Escolar Documentos
Profissional Documentos
Cultura Documentos
What Do We Study ?
Performance
What Do We Study ?
Handling
What Do We Study ?
Ride
W. Milliken & D. Milliken, Race Car Vehicle Dynamics, 1995, Society of Automotive
Engineers (SAE)
W. Milliken & D. Milliken, Chassis Design Principles and Analysis, 2002, Society of
Automotive Engineers (SAE)
R. Bosch. Automotive Handbook, 5th edition. 2002. Society of Automotive Engineers (SAE)
J.Y. Wong. Theory of Ground Vehicles, John Wiley & sons, 2001 (3rd edition).
Notes,
Vehicle
Dynamics,
http://homepages.fh-
MATLAB/SIMULINK
ADAMS
Carmaker
CARSIM
Equation of motion:
FBD
Data:
Result:
zet
a
Ks(N/m)
Kt/ks
Kt(N/m)
Cs
(Ns/m)
Max.acc Max.di
m/s^2
s
In m
Settling
time in
sec.
0.2
18760
93801
908.54
15.4288
0.1670
0.3
1362.8
18
0.1555
3.5
0.4
1817.1
20
0.1486
0.5
2271.4
21.3244
0.1430
1.5
0.6
2725.6
22.55
0.1371
1.5
882.94
17.9064
0.1640
0.3
132.4
22.0563
0.1521
3.2
0.4
1765.9
25.2157
0.1444
2.3
0.5
2207.4
27.6863
0.1385
1.5
0.6
2648.8
29.5543
0.1335
1.5
0.2
17718
7.5
132880
Zet
a
Ks(N/m Kt/K
)
s
Kt (N/m)
Cs
(Ns/m)
Max.acc Max.dsp.
.
In m
(m/s^2)
Settling
time in
sec.
0.2
17197
171970
869.86
20.9469
0.1624
4.5
0.3
1304.8
25.7031
0.1511
3.1
0.4
1739.7
29.8371
0.1418
0.5
2174.7
33.2139
0.1350
1.5
0.6
2609.6
35.4550
0.1315
1.2
861.9175 23.4888
0.1613
0.3
1292.9
29.5146
0.1496
3.1
0.4
1723.8
34.0531
0.1410
0.5
2154.8
38.0615
0.1345
1.5
0.6
2585.8
40.9852
0.1298
1.2
856.58
25.8153
0.1607
0.3
1284.9
32.891
0.1491
2.5
0.4
1713.2
38.0462
0.1405
0.5
2141.5
42.3668
0.1338
0.6
1569.7
46.9171
0.1291
0.2
0.2
16884
16676
10
12.5
15
211050
250140
Simulink-Model
max.acc. vs kt/ks
50
45
max.acc. (m/s^2)
40
35
zeta=0.2
zeta=0.3
30
zeta=0.4
zeta=0.5
25
zeta=0.6
20
15
10
7.5
10
kt/ks (N/m)
12.5
15
max.dis. vs kt/ks
0.18
0.17
max.dis. (m)
0.16
zeta=0.2
zeta=0.3
0.15
zeta=0.4
zeta=0.5
zeta=0.6
0.14
0.13
0.12
7.5
10
kt/ks (N/m)
12.5
15
setlling vs kt/ks
6
setlling (second)
zeta=0.2
zeta=0.3
zeta=0.4
zeta=0.5
zeta=0.6
7.5
10
kt/ks (N/m)
12.5
15
FBD
Equations of motion
Data:
Result:
zeta
0.2
0.3
0.4
0.5
0.6
Csf (Ns/m)
908.54
1362.8
1817.1
2271.4
2725.6
RRf/RRr
0.5
RRr (N/m)
31267
Fnr Hz
1.8762
Ksr (N/m)
37520
Ktr (N/m)
187600
Csr (Ns/m)
1162.2
1743.3
2324.4
2905.5
3486.6
(rad)
0.0543
0.0508
0.0481
0.0462
0.0446
(degree)
3.1114
2.9108
2.7561
2.6472
2.5555
frequency
1.2589
1.2440
1.2388
1.1824
1.1303
Z, in m
0.0923
0.0857
0.0806
0.0772
0.0749
Z,
frequency
1.2589
1.2440
1.2388
1.1626
1.1495
zeta
0.2
0.3
0.4
0.5
0.6
Csf (Ns/m)
908.54
1362.8
1817.1
2271.4
2725.6
RRf/RRr
0.75
RRr (N/m)
20845
Fnr Hz
1.5319
Ksr (N/m)
25014
Ktr (N/m)
125070
Csr (Ns/m)
948.93
1423.4
1897.9
2372.3
2846.8
(rad)
0.0542
0.0503
0.0476
0.0455
0.0439
(degree)
3.1056
2.8822
2.7274
2.6071
2.5154
