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Library of Congress CataloginginPublication Data:
Wong, J. Y. (Jo Yung)
Theory of ground vehicles I J.Y. Wong.3rd ed.
p.
cm.
Includes bibliographical references and index.
ISBN 0471354619 (cloth : alk. paper)
1. Motor vehiclesDesign and construction. 2. Motor VehiclesDynamics.
Groundeffect machinesDesign and construction. I. Title.
TL240.W66
2001
629.2l.3dc21
Printed in the United States of America
3.
00043853
To May
Chak
Ben
Jing
Kay
Leo
Sang
Loretta
San
Nicholas
the memory of my parents
and the glory of the Almighty
CONTENTS
PREFACE
xiii
PREFACE TO THE SECOND EDITION
xv
PREFACE TO THE FIRST EDITION
xviii
CONVERSION FACTORS
xxi
NOMENCLATURE
xxii
INTRODUCTION
1
MECHANICS OF PNEUMATIC TIRES
1.1
1.2
1.3
1.4
Tire Forces and Moments / 7
Rolling Resistance of Tires / 8
Tractive (Braking) Effort and Longitudinal Slip (Skid) / 18
Cornering Properties of Tires / 30
1.4.1 Slip Angle and Cornering Force / 30
1.4.2 Slip Angle and Aligning Torque 1 38
1.4.3 Camber and Camber Thrust / 40
1.4.4 Characterization of Cornering Behavior of
Tires / 43
1.5 Performance of Tires on Wet Surfaces / 65
1.6 Ride Properties of Tires / 73
References / 87
Problems / 89
1
3
viii
CONTENTS
MECHANICS OF VEHICLETERRAIN
INTERACTIONTERRAMECHANICS
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
Distribution of Stresses in the Terrain Under Vehicular
Loads 1 92
Applications of the Theory of Plastic Equilibrium to the
Mechanics of VehicleTerrain Interaction / 100
Empirical Methods for Predicting OffRoad Vehicle
Performance / 120
2.3.1 Empirical Methods Based on the Cone Index / 120
2.3.2 Empirical Methods Based on the Mean Maximum
Pressure / 128
Measurement and Characterization of Terrain Response / 130
2.4.1 Characterization of PressureSinkage
Relationship / 133
2.4.2 Characterization of the Response to Repetitive
Loading / 141
2.4.3 Characterization of the Shear StressShear
Displacement Relationship / 144
A Simplified Method for Analysis of Tracked Vehicle
Performance / 153
2.5.1 Motion Resistance of a Track / 154
2.5.2 Tractive Effort and Slip of a Track / 156
A ComputerAided Method for Evaluating the Performance of
Vehicles with Flexible Tracks / 164
2.6.1 Approach to the Prediction of Normal Pressure
Distribution under a Track / 165
2.6.2 Approach to the Prediction of Shear Stress
Distribution under a Track / 166
2.6.3 Prediction of Motion Resistance and Drawbar Pull
as Functions of Track Slip 1 168
2.6.4 Experimental Substantiation / 169
2.6.5 Applications to Parametric Analysis and Design
Optimization / 171
A ComputerAided Method for Evaluating the Performance of
Vehicles with LongPitch Link Tracks 1 174
2.7.1 Basic Approach / 174
2.7.2 Experimental Substantiation / 175
2.7.3 Applications to Parametric Analysis and Design
Optimization / 178
Methods for Parametric Analysis of Wheeled Vehicle
Performance / 182
2.8.1 Motion Resistance of a Rigid Wheel / 182
2.8.2 Motion Resistance of a Pneumatic Tire / 186
2.8.3 Tractive Effort and Slip of a Wheel / 192
References / 197
Problems / 201
3 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES
3.1 Equation of Motion and Maximum Tractive Effort / 203
3.2 Aerodynamic Forces and Moments / 209
3.3 Vehicle Power Plant and Transmission Characteristics I 227
3.3.1 Power Plant Characteristics / 227
3.3.2 Transmission Characteristics / 233
3.4 Prediction of Vehicle Performance / 250
3.4.1 Acceleration Time and Distance I 25 1
3.4.2 Gradability / 255
3.5 Operating Fuel Economy / 255
3.6 Engine and Transmission Matching / 260
3.7 Braking Performance / 265
3.7.1 Braking Characteristics of a TwoAxle
Vehicle / 265
3.7.2 Braking Efficiency and Stopping Distance / 275
3.7.3 Braking Characteristics of a
TractorSemitrailer I 277
3.7.4 Antilock Brake Systems / 282
3.7.5 Traction Control Systems / 288
References / 289
Problems / 292
4
PERFORMANCE CHARACTERISTICS OF OFFROAD
VEHICLES
Drawbar Performance / 296
4.1.1 Drawbar Pull and Drawbar Power I 296
4.1.2 Tractive Efficiency / 300
4.1.3 Coefficient of Traction / 3 17
4.1.4 WeighttoPower Ratio for OffRoad
Vehicles / 319
4.2 Fuel Economy of Crosscountry Operations / 320
4.3 Transport Productivity and Transport Efficiency / 323
4.4 Mobility Map and Mobility Profile / 324
4.1
203
X
CONTENTS
4.5
5
Selection of Vehicle Configurations for OffRoad
Operations / 328
References / 332
Problems 1 333
HANDLING CHARACTERISTICS OF ROAD VEHICLES
Steering Geometry / 336
SteadyState Handling Characteristics of a TwoAxle
Vehicle / 339
5.2.1 Neutral Steer / 342
5.2.2 Understeer / 344
5.2.3 Oversteer / 344
SteadyState Response to Steering Input / 350
5.3.1 Yaw Velocity Response / 350
5.3.2 Lateral Acceleration Response / 35 1
5.3.3 Curvature Response / 352
Testing of Handling Characteristics / 355
5.4.1 Constant Radius Test 1 355
5.4.2 Constant Speed Test / 356
5.4.3 Constant Steer Angle Test 1 358
Transient Response Characteristics 1 359
Directional Stability / 363
5.6.1 Criteria for Directional Stability / 363
5.6.2 Vehicle Stability Control / 366
SteadyState Handling Characteristics of a
TractorSemitrailer / 369
Simulation Models for the Directional Behavior of Articulated
Road Vehicles / 376
References / 385
Problems / 387
6 STEERING OF TRACKED VEHICLES
6.1
6.2
6.3
6.4
Simplified Analysis of the Kinetics of SkidSteering / 390
Kinematics of SkidSteering / 396
SkidSteering at High Speeds / 397
A General Theory for SkidSteering on Firm Ground / 401
6.4.1 Shear Displacement on the TrackGround
Interface / 402
388
6.4.2 Kinetics in a SteadyState Turning Maneuver / 408
6.4.3 Experimental Substantiation / 4 12
6.4.4 Coefficient of Lateral Resistance / 416
6.5 Power Consumption of SkidSteering 1 41 8
6.6 Steering Mechanisms for Tracked Vehicles / 419
6.6.1 ClutcM3rake Steering System / 419
6.6.2 Controlled Differential Steering System / 421
6.6.3 Planetary Gear Steering System / 422
6.7 Articulated Steering / 424
References / 428
Problems / 429
7 VEHICLE RIDE CHARACTERISTICS
Human Response to Vibration / 43 1
7.2 Vehicle Ride Models / 436
7.2.1 TwoDegreeofFreedom Vehicle Model for Sprung
and Unsprung Mass / 437
7.2.2 Numerical Methods for Determining the Response
of a QuarterCar Model to Irregular Surface Profile
Excitation / 453
7.2.3 TwoDegreeofFreedom Vehicle Model for Pitch
and Bounce 1 455
7.3 Introduction to Random Vibration / 462
7.3.1 Surface Elevation Profile as a Random
Function / 462
7.3.2 Frequency Response Function 1 470
7.3.3 Evaluation of Vehicle Vibration in Relation to the
Ride Comfort Criterion / 472
7.4 Active and SemiActive Suspensions 1 474
References / 482
Problems / 483
7.1
8 INTRODUCTION TO AIRCUSHION VEHICLES
8.1 AirCushion Systems and Their Performance / 485
8.1.1 Plenum Chamber / 485
8.1.2 Peripheral Jet / 493
Resistance
of AirCushion Vehicles 1 497
8.2
8.3 Suspension Characteristics of AirCushion Systems / 509
8.3.1 Heave (or Bounce) Stiffness / 510
431
xii
CONTENTS
8.3.2 Roll Stiffness / 513
8.4 Directional Control of AirCushion Vehicles 1 515
References 1 5 19
Problems / 519
INDEX
PREFACE
More than two decades have elapsed since the first publication of this book
in the United States in 1978. During this period the first edition went through
ten printings, and the second edition, which first appeared in 1993, went
through more than seven printings. An increasing number of universities in
North America, Europe, Asia, and elsewhere have adopted it as a text for
courses in automotive engineering, vehicle dynamics, offroad vehicle engineering, or terramechanics. Many professionals in the vehicle industry around
the world have also used it as a reference. It is gratifying indeed to see that
the book has achieved such wide acceptance.
As we enter a new millennium, the automotive industry is facing greater
challenges than ever before in providing safer, more environmentally friendly,
and more energyefficient products to meet increasingly stringent demands of
society. As a result, new technologies have continually been developed and
introduced into its products. Accordingly, to better serve the changing needs
of the educational and professional communities related to ground transportation technology, this third edition has been prepared.
To improve competitiveness, shortening the product development cycle is
of critical importance to vehicle manufacturers. Virtual prototyping is therefore widely adopted in the industry. To implement this process effectively,
however, the development of reliable computer simulation models for vehicle
performance evaluation is essential. For a realistic simulation of the handling
behavior of road vehicles, a method referred to as the Magic Formula for
characterizing tire behavior from test data is gaining increasingly wide acceptance. A discussion of the basic features of the Magic Formula is included
in Chapter 1 of this edition. For performance and design evaluation of offroad vehicles, particularly with respect to their soft ground mobility, a variety
of computer simulation models have emerged, including those developed by
myself along with my associates. It is encouraging that our models have since
xiii
research. former and present. we have been presented with a number of awards by learned societies. and elsewhere. the Crompton Lanchester Prize. and Vehicle Systems Development Corporation. as well as assisting governmental agencies in evaluating vehicle candidates in North America. and consulting in the field of ground transportation technology. The operating principles of these systems are described in Chapter 5. the general objective. New experimental data on the optimization of the tractive performance of fourwheeldrive offroad vehicles based on our own investigations are presented in Chapter 4. and to my postdoctoral fellows and postgraduate students. and the late Dr. Gregory Bekker. Reece. for their contributions and assistance. It is shown that this new theory offers considerable improvement over existing theories and provides a unified approach to the study of skidsteering of tracked vehicles. and format remain similar to those of previous editions. on the performance of an electrorheological damper in improving the ride comfort of ground vehicles are presented in Chapter 7. I would like to take this opportunity once again to record my appreciation to my colleagues and collaborators in industry. and aircushion vehicles are emphasized. Asia. this book summarizes some of my experience of more than three decades in teaching. Thanks are also due to governmental agencies and vehicle manufacturers for supporting our research effort over the years. Experimental data. Jo YUNGWONG Ottawa. Ontario. Africa. To a certain extent. Canada . Professor Leonard Segel. contents. and the Starley Premium Award twice. While new topics are introduced and new data are presented in this third edition. obtained from our own research. offroad vehicles.X~V PREFACE played a significant role in assisting vehicle manufacturers in the development of a new generation of highmobility offroad vehicles. awarded by the Institution of Mechanical Engineers. M. In recognition of our contributions to the development of these simulation models. Alan R. A new theory developed by us for skidsteering of tracked vehicles on firm ground is presented in Chapter 6. Carleton University. Nepean. These include the George Stephenson Prize. research institutions. and universities for inspiration and cooperation. I wish also to express my appreciation to staff members of Transport Technology Research Laboratory. systems known as "vehicle stability control" or "vehicle dynamics control" have been introduced in recent years. The fundamental engineering principles underlying the rational development and design of road vehicles. particularly Dr. The major features and practical applications of these simulation models are described in Chapter 2. Europe. To further enhance the active safety of road vehicles.
