matrix
required;
-Step-by-step adjustment of integration
time step.
Explicit: -Time-step set at the beginning;
-No convergence criteria;
-Computational efficiency;
-Reliability.

Most used by FE codes in crash simulations


(LS-Dyna, PAM-CRASH, )
Typical Output: Deceleration time history at the rocker, near the B-pillar
Main limitation: computational time (512 CPU in parallel for 72 h for two iterations, Yang, 2001)
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Concept crashworthiness simulation


CONCEPT MODELS FOR CRASH OPTIMIZATION

MODE MATCH ADJUSTMENT

SURROGATE

MODELS

Component-level
detailed simulations
Sample data from
virtual tests
Fitting of numerical models
(Polynomial regression,
Neural Networks, )

PHYSICS-BASED

MODELS

-Coarse mesh FE
models;
-Multi-body
dynamics models;
-Lumped-parameter
models
Equivalent mechanisms;
Non-linear beams;

Experience driven
modification

Extra-level of
abstraction

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Non-linear beams:
analytical formulation.

Page 43

Equivalent Mechanisms
The model is a super-set of lumped parameters;
Entire zones of structure are lumped into
equivalent springs and main masses
The joints have special non-linear springs
A detailed simulation of a thin-walled beam is
performed to obtain the behavior (Reaction
Force or Moment versus Axial Displacement or
Rotation) to give to the non-linear springs

Single beam:

two or more intermediate masses;


springs with different (non-linear) stiffness to mimic
the crash behaviour at different impact speeds.

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Characterization of non-linear springs


Detailed non-linear FE
simulation

Reaction Force/Moment versus


Axial Displacement / Rotation

Zone 1 linear (elastic)

Zone 2 quadratic (peak)


Zone 3 exponential (postbuckling)
Zone 4 linear (solid)

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LMS AMESim Implementation

A new category is created with few components from Planar Mechanical


library to simply assembly a structure:

Beams

Joints

Boundary
conditions

Define impact region


and clamped region

Deforming parts

Driven joints defined as to mimic the behavior of the


detailed model (Reaction force/Axial Displacement)

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Page 46

AMESim Implementation of concept models for crash


Driven prismatic joint

Control box 1

Used to reproduce the crush behaviour.


Reaction
force
depending
on
the axial displacement and spring
stiffness.
Spring stiffness defined by one constant
value (elastic region) and two look-up
tables (plastic region in compression
and in traction)

Compression traction switch control:


Velocity sign monitored to choose the
correct look-up table for plastic
behaviour

Control box 2

Elastic Plastic switch control:


Displacement magnitude monitored to
distinguish the elastic behaviour from
the plastic region

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Page 47

Case Study n. 1: simple structure


C-shape structure constituted by thin-walled beam with square section
two clamped ends (red and light blue)
rigid wall of 500 kg that impacts on it with a initial speed equal to 1 m/s in direction
perpendicular to the two clamped beams axis (light blue arrow)
Detailed model

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Concept model

Page 48

Case Study n. 1: results


Detailed model

Concept model

Accuracy (Concept vs Detailed):

maximum displacement of rigid wall: ~15%;


peak deceleration of rigid wall: ~10%
Computational time:

detailed simulation: 480 min;


detailed simulation: 1 min.
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Case Study n.2: 2D complex structure


structure constituted by thin-walled beam with square section
two clamped ends (red and light blue)
rigid wall of 2000 kg that impacts on it with a initial speed equal to 1 m/s in direction of
the two clamped beams axis (light blue arrow)

Detailed model

Concept model

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Case Study n. 2: results


Detailed model

Concept model

Accuracy (Concept vs Detailed):

maximum displacement of rigid wall: ~6%;


peak deceleration of rigid wall: ~1.5%
Computational time:

detailed simulation: 72 hours;


detailed simulation: 1.5 hours.
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Page 51

Concept crash: concluding remarks

Crashworthiness as a significant attribute for passive safety assessment of


vehicles;

Simulations necessary to minimize tests on physical prototypes;

Detailed FE simulations reliable but time-consuming;

Concept models necessary for early optimization of vehicle crashworthiness;

Accuracy and efficiency to be tested on real collapse structures


Public case study

Next steps:
- Method validation on real
complexity vehicle substructures;
- Optimization strategy.

MC Graduate School on Vehicle Mechatronics & Dynamics


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Leuven, 7 Feb. 2013

Page 52

Concept crash: some references

M. Kaufmann, B. Lauber, Dr. C. Katzenschwanz (2007), Optimization of a Vehicle Front Part Structure at AUDI
using ANSA MORPHING and OPTIMUS, Lecture of AUDI and FE-DESIGN GmbH at ANSA eta Conference.
H. Zimmer, M. Prabhuwaingankar (2005): Implicitly parametric CRASH and NVH analysis models in the vehicle
concept design stage, Proc. 4th LS-DYNA Anwenderforum, Bamberg, DE, 2005.
M. L. Day, C.W. Duan 2009, Beam element modelling of vehicle body-in-white applying artificial neural network,
Applied Mathematical Modelling 33 (2009) 28082817
Hidekazu, Nishigaki., Noboru, Kikuchi.: First Order Analysis for Automotive Structure Design - Prat3:
Crashworthness Analysis Using Beam Elements, SAE, 2001-01-1660(2004)
Kenji, Terada., Wlodek, Abramowicz.: Fast Crash Analysis of 3D Beam Structures Based on Object Oriented
Formulation, SAE, 2004-01-1728 (2004)
Karim, Hamza., Kazuhiro Saitou.: Design Optimization of Vehicle Structures for Crashworthiness via Equivalent
Mechanism Approximations, SAE, 2004-01-1731 (2004)
Yang, R. J., Gu, L., Tho, C. H., and Sobieski, J., 2001, Multidisciplinary Optimization of a Full Vehicle with High
Performance Computing, Proceedings of the American Institute of Aeronautics and Astronautics 2001 Conference,
pp. 688698, AIAA Paper No. AIAA-2001-1273.

MC Graduate School on Vehicle Mechatronics & Dynamics


Any public or commercial use requires the agreement of the author.
Leuven, 7 Feb. 2013

Page 53

Thank you for the attention!

For more info: domenico.mundo@unical.it

Any public or commercial use requires the agreement of the author.

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