frequency
1.1551
1.1339
1.1645
1.1640
1.1655
Z, in m
0.0924
0.0861
0.0816
0.0780
0.0755
Z,
frequency
1.2551
1.2473
1.2399
1.1587
1.1479
zeta
0.2
0.3
0.4
0.5
0.6
Csf (Ns/m)
908.54
1362.8
1817.1
2271.4
2725.6
RRf/RRr
0.77
RRr (N/m)
20303
Fnr Hz
1.5119
Ksr (N/m)
24364
Ktr (N/m)
121820
Csr (Ns/m)
936.53
1404.8
1873.1
2341.3
2809.6
(rad)
0.0542
0.0503
0.0475
0.0455
0.0437
(degree)
3.1056
2.8822
2.7217
2.6071
2.5040
frequency
1.2029
1.1700
1.1911
1.1419
1.1419
Z, in m
0.0924
0.0861
0.0816
0.0781
0.0758
Z,
frequency
1.2405
1.2238
1.2482
1.1418
1.1957
zeta
0.2
0.3
0.4
0.5
0.6
Csf (Ns/m)
908.54
1362.8
1817.1
2271.4
2725.6
RRf/RRr
RRr (N/m)
15633.45
Fnr Hz
1.3266
Ksr (N/m)
18760
Ktr (N/m)
93801
Csr (Ns/m)
821.8
1232.7
1643.6
2054.5
2465.4
(rad)
0.0545
0.0504
0.0474
0.0452
0.0435
(degree)
3.1228
2.8879
2.71602
2.5899
2.4925
frequency
1.2507
1.1518
1.1422
1.1122
1.0850
Z, in m
0.0921
0.0862
0.0813
0.0786
0.0759
Z,
frequency
1.2277
1.1943
1.2090
1.2135
1.1578
zeta
0.2
0.3
0.4
0.5
0.6
Csf (Ns/m)
908.54
1362.8
1817.1
2271.4
2725.6
RRf/RRr
1.25
RRr (N/m)
12507
Fnr Hz
1.1866
Ksr (N/m)
15008
Ktr (N/m)
75041
Csr (Ns/m)
735.04
1102.6
1470.1
1837.6
2205.1
(rad)
0.0549
0.0505
0.0475
0.0451
0.0433
(degree)
3.1457
2.8936
2.7217
2.5842
2.4810
frequency
1.3118
1.2561
1.2316
1.1567
1.0437
Z, in m
0.0918
0.0861
0.0818
0.0788
0.0763
Z,
frequency
1.1933
1.2306
1.1325
1.1567
1.2068
zeta
0.2
0.3
0.4
0.5
0.6
Csf (Ns/m)
908.54
1362.8
1817.1
2271.4
2725.6
RRf/RRr
1.5
RRr (N/m)
10422
Fnr Hz
1.0832
Ksr (N/m)
12507
Ktr (N/m)
62534
Csr (Ns/m)
671
1006.5
1342
1677.5
2013
(rad)
0.0553
0.0508
0.0474
0.0450
0.0431
(degree)
3.1686
2.9108
2.7160
2.5785
2.4696
frequency
1.2554
1.3232
1.2637
1.2368
1.1735
Z, in m
0.0913
0.0857
0.0818
0.0788
0.0768
Z,
frequency
1.1485
1.1938
1.1821
1.1647
1.1735
Simulink Model
theta vs RRf/RRr
3.4
3.3
3.2
theta (degree)
3.1
3
zeta=0.2
zeta=0.3
2.9
zeta=0.4
zeta=0.5
2.8
zeta=0.6
2.7
2.6
2.5
2.4
0.5
0.75
0.77
1
RRf/RRr
1.25
1.5
bounce vs RRf/RRr
0.095
0.09
bounce (m)
0.085
zeta=0.2
zeta=0.3
zeta=0.4
zeta=0.5
0.08
zeta=0.6
0.075
0.07
0.5
0.75
0.77
1
RRf/RRr (N/m)
1.25
1.5
FBD:
For sprung mass bounce.
Equations of motion
Data:
Result:
For front half model:
zeta
(rad.)
front
(degree) ,freq
uency
,Setlling Z,bounc
(sec.)
e,(m)
Z,Frequ
ency
Z,Setllin
g (sec.)
0.2
0.1133
6.4920
5.75
1.1663
1.0660
0.6592
10,00,00 N/m
20,000 N/m
8000 N/m
Zeta
0.2
0.2
0.2
0.2
(rad.)
0.1076
0.068
0.1019
0.1089
(degree.)
6.1654
3.8964
5.8387
6.2399
, frequency
1.3861
2.7525
1.5227
1.2528
, setlling.
(sec.)
6.5
Z, bounce,
(Z)
0.0841
0.096
0.1
0.0816
Z, frequency.
1.4675
2.2810
1.6123
1.3592
Z, setlling.
(sec.)
17-18
9-10
Ksfl
28760
118760
38760
26760
Ksrl
28760
118760
38760
26760
Result:
For rear half model:
zeta
(rad.)
rear.