It was translated into Russian and published in Moscow. the time is ripe for the second edition of this book. vehicle dynamics. Asia. and elsewhere have adopted it as a text for courses in automotive engineering. etc. Meanwhile. Europe. To improve fuel economy and to reduce undesirable exhaust emission. computeraided methods for vehicle performance and design optimization have been developed. in 1982. Furthermore. this second edition of Theory of Ground Vehicles is written with the same philosophy of emphasizing the fundamental engineering principles underlying the rational development and design of nonguided ground vehicles. As with the first edition. With the growing emphasis being placed by society on energy conservation. and . China. antilock brake systems and traction control systems have been introduced. To reflect these new developments and to serve the changing needs of the educational and professional communities. measures such as improving vehicle aerodynamic performance. transportation technology is under greater challenge than ever before. active and semiactive suspension systems have attracted considerable interest. and into Chinese and published in Beijing. significant technological developments in the field have taken place. offroad vehicle engineering. agricultural engineering. data on various topics have been updated.PREFACE TO THE SECOND EDITION Since the first edition of this book was published in 1978. offroad vehicles. To expedite the development of new products. To improve driving safety. environmental protection. it has gone through ten printings. better matching of transmission with engine. Russia. A number of engineering schools in North America. and optimizing power requirements have received intense attention. in addition to improvements in power plant design. in 1985. Discussions of these and other technological developments in the field have been included in this second edition. To provide better ride comfort while maintaining good roadholding capability. and safety. including road vehicles.
aircushion vehicles have found applications in ground transportation. In addition to skidsteering. In addition to conventional road vehicles and offroad vehicles." Computeraided methods for the design and performance evaluation of offroad vehicles are included. The steering of tracked vehicles is the topic of Chapter 6. The handling diagram for evaluating directional response is included. Human tolerance to vibration. Similar to the first edition. A unified method of approach to the analysis of the characteristics of various types of ground vehicle is again stressed. New data on the mechanics of skirtterrain interaction are included. the effects of suspension spring stiffness. In addition to discussions of the steadystate and transient handling behavior of passenger cars. and unsprung mass on vibration isolation characteristic~. The material included in this book has been used in the undergraduate and graduate courses in ground transportation technology that I have been teach . damping. Chapter 5 examines the handling behavior of road vehicles. vehicle ride models. The performance of offroad vehicles is the subject of Chapter 4. and applications of the random vibration theory to the evaluation of ride comfort are covered. Experimental data on the mechanical properties of various types of terrain are updated. Practical methods for predicting the behavior of tires subject to longitudinal or side force. it should also be of interest to engineers and researchers in the vehicle industry. Chapter 7 deals with vehicle ride comfort.XV~ PREFACE TO THE SECOND EDITION aircushion vehicles. as well as under their combined action. However. various criteria for evaluating military vehicles are included. which has become known as "terramechanics. The basic principles of aircushion systems and the unique characteristics of aircushion vehicles for overland and overwater operations are treated in Chapter 8. Procedures for matching transmission with engine to achieve improved fuel economy while maintaining adequate performance are outlined. this second edition consists of eight chapters. handling behavior. are included.roadholding. Included is updated information on the aerodynamic performance of passenger cars and articulated heavy commercial vehicles. In addition. the handling characteristics of tractorsemitrailers are examined. Furthermore. and suspension travel are examined. The operating principles of antilock brake systems and traction control systems and their effects on performance and handling are presented in some detail. Chapter 2 examines the mechanics of vehicleterrain interaction. articulated steering for tracked vehicles is examined. Chapter 3 deals with the analysis and prediction of road vehicle performance. and ride comfort of these vehicles are covered. Analysis and evaluation of performance characteristics. New experimental data on tire performance are added. The principles of active and semiactive suspensions are also discussed. Chapter 1 discusses the mechanics of pneumatic tires. Discussions on the optimization of the performance of allwheeldrive offroad vehicles are expanded. Characteristics of continuously variable transmissions and their effects on fuel economy and performance are examined. This book is intended primarily to introduce senior undergraduate and beginning graduate students to the study of ground vehicle engineering.
University of Michigan. China. at seminars and in professional development programs in Canada. I have drawn much on my experience acquired from collaboration with many of my colleagues in industry. Europe. Jo YUNGWONG Ottawa. Germany. Dodds and the preparation of additional illustrations by J. It has also been presented. G. Asia. Finland. and Professor E. Taiwan. Canada . Italy. Clemson University. M. Bekker. the United Kingdom. The encouragement. and the United States. I would also like to record my gratitude to the late Dr. Sweden. Professor Emeritus. Law. upon which some of the material included in this book was developed. suggestions. Reece. formerly of the University of NewcastleuponTyne. Spain. Brzezina for this second edition are appreciated. and currently Managing Director. research organizations. H. are particularly appreciated. and elsewhere. In preparing the second edition of this book. and universities in North America.PREFACE TO THE SECOND EDITION ~ ~ i i ing at Carleton for some years. in part. England. A. and comments that I have received from Dr. Professor L. Segel. Soil Machine Dynamics Limited. inspiration. R. The typing of the manuscript by D. Singapore. with whom I had the good fortune to collaborate in research projects and in joint offerings of professional development programs.
I found that although there was a wealth of information in research reports and in journals of learned societies. and aircushion vehicles. offroad.PREFACE TO THE FIRST EDITION Society's growing demand for better and safer transportation. handling behavior. which is essential to the evaluation of offroad vehicle performance. and ride. there was as yet no comprehensive account suitable as a text for university students. Analysis and evaluation of performance characteristics. Chapter 2 examines the vehicle running gearterrain interaction. almost all other forces and moments affecting the motion xviii . Although this book is intended mainly to introduce senior undergraduate and beginning graduate students to the study of ground vehicles. Chapter 1 discusses the mechanics of pneumatic tires and provides a basis for the study of road vehicle characteristics. environmental protection. including road. Transport technology has now become an academic discipline in both graduate and undergraduate programs at an increasing number of engineering schools in North America and Elsewhere. handling. This book deals with the theory and engineering principles of nonguided ground vehicles. I hope this book will fill this gap. because. The presentation emphasizes the fundamental principles underlying rational development and design of vehicle systems. Understanding the interaction between the vehicle and the ground is important to the study of vehicle performance. This book consists of eight chapters. A unified method of approach to the analysis of the characteristics of various types of ground vehicle is also stressed. and energy conservation has stimulated new interest in the development of the technology for transportation. While preparing lecture notes for my two courses at Carleton on ground transportation technology. it should also interest engineers and researchers in the vehicle industry. and ride qualities are covered. aside from aerodynamic inputs.
M. Since it is primarily intended for students. England. Santa Barbara. One is "TerrainVehicle Systems Analysis. I also acknowledge with gratitude the information and inspiration derived from the references listed at the end of the chapters and express my appreciation to many organizations and individuals for permission to reproduce illustrations and other copyrighted material. operating fuel economy. braking performance. A. this book should provide the reader with a comprehensive background on the theory of ground vehicles. Ellis. Guntur for reviewing part of the manuscript and to Dean M. C. The other is "Braking and Handling of Heavy Commercial Vehicles" given at Carleton jointly with Professor J. aircushion vehicles have found applications in ground transport. transport productivity and efficiency. Human response to vibration. performance limits. Chapter 5 examines handling behavior of road vehicles. University of NewcastleuponTyne. Bekker. and steering by articulation. G." given in Canada and Sweden jointly with Dr. Chapter 3 deals with analysis and prediction of the performance of road vehicles. I have used part of the material included in this book in my two engineering courses in ground transport technology at Carleton. and directional stability. In addition to conventional road and offroad vehicles. G. Reece. I am especially indebted to Dr. I wish to express my deep appreciation to them. Included in the discussion are the mechanics of skidsteering.of a ground vehicle are applied through the running gearground contact. England. and mobility profile are discussed. de Malherbe. R. and universities. Nevertheless. Dr. Ellis for stimulation and encouragement. R. and Dr. General Motors Corporation. Bekker. I have drawn much on the knowledge and experience acquired from collaboration with many colleagues in industry. Guntur. It has also been used in two special professional programs. School of Automotive Studies. vehicle ride models. R. M. The performance of offroad vehicles is the subject of Chapter 4. tractive efficiency. mobility map. Carleton University. R. and the application of random process theory to the analysis of vehicle vibration are covered. Chapter 7 examines vehicle ride qualities. including steadystate and transient responses. steerability of tracked vehicles. In writing this book. Appreciation is due to Dr. some topics have been given a simpler treatment than the latest developments would allow. and fuel economy. R. research organizations. Drawbar performance. Cranfield Institute of Technology. The basic engineering principles of aircushion systems and the unique features and characteristics of aircushion vehicles are treated in Chapter 8. The steering of tracked vehicles is the subject of Chapter 6. Professor . R. Transport Technology Research Laboratory. A book of this scope limits detail. Included in the discussion are vehicle power plant and transmission characteristics. California. and Professor J. R. acceleration characteristics. formerly with AC ElectronicsDefense Research Laboratories. Faculty of Engineering.
Saravanamuttoo. Canada July 1978 .XX PREFACE TO THE FIRST EDITION H. and many colleagues at Carleton University for encouragement. Department of Mechanical and Aeronautical Engineering. H. J o YUNGWONG Ottawa. I. Chairman.
3048 m/s2 0.02832 m3 16.2 ft .785 liter .2 kg 1.0929 m2 645. Customary Unit ft/s2 ft2 in.356 N . ft hp lb/ft2 lblin. mile slug ton lb .3 gal (liquids) SI Equivalent 0. m 745.2 mm2 1.' (psi) ft/s mph ft3 in.7 W 47.3048 mls 1.609 km 14.lb lb ft in.609 kmlh 0.356 J 4.CONVERSION FACTORS Quantity Acceleration Area Energy Force Length Mass Moment of a force Power Pressure or stress Speed Volume U.895 kPa 0.39 cm3 3.3048 m 25.88 Pa 6.4 mm 1.448 N 0.59 kg 907.S.
NOMENCLATURE area. contact area cushion area frontal area parameter characterizing terrain response to repetitive loading acceleration acceleration component along the x axis acceleration component along the y axis acceleration component along the z axis tread of the vehicle barometric pressure working width of machinery barometric pressure under reference atmospheric conditions vapor pressure width cone index aerodynamic resistance coefficient ratio of braking effort to normal load of vehicle front axle longitudinal stiffness of tire subject to a driving torque aerodynamic lift coefficient liftldrag ratio .
NOMENCLATURE aerodynamic pitching moment coefficient ratio of braking effort to normal load of vehicle rear axle restoring moment coefficient longitudinal stiffness of tire during braking ratio of braking effort to normal load of semitrailer axle coefficient of skirt contact drag coefficient of power spectral density function speed ratio of torque converter torque ratio of torque converter cornering stiffness of tire cornering stiffness of front tire cornering stiffness of rear tire cornering stiffness of semitrailer tire camber stiffness of tire cohesion adhesion equivalent damping coefficient damping coefficient of shock absorber damping coefficient of tire diameter discharge coefficient hydraulic diameter energy energy available at vehicle drawbar force. thrust braking force bralung force of vehicle front axle braking force of vehicle rear axle braking force of semitrailer axle lift generated by air cushion drawbar pull thrust of vehicle front axle hydrodynamic force acting on a tire over flooded surfaces ~~iii .
sand penetration resistance gradient lateral acceleration gain yaw velocity gain acceleration due to gravity height of center of gravity of the vehicle height of the point of application of aerodynamic resistance above ground level depth clearance height height of drawbar .XX~V NOMENCLATURE horizontal force acting at the hitch point of a tractorsemitrailer thrust of the inside track of a tracked vehicle lift generated by the change of momentum of an air jet net thrust thrust of the outside track of a tracked vehicle resultant force due to passive earth pressure normal component of the resultant force due to passive earth pressure thrust of vehicle rear axle side force force component along the x axis force component along the y axis cornering force of front tire cornering force of rear tire cornering force of tire camber thrust of tire force component along the z axis frequency center frequency equivalent coefficient of motion resistance natural frequency of sprung mass natural frequency of unsprung mass coefficient of rolling resistance grade.
