Narrow commuter vehicles can address many congestion, parking and pollution issues associated with urban transportation. In making narrow vehicles safe, comfortable and acceptable to the public, active tilt control systems are likely to play a crucial role. This paper concentrates on developing a dynamic model for narrow vehicles that can be used for the design and evaluation of active tilt control systems. The model has four degrees of freedom including lateral and tilt dynamics. The influence of gyroscopic forces due to rotating wheels and the influence of front wheel trail are included but secondary coupling effects are ignored so as to keep the model tractable. The model is used in this paper to understand the influence of vehicle tilt on the steering angle required for cornering, the desired tilt angle for any specified cornering maneuver and the influence of gyroscopic moments on transient tilting/cornering maneuvers. A study of the model equations also provides insight into how narrow vehicles can be designed so as to be self-stabilizing.

Virtual evaluation of complex Cyber-Physical Systems (CPS) [1] with a number of tightly integrated domains such as physical, mechanical, electrical, thermal, cyber, etc. demand the use of heterogeneous simulation environments. Our previous effort with C2 Wind Tunnel (C2WT) [2] [3] attempted to solve the challenges of evaluating these complex systems as-a-whole, by integrating multiple simulation platforms with varying semantics and integrating and managing different simulation models and their interactions. Recently, a great interest has developed to use Functional Mockup Interface (FMI) [4] for a variety of dynamics simulation packages, particularly in the automotive industry. Leveraging the C2WT effort on effective integration of different simulation engines with different Models of Computation (MoCs), we propose, in this paper, to use the proven methods of High-Level Architecture (HLA)-based model and system integration. We identify the challenges of integrating Functional Mockup Unit for Co-Simulation (FMU-CS) in general and via HLA [5] and present a novel model-based approach to rapidly synthesize an effective integration. The approach presented provides a unique opportunity to integrate readily available FMU-CS components with various specialized simulation packages to rapidly synthesize HLA-based integrated simulations for the overall composed Cyber-Physical Systems.

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This paper highlights the use of a coordinated suite of Modelica libraries for vehicle thermal management applications. The models are implemented using the Vehicle Dynamics Library, Liquid Cooling Library, and Heat Exchanger Library from Modelon. An integrated vehicle thermal management model is implemented, including the key physical and controls models. The model is used to highlight complex, multi-domain interactions between the physical and control systems over drive cycles for combined thermal and fuel efficiency studies. The model is also used to support controller development and optimization as an FMU integrated into Simulink. The flexibility of FMI-based workflows is also illustrated via batch and Monte Carlo simulations in Excel. A heat exchanger application coupling inputs from CFD illustrates the use of higher fidelity models from Heat Exchanger Library for calculation of performance degradation due to non-uniformity.