(degree) ,freq
uency
,Setlling Z,bounc
(sec.)
e,(m)
Z,Frequ
ency
Z,Setllin
g (sec.)
0.2
0.1134
6.4982
4.5
1.4058
1.3442
0.0658
Simulink Model
Data
Data:
v=20 km/h
1.03
1.02
phi (degree)
1.01
b/c=0.7
b/c=0.8
b/c=0.9
b/c=1
0.99
b/c=1.1
b/c=1.2
0.98
0.97
0.96
0.7
0.8
0.9
1
hfrc/hrrc
1.1
1.2
v=30 km/h
2.33
2.31
2.29
phi (degree)
2.27
b/c=0.7
2.25
b/c=0.8
b/c=0.9
2.23
b/c=1
b/c=1.1
2.21
b/c=1.2
2.19
2.17
2.15
0.7
0.8
0.9
1
hfrc/hrrc
1.1
1.2
v=40 km/h
4.1
phi (degree)
4.05
b/c=0.7
b/c=0.8
b/c=0.9
b/c=1
3.95
b/c=1.1
b/c=1.2
3.9
3.85
0.7
0.8
0.9
1
hfrc/hrrc
1.1
1.2
v=50 km/h
6.5
6.45
6.4
6.35
phi (degree)
6.3
b/c=0.7
b/c=0.8
6.25
b/c=0.9
b/c=1
6.2
b/c=1.1
b/c=1.2
6.15
6.1
6.05
0.7
0.8
0.9
1
hfrc/hrrc
1.1
1.2
v=60 km/h
9.2
9.1
phi (degree)
9
b/c=0.7
b/c=0.8
b/c=0.9
8.9
b/c=1
b/c=1.1
b/c=1.2
8.8
8.7
8.6
0.7
0.8
0.9
1
hfrc/hrrc
1.1
1.2
Yaw moment:
yaw vs caf/car at v=20 km/h
1.15
1.1
1.05
0.95
b/c=0.8
b/c=0.9
b/c=1
0.9
b/c=1.1
b/c=1.2
0.85
0.8
0.75
0.7
0.8
0.9
1
Caf/Car
1.1
1.2
2.5
2.3
b/c=0.8
b/c=0.9
2.1
b/c=1
b/c=1.1
b/c=1.2
1.9
1.7
1.5
0.8
0.9
1
Caf/Car
1.1
1.2
3D-Track Models
Pitch Condition
Roll Condition
Heave Condition
Warp Condition
Steer Analysis
Braking- simulation
Antilock braking simulation
Simulations
Suspension Simulation
Understeer simulation
Oversteer simulation
Lane-change simulation
Wr
Wfs= Wc/L
Wrs=Wb/L
Wf
Height of CG
Wf
W
Wr
Vehicle Inertia
VIMM
The VIMM will measure all 10 inertia parameter of a Vehicle:
- Vehicle mass
- Moments of Inertia Ixx, Iyy, Izz
- Center of Gravity
- Deviation Moments Ixy, Ixz, Iyz
System Architecture
CCW
Engine
clutch
Te
Tc
Je
Jc
Gear
Tg
PS
Tps
Jg Ng Jps
FD
Axle
Wheel
Tfd
Ta
Tw
Jfd Nf
Ja
Jw
Te N tf tf
r
{( I e I t ) N tf2 I d N 2f I w }
ax
r2
g
[ Fx Rx DA W sin Rhx ]
W
Te N tf tf
a
Ma x [
{( I e I t ) N tf2 I d N 2f I w } 2x Rx DA W sin Rhx ]
r
r
Te N tf tf
ax
2
2
Ma x {( I e I t ) N tf I d N f I w } 2 [
Rx DA W sin Rhx ]
r
r
Te N tf tf
ax [
Rx DA W sin Rhx ] /( M M r )
r
ax
Springs
Damper
Damper
Damper
Elastomers
Elastomers Characteristics
Elastomer Testing
Durability Testing
Squeak and Rattle Testing
Noise Vibration and Harshness Testing
Tyre Testing
Vehicle Testing
Prooving Ground
Rotational
Displacement- x
Angular Displacement-
Velocity- v=dx/dt
Acceleration =a=dv/dt=d2x/dt2
Angular Acceleration==d2/dt2
Mass-m
Force =F=ma
Torque= T= J
Linear velocity V
Angular Velocity= r
Linear Acceleration a
Angular Acceleration= r
V=DN, =2N, P=2NT =T= FV, Impulse= Ft= mv; Inertia= ma=J
Inertia
1. Area moment of Inertia
2. Polar moment of Inertia
3. Mass moment of Inertia
Bending Equation
M E
I
R y
From the general beam bending equation, M is the bending moment, I is the second
moment of area, sigma is tensile and compressive bending stress, y is the perpendicular
distance from the neutral axis, E is Young's modulus of elasticity, and R is radius of
curvature.
Torsion Equation
T G
J
L
r
Moments of Inertia-Car