NOMENCLATURE XXV mass moment of inertia mass moment of inertia of wheels mass moment of inertia of the vehicle about the y axis mass moment of inertia of the vehicle about the z axis slip slip of slip of slip of slip of skid front tire the inside track of a tracked vehicle the outside track of a tracked vehicle rear tire momentum flux of an air jet shear displacement shear deformation modulus augmentation factor proportion of total bralung force placed on vehicle front axle proportion of total braking force placed on vehicle rear axle proportion of total braking force placed on semitrailer axle coefficient of thrust distribution gear ratio of a controlled differential engine capacity factor passive earth pressure coefficient coefficient taking into account the effect of ground porosity on the flow and power requirement of an aircushion vehicle ratio of the angular speed of the outside track sprocket to that of the inside track sprocket torque converter capacity factor understeer coefficient understeer coefficient of semitrailer understeer coefficient of tractor ratio of the theoretical speed of the front tire to that of the rear tire weight utilization factor cohesive modulus of terrain deformation .
front suspension spring stiffness stiffness of underlying peat for organic terrain (muskeg) rear suspension spring stiffness stiffness of suspension spring equivalent spring stiffness of tire parameter characterizing terrain response to repetitive loading frictional modulus of terrain deformation parameter characterizing terrain response to repetitive loading wheelbase characteristic length wheelbase of semitrailer wheelbase of tractor length cushion perimeter nozzle perimeter distance between oscillation center and center of gravity of the vehicle contact length distance between front axle and center of gravity of the vehicle distance between rear axle and center of gravity of the vehicle aerodynamic pitching moment braking torque engine output torque moment of turning resistance restoring moment in roll torque converter output torque wheel torque moment about the x axis moment about the y axis moment about the z axis mobility index vehicle mass pressuresinkage parameter for organic terrain (muskeg) .
.. torque converter output speed engine power power required to sustain the air cushion drawbar power power required to overcome momentum drag engine power under reference atmospheric conditions power consumption of a tracked vehicle in straight line motion power consumption of a tracked vehicle during a turn pressure pressure exerted by tire carcass critical pressure cushion pressure dynamic pressure ground pressure at the lowest point of contact critical ground pressure inflation pressure total jet pressure Q 4 volume flow surcharge R turning radius Ra Rc Rd aerodynamic resistance motion resistance due to terrain compaction 4 grade resistance drawbar load . N . N. bearing capacity factors N+ n flow value for soils exponent of terrain deformation n.. engine speed number of speeds in a gearbox 4.NOMENCLATURE mus sprung mass unsprung mass N exponent of power spectral density function ms XXV~ N.
xxviii NOMENCLATURE motion resistance of tire due to hysteresis and other internal losses motion resistance of the inside track of a tracked vehicle internal resistance of track system aerodynamic lift lateral resistance of track momentum drag motion resistance of the outside track of a tracked vehicle rolling resistance rolling resistance of front tire rolling resistance of rear tire rolling resistance of semitrailer tire skirt contact drag total motion resistance wavemaking drag drag due to wave wetting drag radius of wheel or sprocket effective rolling radius of tire radius of gyration of the vehicle about the y axis distance power spectral density function of terrain profile (temporal frequency) power spectral density function of terrain profile (spatial frequency) power spectral density function of vehicle response (temporal frequency) displacement temperature. tension breaking torque on a tire temperature under reference atmospheric conditions time thickness of air jet pneumatic trail of tire .
track pitch energy dissipation fuel consumed for work performed per unit area energy obtained at the drawbar per unit volume of fuel spent fuel consumed per hour specific fuel consumption fuel consumed during time t fuel consumed per unit payload for unit distance speed speed of wind relative to vehicle speed of air escaping from cushion speed of the inside track of a tracked vehicle slip speed jet speed average operating speed speed of the outside track of a tracked vehicle hydroplaning speed of tire theoretical speed theoretical speed of front tire theoretical speed of rear tire normal load. penetration critical sinkage pressuresinkage parameter for snow cover . weight load supported by air cushion critical load proportion of vehicle weight applied to driven wheels load on vehicle front axle normal load at the hitch point of a tractorsemitrailer payload load on vehicle rear axle load on semitrailer axle depth.
angle angle of attack angular acceleration inclination angle slip angle of front tire slip angle of rear tire slip angle of semitrailer tire vehicle sideslip angle inclination angle of blade articulation angle camber angle of tire vehicle mass factor specific weight of terrain angle of interface friction steer angle of front tire steer angle of inside front tire steer angle of outside front tire tire deflection strain damping ratio 'lb 77.XXX NOMENCLATURE slip angle of tire. 'lo 'ld 'lm rip 77. drawbar efficiency efficiency of motion propulsive efficiency slip efficiency structural efficiency transmission efficiency transport efficiency . %t 'lr 'lrr braking efficiency torque converter efficiency cushion intake efficiency tractive efficiency.
NOMENCLATURE angular displacement cushion wall angle nozzle angle slope angle trim angle coefficient of road adhesion peak value of coefficient of road adhesion sliding value of coefficient of road adhesion coefficient of lateral resistance coefficient of traction concentration factor gear ratio overall reduction ratio steering gear ratio air density density of fluid density of water normal stress active earth pressure passive earth pressure radial stress vertical stress shear stress maximum shear stress residual shear stress angle of internal shearing resistance spatial frequency angular speed about the x axis XXX~ .
X X X ~ ~ NOMENCLATURE fly % 0 *i *. *. angular speed about the y axis angular speed about the z axis angular speed angular speed of the sprocket of the inside track of a tracked vehicle circular natural frequency angular speed of the sprocket of the outside track of a tracked vehicle .
the characteristics of a ground vehicle may be described in terms of its performance. which in operation are supported by air and water. The theory of ground vehicles is concerned with the study of the performance. as illustrated in . In general. and selection of vehicles to meet various operational requirements. by choice. and ride and their relationships with the design of ground vehicles under various operating conditions. Performance characteristics refer to the ability of the vehicle to accelerate. such as railway vehicles and tracked levitated vehicles. handling. The behavior of a ground vehicle represents the results of the interactions among the driver. such as road and offroad vehicles. Nonguided ground vehicles can move. and ride. Guided ground vehicles are constrained to move along a fixed path (guideway). to overcome obstacles.INTRODUCTION Ground vehicles are those vehicles that are supported by the ground. Ground vehicles may be broadly classified as guided and nonguided. Handling qualities are concerned with the response of the vehicle to the driver's commands and its ability to stabilize its motion against external disturbances. The prime objective of the study of the mechanics of ground vehicles is to establish guiding principles for the rational development. respectively. Ride characteristics are related to the vibration of the vehicle excited by surface irregularities and its effects on passengers and goods. and to decelerate. in contrast with aircraft and marinecraft. the vehicle. to develop drawbar pull. design. The mechanics of nonguided ground vehicles is the subject of this book. in various directions on the ground. handling. and the environment.
t I AERODYNAMIC INPUTS Fig. Fig. 1. essential to the design and evaluation of ground vehicle systems.2 INTRODUCTION VISUAL AND OTHER INPUTS ACCELERATOR. . therefore. the characteristics of the vehicle. 1. The drivervehicleground system. and the physical and geometric properties of the ground is. BRAKES  t PERFORMANCE DRIVER SURFACE lRREGULARITI ES c 1 L I . An understanding of the behavior of the human driver.
therefore. An understanding of the basic characteristics of the interaction between the running gear and the ground is. . thus. The study of the mechanics of pneumatic tires therefore is of fundamental importance to the understanding of the performance and characteristics of ground vehicles. which is of prime importance to the study of offroad vehicle performance. Two basic types of problem in the mechanics of tires are of special interest to vehicle engineers. which is essential to the study of the characteristics of road vehicles. The running gear of a ground vehicle is generally required to fulfill the following functions: to to to to support the weight of the vehicle cushion the vehicle over surface irregularities provide sufficient traction for driving and braking provide adequate steering control and direction stability. ride quality. and handling behavior of ground vehicles. Pneumatic tires can perform these functions effectively and efficiently.CHAPTER 1 MECHANICS OF PNEUMATIC TIRES Aside from aerodynamic and gravitational forces. they are universally used in road vehicles. The other is the mechanics of tires on deformable surfaces (unprepared terrain). and are also widely used in offroad vehicles. essential to the study of performance characteristics. all other major forces and moments affecting the motion of a ground vehicle are applied through the running gearground contact. One is the mechanics of tires on hard surfaces.
' The rubber compounds for the tread vary with the type of tire. For instance. For tubeless tires. tearing. synthetic.1]. the geometric dispositions of layers of rubbercoated cords (plies). The beads serve as the "foundations" for the carcass and provide adequate seating of the tire on the rim. but poor handling performance. a thin layer of rubber with high impermeability to air (such as butyl rubber compounds) is attached to the inner surface of the carcass. The design and construction of the carcass determine. than various synthetic rubber compounds universally used for passenger car and racing car tires [l. which in turn is supported at its lower part by the ground. 1. the high load intensities necessitate the use of tread compounds with high resistance to abrasion. Consequently.l. It is made up of a number of layers of flexible cords of high modulus of elasticity encased in a matrix of low modulus rubber compounds. A pneumatic tire is a flexible structure of the shape of a toroid filled with compressed air.1. the tire will be capable of providing a comfortable ride. The most important structural element of the tire is the carcass. The rubber compounds for the sidewall are generally required to be highly resistant to fatigue and scuffing. the characteristics of the tire. and crack growth. where the hub hangs on the spokes from the upper part of the rim. Among the various design parameters. On the other hand. but a harsh ride. The load transmission of a pneumatic tire is analogous to that of a bicycle wheel. particularly on wet surfaces. particularly their directions. the inflation pressure causes tension to be developed in the cords comprising the carcass. A compromise is adopted in a biasply tire. and with low hysteresis to reduce internal heat generation and rolling resistance. as shown in Fig. if the cords are at right angle to the centerline of the tread. . or metallic composition.4 MECHANICS OF PNEUMATIC TIRES The mechanics of tires on hard surfaces is discussed in this chapter. for heavy truck tires. For an inflated pneumatic tire. as shown in Fig. which is the angle between the cord and the circumferential center line of the tire. play a significant role in the behavior of the tire. and are anchored around the beads made of high tensile strength steel wires. 1. whereas the behavior of tires over unprepared terrain will be discussed in Chapter 2. in which the cords extend diagonally across the carcass from bead to bead with a crown angle of ap 'Numbers in brackets designate references at the end of the chapter. to a great extent. the tire will have good cornering characteristics. When the cords have a low crown angle. which have become dominant. The direction of the cords is usually defined by the crown angle. although they intrinsically provide lower values of coefficient of road adhesion. The load applied through the rim of the wheel hangs primarily on the cords in the sidewalls through the beads. natural rubber compounds are widely used for truck tires. and styrenebutadiene compounds are widely used [1. The ingredients of the rubber compounds are selected to provide the tire with specific properties. The cords are made of fabrics of natural. 11.
(b) Radialply tire. (a) Biasply tire. 5 . 1.MECHANICS OF PNEUMATIC TIRES CARCASS PLIES RUNNING AT BIAS ANGLE / CARCASS PLIES RUNNING AT RADIAL ANGLE (b) Fig.1 Tire construction.
The radialply tire. Thus. There are also tires built with belts in the tread on biasply construction. and two plies of steel cords and two plies of cords made of synthetic material. For truck tires. the biasbelted tire has characteristics midway between those of the biasply and the radialply tire. This type of tire is usually called the biasbelted tire. as shown in Fig. the Department of Transportation requires tire manufacturers to provide information on tire dimensions and ratings on the side . as shown in Fig. flexing of the carcass involves very little relative movement of the cords forming the belt. l. l. which is one of the main causes of tire wear and high rolling resistance [1. The belt provides high rigidity to the tread against distortion. agricultural machinery. resulting in a crown angle of 90°. However.l(b). in the belt. the cords overlap in a diamondshaped (crisscross) pattern. there is a relatively uniform ground pressure over the entire contact area. thus elongating the diamondshaped elements and the rubberfiller.l(b). A belt of several layers of cords of high modulus of elasticity (usually steel or other highstrength materials) is fitted under the tread. This flexing action produces a wiping motion between the tread and the road. on the other hand. usually there is one radial steel ply in the carcass and four steel plies in the belt. The radialply tire has one or more layers of cords in the carcass extending radially from bead to bead. and reduces tread wear and rolling resistance in comparison with the conventional biasply tire. such as rayon or polyester. Without it. usually there are two radial plies in the carcass made of synthetic material. The belt is essential to the proper functioning of the radialply tire. Generally.3]. In the United States.31. the ground pressure for a biasply tire varies greatly from point to point as tread elements passing through the contact area undergo complex localized wiping motion. For the radialply tire. The cords in the belt are laid at a low crown angle of approximately 20". a radialply carcass can become unstable since the tire periphery may develop into a series of buckles due to the irregularities in cord spacing when inflated. A biasply tire has two plies (for lightload tires) or more (up to 20 plies for heavyload tires). In contrast. It was first introduced by Michelin in 1948 and has now become dominant for passenger cars and trucks and increasingly for heavyduty earthmoving machinery. motorcycles. For passenger car tires. and the life of the radialply tire could be as long as twice that of the equivalent biasply tire [1. 1. the biasply tire is still in use in particular fields. The cords in adjacent plies run in opposite directions. as shown in Fig. In the absence of a wiping motion between the tire and the road. such as cycles. the diagonal plies flex and rub. The cords in the belt are of materials with a higher modulus of elasticity than those in the biasplies.l(a). is constructed very differently from the biasply tire. and some military equipment. l.2. the power dissipation of the radialply tire could be as low as 60% of that of the biasply tire under similar conditions. In operation. such as nylon. For a radialply tire.6 MECHANICS OF PNEUMATIC TIRES proximately 40".
for a tire "P185170 R14 87S. Lateral force F. In the following sections. "185" is the nominal width of the cross section in millimeters.2 times as long as the reference tire. is the moment about the X axis exerted on the tire by the road. A treadwear index of 180 is considered to be quite low and an index of 500. V149 mph (240 krnlh). the longitudinal shift of the center of normal pressure is determined by the ratio of the rolling resistance moment to . A being the best and C the worst. For instance. "70" is the aspect ratio. The X axis is the intersection of the wheel plane and the ground plane with a positive direction forward.1 TIRE FORCES AND MOMENTS To describe the characteristics of a tire and the forces and moments acting on it. many performance parameters of the tire can be conveniently defined. which is the ratio of the height of the sidewall to the crosssectional width. is the component in the Y direction. and its direction is chosen to make the axis system orthogonal and right hand." "P" indicates a passenger car tire.I TIRE FORCES AND MOMENTS 7 wall of every tire. Overturning moment M. The Z axis is perpendicular to the ground plane with a positive direction downward. is the moment about the Z axis. and aligning torque M. quite high. Rolling resistance moment My is the moment about the Y axis.2 [1. 1. For instance. a treadwear rating of 420 means that the tire should last 4. 1. Although the construction of pneumatic tires differs from one type to another.4]. One of the commonly used axis systems recommended by the Society of Automotive Engineers is shown in Fig. "S" is a speed rating which indicates the maximum speed that the tire can sustain without failure. is the component in the Z direction. 2149 mph (240 kmlh) or more. For instance. Traction and temperature capabilities are indicated on a scale from A to C. is the component in the X direction of the resultant force exerted on the tire by the road.1. H130 mph (210 kmlh). The origin of the axis system is the center of tire contact. The characteristics peculiar to a particular kind of tire will also be described. It is rated against a reference tire with an index of 100. Tractive force (or longitudinal force) F. There are three forces and three moments acting on the tire from the ground. The traction rating is based on straightline stopping ability on a wet surface. the mechanics fundamental to all types of tire will be discussed. T118 mph (190 kmlh). "R" stands for radialply tire. and hard driving generate. "87" is a code indicating the maximum load the tire can carry at its maximum rated speed. "14" is the rim diameter in inches. Treadwear index is an indication of expected tire life. the basic problems involved are not dissimilar. and normal force F. The temperature rating is an index of the tire's ability to withstand the heat that high speeds. heavy loads. With this axis system. it is necessary to define an axis system that serves as a reference for the definition of various parameters. S112 mph (180 kmlh). The Y axis is in the ground plane.
Friction between the tire and the road caused by sliding. The lateral force at the tireground contact patch is a function of both the slip angle and the camber angle. The integration of longitudinal shear stresses over the entire contact patch represents the tractive or braking force.2 Tire axis system.2 ROLLING RESISTANCE OF TIRES The rolling resistance of tires on hard surfaces is primarily caused by the hysteresis in tire materials due to the deflection of the carcass while rolling. 1. the resistance due to air circulating inside the tire. Camber angle y is the angle formed between the XZ plane and the wheel plane. 1. There are two important angles associated with a rolling tire: the slip angle and the camber angle.1 2ALIGNING TORQUE (MZ) CAMBER ANGLE TRACTIVE FORCE ( Fx) (DIRECTION OF WHEEL HEADING) ROL DIRECTION OF WHEEL TRAVEL t z Fig. the normal load. The lateral shift of the center of normal pressure is defined by the ratio of the overturning moment to the normal load. and a braking torque produces a force for decelerating the vehicle. Slip angle a is the angle formed between the direction of wheel travel and the line of intersection of the wheel plane with the road surface. and the fan effect of the rotating tire on the . A driving torque about the axis of rotation of the tire produces a force for accelerating the vehicle.
the applied wheel torque is zero.6. Thicker treads and sidewalls and an increased number of carcass plies tend to increase the rolling resistance because of greater hysteresis losses. Surface conditions also affect the rolling resistance. On wet surfaces. Figure 1. The ratio of the rolling resistance to the normal load on the tire is defined as the coefficient of rolling resistance.10]. the sidewall 13%. This shift produces a moment about the axis of rotation of the tire. and the beads 2%. contributes 73%. ranging from polished concrete to coarse asphalt [1. 1. the rolling resistance is considerably lower than that on a rough road. including the belt.7]. On hard.61.06 and 1. It is found that the rolling resistance of tires with tread made of synthetic rubber compounds and that made of butyl rubber compounds are approximately 1. 1. hysteresis in the tread region.3 shows the rolling resistance coefficient at various speeds of a range of biasply and radialply passenger car tires at rated loads and inflation pressures on a smooth road [1. 12%. When a tire is rolling.2 ROLLING RESISTANCE OF TIRES 9 surrounding air also contribute to the rolling resistance of the tire. Of the total energy losses within the tire structure. inflation pressure. the carcass is deflected in the area of ground contact. The difference in rolling resistance coefficient between a biasply and a radialply truck tire of the same size under rated conditions is shown in Fig.5% due to air resistance [ I S . 6 ) the rolling resistance is 33% higher than that on a new .53. Tires made of butyl rubber compounds. In a freerolling tire. the region between the tread and the sidewall. the normal pressure in the leading half of the contact patch is higher than that in the trailing half.). Tire construction has a significant influence on its rolling resistance. etc. It can be seen that on the asphalt surface with coarse sealcoat (surface no. a higher rolling resistance than on dry surfaces is usually observed. A number of factors affect the rolling resistance of a pneumatic tire. 1. temperature. a horizontal force at the tireground contact patch must exist to maintain equilibrium. but they are of secondary importance. commonly known as the shoulder region.35 times that made of natural rubber compounds.9]. it is found that for a radial truck tire. 210% due to friction between the tire and the ground. Available experimental results give a breakdown of tire losses in the speed range 128152 kmlh (8095 mph) as 9095% due to internal hysteresis losses in the tire. which are shown to have better traction and roadholding properties. Tires made of synthetic rubber compounds generally have higher rolling resistance than those made of natural rubber. The profiles of these six surfaces are shown in Fig. and 1.4 [1. Figure 1. therefore. respectively [1.5 shows a comparison of the rolling resistance of passenger car tires over six road surfaces with different textures. As a result of tire distortion.8]. speed. The center of normal pressure is shifted in the direction of rolling. They include the structure of the tire (construction and materials) and its operating conditions (surface conditions. which is the rolling resistance moment. This resultant horizontal force is generally known as the rolling resistance. smooth surfaces. have an even higher rolling resistance than those made of conventional synthetic rubber.1.
(Reproduced with permission from reference 1. (Reproduced with permission from Automotive Handbook.) i LL W 8 0.4 Variation of rolling resistance coefficient of radialply and biasply truck tires with speed under rated load and inflation pressure. flat road surface under rated load and inflation pressure. CAR TIRES RATED CONDITIONS t.10 MECHANICS OF PNEUMATIC TIRES . Robert Bosch GmbH. 2nd edition.010  TRUCK TIRES RATED CONDITIONS > 1 1 1 50 75 100 L I I I I 15 25 35 45 55 kmlh 1 65 mph SPEED Fig.) .3 Variation of rolling resistance coefficient of radialply and biasply car tires with speed on a smooth.012  0. 1. Germany.8. 1. I L 0 I 25 50 75 mph SPEED Fig.
Fig.10.6 Texture of various types of pavement surface. 1.) .10. 1. (Reproduced with permission of the Society of Automotive Engineers from reference 1. (Reproduced with permission of the Society of Automotive Engineers from reference 1.) TEX JRE MACRO POLISHED CONCRETE \MIXED AGGREGATEROUNDED 3.2 ROLLING RESISTANCE OF TIRES 11 Fig. A\\\\\\\\\\\\\\\ MICRO SMOOTH SMOOTH SMOOTH HARSH MEDIUM MEDIUM SMOOTH MEDIUM MEDIUM MEDIUM COARSE MEDIUM COARSE HARSH ASPHALT WITH 6.5 Variation of tire rolling resistance with pavement surface texture.1.
expressed in terms of the percentage of the rated load at an inflation pressure of 165 kPa (24 psi) [1. 110 kPa B: 24 psi.) . such as sand. Therefore. and therefore higher rolling resistance. 2). Inflation pressure affects the flexibility of the tire. 220 kPa D: 40 psi.7 Variation of rolling resistance of radialply. Figure 1. On deformable surfaces. the deflection of the tire decreases. and biasply car tires with load and inflation pressure. 379 kPa N I~I BIAS * % OF T & RA 24 psi (165 kPa) RATED LOAD Fig. with higher inflation pressure. that is. Depending on the deformability of the ground. a biasply tire. 1.9 shows the effects of inflation pressure on tread wear A: 16 psi. with consequent lower hysteresis losses.8 [I. which minimizes the sum of ground penetration work and internal losses of the tire.1 1. biasbelted. The results were obtained with the inflation pressure being regulated. 121. 331 kPa F: 55 psi. the inflation pressure affects the rolling resistance of the tire in different manners. Figure 1. 1. On hard surfaces. increases the deflection of the tire and hence internal hysteresis losses. (Reproduced with permission of the Society of Automotive Engineers from reference 1.11]. I). and a biasbelted tire (both G7815) under various normal loads. Inflation pressure not only affects the rolling resistance. This is because. it shows a 12% reduction in comparison with that on the new concrete surface. lower inflation pressure. but also the tread wear of a tire. 276 kPa N ~b BIAS BELTED E: 48 psi. while decreasing ground penetration. while on the polished concrete (surface no. the pressure was maintained at a specific level throughout the tests. It can be seen that inflation pressure has a much more significant effect on the rolling resistance of the bias and biasbelted tires than the radialply tire. high inflation pressure results in increased ground penetration work. 165 kPa N ~b RADIAL C:32 psi. Conversely.7 shows the effects of inflation pressure on the rolling resistance of a radialply tire (GR7815). an optimum inflation pressure exists for a particular tire on a given deformable surface. the rolling resistance generally decreases with the increase in inflation pressure. as shown in Fig.12 MECHANICS OF PNEUMATIC TIRES concrete surface (surface no.
) BIAS o BIASBELTED WEAR RATE AT 1 5 0 ~ x.12.) .11. 1. 1. (Reproduced with permission from reference 1.9 Variation of shouldercrown wear with inflation pressure for radialply.8 Variation of rolling resistance coefficient with inflation pressure of tires on various surfaces. and biasbelted car tires. (Reproduced with permission of the Society of Automotive Engineers from reference 1. 16 I I I I 24 I 32I 110 165 220 INFLATION PRESSURE 40 psi I 275 kPa Fig. 24 psi (165 kPa) = 100 INDEX 100 n z 50 01 .u MEDIUM HARD SOIL w I ! LI CONCRETE LL W 0 0 0 I 0 20 10 30 40 psi 0 100 0 kPa 200 INFLATION PRESSURE Fig. biasply.
3 and 1. The approximate value of the threshold speed V. This places an upper limit on the safe operating speed of tires. the tire tread does not recover immediately from distortion originating from tire deflection after it leaves the contact surface.13].. 1. 1. STANDING WAVE . as shown in Fig. The formation of the standing wave greatly increases energy losses. The variation of rolling resistance coefficient with shoulder temperature of a radialply passenger car tire is shown in Fig. and the residual deformation initiates a wave. Figure 1. and is damped out in an exponential manner around the circumference of the tire. 1. is the circumferential tension in the tire and p. 1.10 Formation of standing waves of a tire at high speeds. and a biasbelted tire [1. It can be seen that the rolling resistance at a shoulder temperature of 10°C is approximately 2. there exists a threshold speed above which the phenomenon popularly known as standing waves will be observed. and not the ambient m. which in turn cause considerable heat generation that could lead to tire failure. a biasply. is the density of tread material per unit area [1. It can be seen that the effects of inflation pressure on tread wear are more significant for the biasply and biasbelted tire than the radialply tire.3 times that at 60°C for the tire examined. Operating temperature.14 MECHANICS OF PNEUMATIC TIRES of a radialply. = where F.10. may be determined by the expression V.. Tire temperature affects the rolling resistance in two ways: one is by changing the temperature of the air in the tire cavity. The wear rate at 165 kPa (24 psi) is used as a reference for comparison.11 shows the dependence of the rolling resistance on the internal tire temperature for an automobile tire [IS]. and thereby changing the operating inflation pressure. respectively. Rolling resistance is also affected by driving speed because of the increase of work in deforming the tire and of vibrations in the tire structure with the increase in speed. It is also found that the shoulder temperature of the tire. Standing waves are formed because. For a given tire under a particular operating condition.12 [1.4. The effects of speed on the rolling resistance of biasply and radialply passenger car and truck tires are illustrated in Figs.14]. tire diameter. owing to high speed. and the other is by changing the stiffness and hysteresis of the rubber compounds.11]. The amplitude of the wave is the greatest immediately on leaving the ground. Fig. and tractive force also have effects on the rolling resistance of a tire.
(Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 1. 1.025 .020 Fig.5. It can be seen that the effect of tire diameter is negligible on hard surfaces (concrete). 1.030 W i r)* I 728 Ib.030 INTERNAL T I RE TEMPERATURE "C . 1. 3238 N AWOIb.14 shows the effect of the braking and tractive effort on the rolling resistance [1. Figure 1.14.13 [1.2 ROLLING RESISTANCE OF TIRES 15 \m CAR SPEED 96W ~ Q W 6" .) temperature.1. (Reproduced with permission of the Society of Automotive Engineers from reference 1.4314N o a a a a : 20 0 20 40 60 80'~ SHOULDER TEMPERATURE Fig.12 Variation of rolling resistance coefficient with shoulder temperature for a car tire P195175R14. but is considerable on deformable or soft ground. is a basic determining factor of thc tire rolling resistance coefficient. The effect of tire diameter on the coefficient of rolling resistance is shown in Fig.6].11 Effect of internal temperature on rolling resistance coefficient of a car tire.12].) . 5 0.
4 0.2 BRAKING EFFORT COEFFICIENT 0 0. 24.5 Fig.14 Effect of tractive and braking effort on rolling resistance coefficient of a car tire. edited by S. cushioning ef TIRE 8. 1. cornering properties.37 kN . Monograph 122.2015 NORMAL LOAD 6.0 In.i 2  (I) 0.12.8kPa . and design parameters of tires on rolling resistance. construction.3 0 z J I B 0.2 8 DlUM HARD SOIL tZ 'A 0.0. National Bureau of Standards. it is necessary to have a proper perspective of the energy losses in the tire and the characteristics of the tirevehicle system as a whole.4U z . Clark.5 I 70 1.1  I! L LL W 8 CONCRETE 0 10 1 I 30 50 0.2 0.K. it should be judged against other performance parameters. rn 1.) . such as tire endurance and life. Although it is desirable to keep the rolling resistance as low as possible.16 MECHANICS OF PNEUMATIC TIRES .2~~1 0. 1433 1b Z INFLATION PRESSURE 166.4 TRACTIVE EFFORT COEFFICIENT Fig. 1. (Reproduced with permission from Mechanics of Pneumatic Tires.13 Effect of tire diameter on rolling resistance coefficient on various surfaces.) TIRE DIAMETER When considering the effects of material. (Reproduced with per mission from reference 1. 1971. traction.
The complex relationships between the design and operational parameters of the tire and its rolling resistance make it extremely difficult. which may be found in the SAE Handbook. yet because of significant advantages in cost. tread life. For highperformance vehicles. they have virtually displaced natural rubber compounds from passenger car tires. where V is in kmlh. to develop an analytic method for predicting the rolling resistance. For instance. and comfort. The rolling resistance coefficient of truck tires is usually lower than that of passenger car tires on road surfaces.1. and speed V (up to 100 kmlh or 62 mph) may be described by and for the biasply truck tire. To provide a uniform basis for collecting experimental data. For instance. the Society of Automotive Engineers recommends rolling resistance measurement procedures for various types of tire on different surfaces. This is primarily due to the higher . etc. the relationship between rolling resistance coefficient f . The determination of the rolling resistance. particularly for treads. where V is in kmlh. in spite of their poor hysteresis characteristics [ l S]. roadholding. the relationship between the rolling resistance coefficient f.3. cost. there may be some advantage for using butyl rubber tires because of the marked gains in traction. therefore. for radialply passenger car tires under rated loads and inflation pressures on a smooth road. from the standpoint of rolling resistance. 1. based on the experimental data shown in Fig. relies almost entirely on experiments.4. silence. and tire squeal. many empirical formulas have been proposed for calculating the rolling resistance of tires on hard surfaces.2 ROLLING RESISTANCE OF TIRES 17 fect. Based on the experimental data shown in Fig. wetroad grip. if not impossible. 1. Based on experimental results. synthetic rubber compounds are less favorable than natural rubber compounds. for the radialply truck tire under rated load and inflation pressure. and speed V (up to 150 km/h or 93 mph) may be expressed by and for biasply passenger car tires.
asphalt Rolled gravel Tarmacadam Unpaved road Field Truck tires Concrete.6]. 4th edition. for a particular operating condition may be used. TABLE 1. the distance that the tire travels when subject to a driving torque will be less than that in free rolling. for various types of tire over different surfaces are summarized in Table 1.1 Coefficient of Rolling Resistance Road Surface Coefficient of Rolling Resistance Car tires Concrete. when a driving torque is applied. a tractive force is developed at the tireground contact patch.3 TRACTIVE (BRAKING) EFFORT AND LONGITUDINAL SLIP (SKID) When a driving torque is applied to a pneumatic tire. r is the rolling radius of the freerolling tire. and re is the effective rolling radius of the tire. the effect of speed may be ignored. Germany.1. This phenomenon is usually referred to as longitudinal slip. as shown in Fig. is usually defined by where V is the linear speed of the tire center. w is the angular speed of the tire. Bosch. A corresponding shear deformation of the sidewall of the tire is also developed. 1. 1996. At the same time. The average values of f . As tread elements are compressed before entering the contact region. (Reproduced with permission of Robert Bosch GmbH. In preliminary performance calculations.15 [1. asphalt Source: Automotive Handbook. and the average value of f. which is the ratio of the linear speed of the tire center to the angular speed of the tire. 1. the tire tread in front of and within the contact patch is subjected to compression. The longitudinal slip of the vehicle running gear.) .18 MECHANICS OF PNEUMATIC TIRES inflation pressure used in truck tires (typically 620827 kPa or 90120 psi as opposed to 193248 kPa or 2836 psi for passenger car tires).
15 Behavior of a tire under the action of a driving torque. 1. edited by S. 1971. where the driven tires are spinning at high angular speeds.2)." The longitudinal slip velocity is taken as "the difference between the spin velocity of the driven or braked tire and the spin velocity of the straight freerolling tire. If a tire is rotating at a certain angular speed but the linear speed of the tire center is zero. In essence. 1. . National Bureau of Standards. the longitudinal slip of the tire will be 100%.3 TRACTIVE (BRAKING) EFFORT AND LONGITUDINAL SLIP (SKID) 19 Fig. 1.5 appears in some publications. For instance.5 is adopted in the analysis of the mechanics of tires in this book. 1. A positive value of slip results from a driving torque. longitudinal slip is defined as "the ratio of the longitudinal slip velocity to the spin velocity of the straight freerolling tire expressed as a percentage. while the vehicle does not move forward. rw > V and a positive value for slip results. A definition of longitudinal slip different from that given by Eq.) When a driving torque is applied.1." Both spin velocities are measured at the same linear velocity at the wheel center in the X direction (Fig. then in accordance with Eq. The definition of longitudinal slip given by Eq. This is often observed on an icy surface. therefore.4]. Vehicle Dynamics Terminology J670e [1. in the SAE Handbook Supplement. (Reproduced with permission from Mechanics of Pneumatic Tires. 1. Monograph 122.K. Clark. the tire rotates without the equivalent translatory progression.5.
16. respectively. 1.16.20 MECHANICS OF PNEUMATIC TIRES the definition of longitudinal slip i' suggested by the SAE can be expressed by where V. . Based on available experimental data. slip is mainly due to elastic deformation of the tire tread.W. Under these circumstances. A further increase of wheel torque and tractive force results in part of the tire tread sliding on the ground. Any further increase of slip beyond that results in an unstable condition. Generally speaking. at first the wheel torque and tractive force increase linearly with slip because. 1. It should be noted that in accordance with the definition suggested by the SAE. where W is the normal load on the tire and pp and ps are the peak and sliding values of the coefficient of road adhesion. as shown in Fig.16. w . the longitudinal slip i' of the tire will be denoted as infinite. initially. with the tractive effort falling rapidly from the peak value ppW to the pure sliding value p. r. slip is a function of tractive effort. This corresponds to section OA of the curve shown in Fig. and re are defined in the same way as that for Eq. the relationship between the tractive force and the slip is nonlinear. B w Fxc SLIDING z 0 'C 20 40 60 80 LONGITUDINAL SLIP 100% Fig. 1. 1.16 Variation of tractive effort with longitudin. As the tractive force developed by a tire is proportional to the applied wheel torque under steadystate conditions. This corresponds to section AB of the curve shown in Fig. 1.~lslip of a tire.5. the maximum tractive force of a pneumatic tire on hard surfaces is usually reached somewhere between 15 and 20% slip. when a tire is rotating at a certain angular speed but the linear speed of the tire center is zero.
1.2) for a radialply tire to 4206 kN/m2 (610 1bIi11. Thus. it is found that the value of k . Let e. In the adhesion region. in the region in front of the contact patch. One of the earliest theoretical treatises on the relationship between the tractive effort and the longitudinal slip of pneumatic tires was presented by Julien [1. In Julien's theory. Then It is further assumed that. the tractive force per unit contact length is proportional to the deformation of the tread. the driving torque produces a longitudinal strain E (in compression) in the tread. When a driving torque is applied to a tire. However. whereas in the sliding region. is proportional to E.15]. varies in a narrow range from approximately 3930 kN/m2 (570 lb/in. where k . within the adhesion region. the interacting forces depend on the elastic properties of the tire. b the width of the contact patch. Let p be the normal pressure. It remains constant in the adhesion region of the contact patch. the . the interacting forces depend upon the adhesive properties of the tireground interface. several theories have been proposed that could provide a basic understanding of the physical nature of the processes involved. It is further assumed that the contact patch can be divided into an adhesion region and a sliding region. and e. and p. where no sliding between the tire tread and the ground takes place. Based on experimental data of a sample of heavy truck tires under rated loads and inflation pressures. = he.3 TRACTIVE (BRAKING) EFFORT AND LONGITUDINAL SLIP (SKID) 21 A general theory that can accurately predict the relationship between the tractive effort and the longitudinal slip of pneumatic tires on hard surfaces has yet to be evolved. and that the contact patch is rectangular and the normal pressure is uniformly distributed [1. where no sliding between the tire tread and the ground takes place.15]. be the longitudinal deformation of the tire tread in front of the contact patch. is the tractive force. it is assumed that the tire tread can be regarded as an elastic band. is the tangential stiffness of the tire tread and F. and let e be the longitudinal deformation of the tread at a point at a distance x behind the front contact point Assume that e.~)for a biasply tire.
hl. Then no sliding will take place between the tread and the ground if the following condition is satisfied: This implies that if a point at a distance of x behind the front contact point is in the adhesion region./2h]. is the contact length of the tire. then x must be less than a characteristic length I. the relationship between the tractive force Fx and the slip i is linear. If 1. = k. it is concluded that if the entire contact patch is an adhesion region. in Eq. if the slip or tractive force reaches the respective critical value i.22 MECHANICS OF PNEUMATIC TIRES peak value of the coefficient of road adhesion.16. that is. given below. then the entire contact area is an adhesion region. The condition for sliding at the rear edge of the contact area is given by This means that. or Fx.. which defines the length of the region where no sliding between the tire tread and the ground takes place. sliding in the trailing part of the contact patch begins: A further increase of slip or tractive force beyond the respective critical . 1. Letting x = 1. 1.[l + 1. 5 l.10. the tractive force becomes where K . where W is the normal load on the tire and I.. Since the longitudinal strain E is a measure of the longitudinal slip i of the tire. This corresponds to the region between points 0 and A on the tractive effortslip curve shown in Fig.
16. longitudinal slip. the normal pressure distribution over the tireground contact patch is not uniform. 1. Using Julien's theory to define the relationship between tractive effort and W. 1. that a small sliding region will be developed in the trailing part of the contact area. which determines the longitudinal deformation of the tire tread prior to entering the contact patch. This equation clearly indicates the nonlinear behavior of the tractive effortlongitudinal slip relationship when sliding occurs in part of the contact area. to zero in Eq. and I. developed in the sliding region is given by and the tractive force F.. Hence.A. is equal to ppW. by neglecting the term A.16. the tractive force F.12. It is expected. This corresponds to the region beyond point A of the curve shown in Fig. with the coefficient of road adhesion falling rapidly from the peak value pp to the pure sliding value p. 1. 1.. To determine the value of A for a given tire would require considerable effort and elaborate experiments. The tractive force F. There is a gradual drop of pressure near the edges. From Eq. is determined by Eq. the relationship between the total tractive force and the slip when part of the tire tread sliding on the ground is expressed by where K t = I. When sliding extends over the entire contact patch. must be known. 1. even at low slips. in addition to the parameters y.1. the value of A. a simplified theory has been developed in which the effect of A is neglected... where the maximum tractive effort occurs is equal to ppW/l.k. A further increase of tire slip results in an unstable situation. developed in the adhesion region is given by Fxa = kt Ail. The value of the slip i. the slip i is obtained by setting I. the tractive force per unit contact length in the adhesion region at a distance of x from the front contact point is given by . In practice. (1 + &) where I.3 TRACTIVE (BRAKING) EFFORT AND LONGITUDINAL SLIP (SKID) 23 value results in the spread of the sliding region from the trailing edge towards the leading part of the contact patch.14. In view of this.k.9. therefore.A and corresponds to point B shown in Fig. Under this condition.
1. the relationship between the tractive force and slip can be expressed by The term k . if slip i r i. 1.26 indicates that the upper limit for the linear range of the tractive force . = tan 13 =  where Ci is usually referred to as the longitudinal stiffness of the tire. l : / 2 may be taken as the slope C. Equation 1.16.16. kt 1: 2 .16. This indicates that when the slip or tractive force reaches the respective critical value i. that is. and sliding between the tread and the ground takes place. given below. 1.16.24 MECHANICS OF PNEUMATIC TIRES If there is no sliding between the tire tread and the ground for the entire contact patch. 1. or F. therefore. 5 F. be linear: Equation 1. of the tractive effortslip curve at the origin as shown in Fig.. the relationship between the tractive force and slip is linear. If no sliding takes place on the contact patch. or the tractive force F. With the increase of slip beyond point A shown in Fig. sliding in the trailing part of the contact patch begins: In other words.. the tractive force per unit contact length at the trailing edge of the contact patch reaches the adhesion limit.23 applies to section OA of the curve shown in Fig. as shown in Fig.. the relationship between the tractive force and the slip will.. C.
which is defined as For a locked wheel. will be greater than that in free rolling. or F. i > i. a stretching of the tread elements occurs prior to entering the contact area..) results in the spread of the sliding region from the trailing edge towards the leading part of the contact patch. It is applicable to predicting the tractive effortslip relation when the tractive effort is lower than its maximum value ppW.e. the relationship between the total tractive force and the slip when part of the tread is sliding on the ground (i. the angular speed o of the tire is zero. i > i..) is given by The equation above indicates the nonlinear nature of the tractive effortlongitudinal slip relationship when sliding occurs in part of the contact patch. the simplified theory described above requires only three parameters. When a braking torque is applied to the tire.. and Ci. As pointed out previously. A further increase of slip or tractive force beyond the respective critical value (i.W/2). whereas the .. W. or F. > F. > F. The severity of braking is often measured by the skid of the tire i. therefore... the value of Cican easily be identified from the initial slope of the measured tractive effortslip curve. In comparison with Julien's theory. developed in the adhesion region is expressed by Hence. in contrast with the compression effect for a driven tire. The distance that the tire travels when a braking torque is applied.to define the tractive effortlongitudinal slip relationship. The tractive force F.slip relationship is identified by the tractive force being equal to one half of its maximum value (p.. as shown in Fig.e. developed in the sliding region is given by and the tractive force F.. p...17. 1.
following an approach similar to that for the relationship between the tractive force and the slip described previously. and i in Eq.) linear speed of the tire center is not zero.100%. It should be mentioned that according to the definitions of slip i and skid is given by Eqs. 1. the expressions for slip i and skid i. (Reproduced with permission from Mechanics of Pneumatic Tires. 1. 1.23 with Csand isl(l . for a locked tire. respectively. A simplified theory for the relationship between the braking effort and the skid can also be developed. edited by S. National Bureau of Standards. Under this condition. Clark. respectively. the skid is denoted 100%.is).K.6. It should be noted that using the definition of slip suggested by the SAE and given by Eq. the relationship between the braking effort and the skid can be established by replacing C. . Monograph 122. the slip will be . 1.17 Behavior of a tire under the action of a braking torque. 1971.26 MECHANICS OF PNEUMATIC TIRES Fig.5 and 1. are related by If no sliding takes place on the contact patch.30.
1. above which sliding between the tread and the ground begins. The peak and sliding values . Figure 1.) 27 (1..32 that.30. can be established by replacing C. and is given by [1. and i. The corresponding critical value of braking effort F. the relationship between the braking effort and the skid can be established by replacing Ciand i in Eq.l(l .17]. is referred to as the longitudinal stiffness of the tire during braking. 1.8.is). using the definition of skid given by Eq. with skid for a biasply passenger car tire over various surfaces [1. where no sliding takes place between the tread and the ground. 1. is given by When sliding takes place in part of the contact patch (i. is the braking effort acting in the opposite direction of motion of the tire center. Similar to the parameter Ci..18 shows the variation of the braking effort coefficient.3 TRACTIVE (BRAKING) EFFORT AND LONGITUDINALSLIP (SKID) Fx = C. can easily be identified from the initial slope of the measured braking effortskid curve.J ( 1  i.. even at low skids. 1.i. respectively. is the slope of the braking effortskid curve at the origin.Ti.32) where F.). it has been proven to be useful in representing tire behavior in the simulations of the dynamics of passenger cars [1. at which sliding between the tread and the ground begins.. It is interesting to note from Eq.8] C. and i in Eq..161. is > i.l(l . and C.1.. which is the ratio of the braking effort to the normal load.).25 with C. the relationship between braking effort and skid is nonlinear. respectively. The critical value of skid i. the value of C.. 1. and i. While the theory described above represents a simplified model for the highly complex phenomenon of tireground interaction.e.29 with C.
It appears that on a dry surface. the effect of the sliding speed between the tire tread and the ground should be incorporated into the theories described previously [1. f r 0 LOOSE GRAVEL . As shown in Fig. Figure 1. the coefficient of road adhesion does not vary significantly with tire construction and inflation pressure. Figure 1.8]. on various surfaces are given in Table 1.21 shows the effect of normal load on the braking performance of a biasply truck tire on a dry asphalt surface [ l .18].64.20 shows the influence of speed on the braking effort coefficientskid characteristics of a biasply truck tire on a dry asphalt surface [1.4 kml h . for truck tires at 64 kmlh (40 mph) on dry and wet concrete .28 MECHANICS OF PNEUMATIC TIRES  BIASPLY TlRE7.20.2 [l. 181. speed appears to have a significant effect on the tractive (braking) performance of a tire. According to Eq. speed and normal load have noticeable effects on the tractive (braking) effortslip (skid) characteristics. It is noted that the value of the longitudinal stiffness C .121.7514 DRY BITUMINOUS . to develop a given longitudinal force.17. Among the operational parameters. GLARE ICE .64.. a biasbelted. and k. it has been suggested that to improve the prediction of the relationship between the tractive (braking) effort and the slip (skid). Average peak and sliding values of the coefficient of road adhesion p. 1. 111. A sample of the peak and sliding values of the coefficient of road adhesion pP and p. (Reproduced with permission of the Society of Automotive Engineers from reference 1. increases noticeably with an increase of the normal load.18 Variation of braking effort coefficient with skid of a car tire on various surfaces.4 km/h . 20mph 20 40 60 80 100% SKID Fig.32.) of the coefficient of road adhesion of a biasply.19 [I.21. Therefore. 1. the longer tire contact length results in lower longitudinal slip (or skid). and a radialply passenger car tire of the same size with various inflation pressures at a speed of 64 km/h (40 mph) on a dry. This is because the tire contact length increases with the normal load for a given inflation pressure. 1.2 kmlh. aggregate asphalt surface are shown in Fig. 1.
Peak Value pI. .19 Variation of peak and sliding values of braking effort coefficient with inflation pressure for biasply. 1.I . biasbelted. and radialply car tires on dry pavement.) TABLE 1.2 Average Values of Coefficient of Road Adhesion Surface Asphalt and concrete (dry) Asphalt (wet) Concrete (wet) Gravel Earth road (dry) Earth road (wet) Snow (hardpacked) Ice Source: Reference 1.5 m RADIAL 16 24 32 40 48 psi I 110 165 220 275 330 kPa INFLATION PRESSURE Fig. Sliding Value p . (Reproduced with permission of the Society of Automotive Engineers from reference 1.12.3 TRACTIVE (BRAKING) EFFORT AND LONGITUDINALSLIP (SKIM 29 BIAS 16 24 32 40 48 psi 1 110 165 220 275 330 kPa INFLATION PRESSURE a  !+W   0 PEAK SLIDING BIASBELTED 16 m 24 32 40 48 psi 110 165 220 275 330 kPa INFLATION PRESSURE SLIDING 1! 0.1 1.
it will move along the wheel plane. however.1 CORNERING PROPERTIES OF TIRES Slip Angle and Cornering Force When a pneumatic tire is not subject to any force perpendicular to the wheel plane (i.30 MECHANICS OF PNEUMATIC TIRES TIRE 10. 1. it ranges from approximately 1.4 1. a side . (Reproduced with permission from reference 1. and the sliding value p.e.20 Effect of speed on braking performance of a truck tire on asphalt. This is one of the impetuses to the development of antilock brake systems and traction control systems for road vehicles. 191. The significant difference between the peak values p.6. side force).4.3 [ I . = 100%) or wheel spinning during acceleration (slip i = 100%). like those of relatively new roads meeting the requirements of the U.. It can be seen from Table 1. which will be discussed in Chapter 3. Federal Interstate Highway System.S. It is also noted that there appear to be no clear distinctions between the tractive (braking) performance of biasply and radialply truck tires. 1.) pavements is shown in Table 1. for truck tires on dry concrete pakement is around 1. The pavements were aggressively textured.00x 20 / F ON ASPHALT 0 20 40 60 80 100 9b SKID Fig.3 that the ratio of the peak value pp to the sliding value p. If.18. whereas on wet concrete pavement. of the coefficient of road adhesion indicates the importance of avoiding wheel lockup during braking (skid i.4.3 to 1.
(Reproduced with permission from reference 1. 1. 1.21 Effect of normal load on braking performance of a truck tire on asphalt. the cornering force in the ground plane is normally behind the . and the tire will move along a path at an angle a with the wheel plane. is applied to a tire.00 x 20/F ON ASPHALT SKID Fig. developed in the ground plane are usually not collinear. The relationship between the cornering force and the slip angle is of fundamental importance to the directional control and stability of road vehicles.. At small slip angles. the side force F. a lateral force will be developed at the contact patch.) force F . when the camber angle of the wheel is zero.18.TIRE 10. and the phenomenon of side slip is mainly due to the lateral elasticity of the tire. as OA shown in Fig. as shown in Fig. 1. The angle a is usually referred to as the slip angle. The lateral force developed at the tireground contact patch is usually called the cornering force F.22.22. applied at the wheel center and the cornering force F. When the tire is moving at a uniform speed in the direction of OA..
1 (Rib) Firestone Transteel Traction (Lug) Goodyear Unisteel L1 (Lug) Michelin XZA (Rib) Firestone Transport 200 (Lug) Uniroyal Fleet Master Super Lug Goodyear Custom Cross Rib Michelin XZZ (Rib) Average Source: UMTRI. while for racing car tires.3 Values of Coefficient of Road Adhesion for Truck Tires on Dry and Wet Concrete Pavement at 64 kmlh (40 mph) Tire Type Tire Construction Wet Goodyear Super Hi Miler (Rib) General GTX (Rib) Firestone Transteel (Rib) Firestone Transport 1 (Rib) Goodyear Unisteel R. Figure 1. The relationships between the slip angle and the cornering force of various types of tire under a variety of operating conditions have been investigated extensively.6]. These characteristics are considered to be more suited to twowheeled vehicles. reference 1. such as motorcycles. A more gradual increase of the cornering force with the slip angle enables the driver to exercise better control over a twowheeled vehicle. and it reaches a maximum value where the tire begins sliding laterally. applied side force. the cornering force may peak at approximately 6". giving rise to a torque (or couple). Figure 1. the cornering force is approximately proportional to the slip angle. The distance t. This is one of the reasons why biasply tires are used for motorcycles [1. and the product of the cornering force and the pneumatic trail determines the selfaligning torque. 1. This torque is called the aligning or selfaligning torque. It can be seen that for slip angles below a certain value.24 shows the variations of the .19. 1.23 shows that the cornering force of a biasply tire increases more slowly with an increase of the slip angle than that of a radialply tire. between the side force and the cornering force is called the pneumatic trail. For passenger car tires.32 MECHANICS OF PNEUMATIC TIRES TABLE 1. the maximum cornering force may occur at a slip angle of about 18". which tends to align the wheel plane with the direction of motion. Typical plots of the cornering force as a function of the slip angle for a biasply and a radialply passenger car tire are shown in Fig. the cornering force increases at a lower rate with an increase of the slip angle. and is one of the primary restoring moments which help the steered tire return to the original position after negotiating a turn. Beyond that. such as 4" shown in Fig.23.1].23 [1.
4 I CORNERING PROPERTIES OF TIRES 33 Fig. K . the relationship between the cornering force and the normal load is nonlinear. the transfer of load from the inside to the outside tire during a turning maneuver will reduce the total cornering force that a pair of tires can develop. Consider a pair of tires on a beam axle. A number of factors affect the cornering behavior of pneumatic tires.25 [1. the cornering force of radialply truck tires increases more rapidly with an increase of the slip angle than that of biasply truck tires. Clark. The normal load on the tire strongly influences the cornering characteristics. Thus. The cornering force per tire with normal load F. It can be seen that for a given slip angle.) ratio of the cornering force to the normal load with the slip angle for radialply and biasply truck tires of size 10. 1. If the vehicle undergoes a steady .1. 1. the cornering force generally increases with an increase of the normal load.6].26. However. edited by S . 1971. each with normal load FZ. as shown in Fig. National Bureau of Standards.22 Behavior of a tire subject to a side force. 1.0020 with different tread designs (ribbed or lugged) [1. Similar to that shown in Fig. 1. for a given slip angle. Some typical results are shown in Fig.8]. (Reproduced with permission from Mechanics of Pneumatic Tires. Monograph 122.23 for passenger car tires. is F.
) 01 1 1 5 10 I 15 1 I 20 25" SLlP ANGLE Fig. Clark.K. 1.8. (Reproduced with permission from reference 1. (Reproduced with permission from Mechanics of Pneumatic Tires. Monograph 122. 1971 .) .34 MECHANICS OF PNEUMATIC TIRES ROAD ADHESION LIMIT  . W 2 B 2000 /+BIAS /PLY TIRE za 0 8" 4" 12" 16" SLlP ANGLE Fig.23 Cornering characteristics of a biasply and a radialply car tire.24 Cornering characteristics of biasply and radialply truck tires on dry concrete. 1. National Bureau of Standards. edited by S.
0 400 35 200. and F. To provide a measure for comparing the cornering behavior of different tires. 1971 . is used.6013 SPEED 30 k m l h . the normal load on the inside tire will be reduced to Fli and that on the outside tire will be increased to F.25 Effect of normal load on the cornering characteristics of a car tire.. which is less than 2F.K.) state turn. I .27 shows a comparison of the relationships between the cornering W O REDUCTION (3 za: W z a 8 Fzi Fz F z ~ NORMAL LOAD Fig. edited by S. (Reproduced with permission from Mechanics of Pneumatic Tires. National Bureau of Standards. a parameter called cornering stiffness C. This implies that for a pair of tires on a beam axle to develop the required amount of cornering force to balance a given centrifugal force during a turn. Clark.. owing to lateral load transfer. It is defined as the derivative of the cornering force F. the lateral load transfer results in an increase in the slip angle of the tires. as shown in Fig. 800 NORMAL LOAD Fig. As a result.26 Effect of lateral load transfer on the cornering capability of a pair of tires on an axle. Monograph 122. . 1. 1.1. the total cornering force of the two tires will be the sum of F.. with respect to slip angle a evaluated at zero slip angle: E m Figure 1....26...4 CORNERING PROPERTIES OF TIRES Ib kN r DRY ASPHALT TIRE 5.
(Reproduced with permission from reference 1. the cornering stiffness of tires increases with an increase of the inflation pressure. Inflation pressure usually has a moderate effect on the cornering properties of a tire. light truck. the cornering stiffness keeps increasing beyond the rated load. light truck.12].000 N Fig. and decreases with a further increase in the normal load.000 20. for the light truck and heavy truck tires shown.27 Comparison of cornering stiffness of car. Table 1. the cornering stiffness reaches a maximum at the rated load. is often used. It shows that the cornering coefficient decreases with an increase in the normal load. In the figure.0 I 0 I I 2000 I 1 I I 4000 8000 1b 6000 I 10.29 shows a comparison of the cornering coefficients at different inflation pressures of a radialply. RL indicates the rated load for a specific tire. It can be seen that for the three passenger car tires tested. 1. a biasbelted.8]. which is defined as the cornering stiffness per unit normal load.000 NORMAL LOAD I 30. a parameter called the cornering coefficient.4 shows a sample of the values . and a biasply passenger car tire [1. Figure 1.11].8. However. In general.28 shows a typical relationship between the cornering coefficient and the normal load of a tire [1. and heavy truck tires. To evaluate the effect of the normal load on the cornering ability of tires.) stiffness and the normal load for a sample of passenger car. and heavy truck tires [1. Figure 1. although at a lower rate.
1 1. (Reproduced with permission of the Society of Automotive Engineers from reference 1.) t z w 0 LL 0. (Reproduced with permission from reference 1.4 CORNERING PROPERTIES OF TIRES 37 PERCENT NOMINAL LOAD Fig.28 Effect of normal load on the cornering coefficient of a tire.) . biasply.12. 1.20  LL 8 0. and biasbelted car tires.10 z [r 0 0 A RADIAL   1 1 I I 16 24 32 40 I I I 1 110 165 220 275 INFLATION PRESSURE I 48 psi 1 330 kPa Fig.29 Variation of cornering coefficient with inflation pressure for radialply. 1.15 0 C3 zu w 0.1.
This gives rise to a torque commonly known as the aligning or selfaligning torque. developed in the ground plane are usually not collinear. 1. the aligning torque first increases with an increase of the slip angle. 1A. as shown in Fig.32 show the variations of the aligning torque with the slip angle and the normal load for a biasply truck tire (10. 1 1R22.1. It reaches a maximum at a particular slip angle. 10R22.TABLE 1. of the cornering coefficient for truck tires at rated loads and inflation pressures (unless specified) [ l .2 Slip Angle and Aligning Torque As mentioned in Section 1. Figure 1. reference 1. and then decreases with a further increase . 11R22.5 LRG at 792 kPa (1 15 psi) Goodyear Unisteel 11. respectively [1.4 Cornering Coefficients for Truck Tires at Rated Loads and Inflation Pressures (Unless Specified) Tire Type Michelin Radial XZA (1 13 Tread) Michelin Radial XZA (1 I2 Tread) Michelin Pilote XZA Michelin Radial XZA Goodyear Unisteel G 159.31 and 1.20]..5 LRF at 758 kPa ( 1 10 psi) Firestone Transteel Firestone Transteel Traction Goodyear Unisteel R. applied at the wheel center and the cornering force F.30 shows a plot of the cornering force versus the aligning torque for a passenger car tire at various slip angles and under different normal loads [1.0020/G).00201F) and for a radialply truck tire (10. the side F.8].19.1 Goodyear Unisteel L1 Firestone Transport 1 General GTX Goodyear Super Hi Miler Goodyear Custom Cross Rib Uniroyal Fleet Master Super Lub Firestone Transport 200 Tire Construction Cornering Coefficient (degI) Radialply Radialply Radialply Radialply Radialply Source: UMTRI and TRIF.22.5 LRF at 655 kPa (95 psi) Michelin XZZ Goodyear Unisteel 11.5 LRF at 620 kPa (90 psi) Goodyear Unisteel G159. Figure 1.4. It is interesting to note that with a given normal load.19]. 10R22.
30 Variation of selfaligning torque with cornering force of a car tire under various normal loads. 10. (Reproduced with permission from reference 1.0020/F. 1.31 Variation of selfaligning torque with normal load and slip angle for a biasply truck tire.20) Fig.1.4 CORNERING PROPERTIES OF TIRES 39 TIRE 7. 1.) .6015 INFLATION PRESSURE 165 kPa. (Reproduced with permission of the Society of Automotive Engineers from reference 1. 24 psi Fig.8.
which results in shifting the point of application of the cornering force forward. Its main purpose is to achieve axial bearing pressure and to decrease the kingpin offset. 1. the effect of a driving torque is to increase the aligning torque for a given slip angle.8 cm (2.). while a braking torque has the opposite effect. and hence pneumatic trail.19]. (Reproduced with permission from reference 1.) to 7.33. while that for a new radialply tire is 5.5 shows a sample of measured values of pneumatic trail for truck tires at a slip angle of l o and under rated loads and inflation pressures (unless specified) [1. Longitudinal force affects the aligning torque significantly.1 cm (2. Camber on passenger cars is between 112 and lo.8 in. Higher normal load and lower inflation pressure result in longer tire contact length.40 MECHANICS OF PNEUMATIC TIRES Fig. This is mainly caused by the sliding of the tread in the trailing part of the contact patch at high slip angles. 1. . as shown in Fig.3 in. 10.) of the slip angle.1 in.).3 Camber and Camber Thrust Camber is the inclination of the wheel plane from a plane perpendicular to the road surface when viewed from the fore and aft directions of the vehicle.8. It is shown that the pneumatic trail for truck tires varies in the range from 4. This causes an increase in the aligning torque.3 cm (2. Generally speaking.6 cm (1. A typical value for a new biasply truck tire is 5. Inflation pressure and normal load also have noticeable effects on the aligning torque because they affect the size of the tire contact patch.8 in. 1.32 Variation of selfaligning torque with normal load and slip angle for a radialply truck tire. Table 1.0020/G. High camber angles promote excessive tire wear [1.).12].4.
0020lF Source: UMTRI. 10R22.5 XZA (112 Tread) Goodyear Unisteel (3159.33 Behavior of a cambered tire. as shown in Fig.I 9.5 LRF at 758 kPa (1 10 psi) Michelin Radial 1lR22.5 Pneumatic Trails for Truck Tires at a Slip Angle of lounder Rated Loads and Inflation Pressures (Unless Specified) Tire Construction Tire Type Pneumatic Trails cm in. and the development of this thrust may be explained in the following way. 1lR22. Camber causes a lateral force developed on the contact patch.0020/F HalfWorn Unspecified Model 10.59.PIN OFFSET Fig. 10R22. However.. A lateral KINGPIN CAMBER THEORETICAL CENTER OF ROTATION OF CAMBERED WHEEL KING.5 XZA Michelin Pilote 11180R22. the cambered tire in a vehicle is constrained to move in a straight line. .5 LRG at 655 kPa (95 psi) Michelin Radial 131322.5 XZA New Unspecified Model 10. This lateral force is usually referred to as camber thrust F. 1.5 LRG at 792 kPa ( 1 15 psi) Goodyear Unisteel 11. A freerolling tire with a camber angle would revolve about point 0. reference I .41 1.5 XZA Goodyear Unisteel (31. 11R22.4 CORNERING PROPERTIES OF TIRES TABLE 1..5 XZA (1 13 Tread) Goodyear Unisteel 11. 1. Michelin Radial 11R22.33.0020lF FullyWorn Unspecified Model 10.5 LRF at 620 kPa (90 psi) Michelin Radial 11R22.
and therefore forms a small camber torque.. To provide a measure for comparing the camber characteristics of different tires.34 [1.42 MECHANICS OF PNEUMATIC TIRES force in the direction of the camber is. Figure 1.35 shows the variations of the camber stiffness with normal load for three truck tires at an inflation pressure of 620 kPa (90 psi) [1. (Reproduced with permission of the Society of Automotive Engineers from reference 1. The total lateral force of a cambered tire operating at a slip angle is the sum of the cornering force F.8]. the normal load and inflation pressure have an influence on the camber stiffness. a parameter called "camber stiffness" is often used.34 Variation of camber thrust with camber angle and normal load for a car tire. therefore.21]. It is interesting to note that the camber thrust acts ahead of the wheel center. The relationship between the camber thrust and the camber angle (at zero slip angle) for a biasply passenger car tire is illustrated in Fig. It is defined as the derivative of the camber thrust with respect to the camber angle evaluated at zero camber angle. 1.) . 1.. the value of the camber stiffness is approximately onetenth to onefifth of that of the cornering stiffness under similar operating conditions.: N Ib INFLATION PRESSURE NORMAL LOAD ZERO SLIP ANGLE CAMBER ANGLE Fig. developed in the ground plane. It is found that for truck tires.21. Similar to the cornering stiffness. It has been shown that the camber thrust is approximately onefifth the value of the cornering force obtained from an equivalent slip angle for a biasply tire and somewhat less for a radialply tire. and the camber thrust F.
000N NORMAL LOAD Fig. with the wheel rim acting as the base of the springs. however. representative of the sidewall. 1. 1. The aligning torque due to slip angle. (Reproduced with permission from reference 1. the lateral forces due to slip angle and camber angle produce an aligning torque.35 Variation of camber stiffness with normal load for heavy tmck tires.000 20. One is based on the assumption that the tread of the tire is equivalent to a stretched string restrained by lateral springs.4.000 30.36(a).000 40.4 Characterization of Cornering Behavior of Tires A number of attempts have been made to develop mathematical models for the cornering behavior of pneumatic tires. 1.000 50.) If the cornering force and the camber thrust are in the same direction. as shown in Fig. the total lateral force of a cambered tire at a slip angle can. the positive sign should be used in the above equation. . therefore. be determined by As discussed previously.1. There are two basic types of model. is usually much greater.8. the relationship between the cornering force and the slip angle and that between the camber thrust and the camber angle are essentially linear.4 CORNERING PROPERTIES OF TIRES 43 10. For small slip and camber angles.
1. 1. Business Books. The portion of the equatorial line in the contact area is called the contact line. whereas for the beam model. 1969. 1. One of the major differences in these two basic models is that in the stretchedstring model. which is the intersection of the undeformed tire tread with the wheel plane. The shape of the equatorial line BC in the contact area shown in Fig. (Reproduced with permission from Vehicle Dynamics by J.37 is the path of the tire. It has been shown that for small slip angles.221.44 MECHANICS OF PNEUMATIC TIRES F.36 Models for cornering behavior of tires. the stretchedstring model as proposed by Temple and von Schlippe will be discussed [1. CENTER PLANE DIRECTION OF MOTION Fig. 1. it is assumed that the cornering behavior of a tire can be deduced from the characteristics of the equatorial line of the tire. In both models.36(b) [1. Ellis. 1.) In the other model. . SPRINGS WHEEL c> e> .1 > Y > WHEEL RIM (b) LLATERAL SPRINGS Fig.R.15. the stretchedstring model can provide a basic understanding of the lateral behavior of a pneumatic tire. Consider a tire in a steadystate motion with a fixed slip angle. and it is immobile relative to the ground when no sliding takes X A .15]. that is not the case. as shown in Fig. (a) Stretched string model. In the following. the tread is considered equivalent to an elastic beam with continuous lateral elastic support. discontinuities of the slope of the equatorial line are permissible. (b) Beam on elastic foundation model.37 Behavior of the equatorial line of a rolling tire subject to a side force.
At the rear of the contact patch. by where F. and therefore from Eqs. with the origin at the center of the contact patch. It is usually convenient to write F.1. the tire is not loaded by external means. as shown in Fig. Let 1. free region) having total length l.718 of its prior value. such conditions do not hold. varies in a narrow range..37. in differential form. by where k. 1. is the lateral stiffness of the tire. which is due to the tension in the string. and y2 be the deflections of the equatorial line at the front and rear ends of the contact patch. The solution of this differential equation will yield the deflected shape of the equatorial line in the free region.l:. and let y. the slope of the equatorial line is continuous at the front edge of the contact area." in which the lateral deflection. it can be stated that for a rolling tire. is termed the "relaxation length. described by an exponential function. Let the lateral deflection from the wheel center plane be y. 1. but not necessarily at the rear. there is another force component acting in the lateral direction. in differential form. Thus. This equation applies at all points of the periphery. and a kink may be present at point C. points of AB becomes points of BC. which is given by .2) In an element of the equatorial line. The average value is approximately 2275 kN/m2 (330 lblin. represents the tension in the string.4 CORNERING PROPERTIES OF TIRES 45 place. Over the part of the tire not in contact with the ground (i. This indicates that AB and BC must have a common tangent at point B.37. as shown in Fig. 1.. This component is proportional to the curvature of the equatorial line. decreases to 112. it is found that the value of k. Consider an element of the distorted equatorial line shown in Fig.42.e. be the contact length with the origin for x at the center.37. = k. Based on experimental data of a sample of biasply and radialply heavy truck tires under rated loads and inflation pressures.41 and 1. 1. It is assumed that the lateral force applied to the rim by the element due to lateral deflection y is given. Let the dotted line AB in the figure represent the projection of the portion of the equatorial line outside and in front of the contact patch. and the distance measured along the undistorted equatorial line be x. As the tire rolls forward. where 1. and for small deflection is given.
as proposed by von Schlippe. including the contact length. 151. under normal conditions 1. 1. and I.5r and 6r.. is approximately equal to r [ l ./2)/1. whereas I. sinh [(x . For the free region near the rear of the contact area (i. x < 412 + l.  x)llr] (1. Thus. one can obtain the total lateral force F. The essence of these two methods is illustrated in Fig. For the free region near the front of the contact area (i. as proposed by Temple. Hence Eq. x > 1. 2.44) If r is the tire radius. 1./2 sinh (lh/lr) + 1. Integrating the lateral force exerted on the tire over the contact length.1.).e./2).44 may be approximated by an exponential function.. Integrating the lateral force exerted on the rim by the tire over the entire circumference.] + y . The expressions for the lateral deflection and the lateral forces acting on an element of the tread described above permit the determination of the cornering force and the aligning torque in terms of constants k. and assuming that the equatorial line in the contact region is a straight line. by integration.. but including an infinitesimal length of the equatorial line in the free region at either end. Following Temple's method.46 MECHANICS OF PNEUMATIC TIRES Y = y. lies between 4. sinh [(1. . This can be achieved in two ways: 1. the shape of the equatorial line is an exponential curve. For a nonrolling tire subject to a pure side force.38. and contact length I.e. in the free region not in contact with the ground but near either end of the contact patch.
Y2 a = tan a = .' 1.1. y. Y.48) The moment of lateral force about a vertical axis through the center of contact (i. 4 . the relationships between the magnitudes of the lateral force and the selfaligning torque and the slip angle become . the aligning torque) is given by = ky (y.50) Substituting the above expression into Eqs. Thus.49.4 CORNERING PROPERTIES OF TIRES 47 CENTER LINE C t DIRECTION OF MOTION LATERAL ELASTIC FORCE AT THE WHEEL RIM K)RCE AT THE Fig.47 and 1. For a tire rolling at a slip angle a.  y2) Following von Schlippe's approach. = y2 = yo and F.yo(lr + 412) (1. = 2k.e..  y2) + kyl. 1. (1. the slope of the equatorial line in the contact area is equal to tan a if the tread in the contact patch is not sliding.38 Lateral force acting on the wheel rim and at the tireroad contact patch. one can obtain the same expressions. 1 ( 3 + (y.YI 1.
23. sliding between the tread and the ground occurs. can be determined from the measured values of (F. and a is the slip angle. and therefore k. Thus. for a family of aircraft tires of different sizes but with similar proportion were found by von Schlippe to vary from 0. the lateral force and the aligning torque increase linearly with the slip angle. measured by von Schlippe were about 90% of the inflation pressure [1./2)2 The two basic parameters k.8].54) where the lateral deflection y' is measured with respect to the front contact point and perpendicular to the wheel plane.. a simplified theory has been proposed [1.15]. 1. Measurements of k./2) [(1. In view of this.lyJ2 of a nonrolling tire to F J a is independent of I. if no sliding between the tread and the ground occurs. values of I . the lateral force per unit contact length is given by . This is the case for small slip angles. and I.. which specify the characteristics of the lateral elasticity of the pneumatic tire. It is noted that the ratio of F. the lateral deflection of y' of a tread element on the ground at a longitudinal distance of x from the front of the contact patch (along the wheel plane) is proportional to tan a and is given by y' = x tan a (1.The pneumatic trail tp is given by t = Mz .6r to 0. Their determination is usually quite an involved process. using Temple's or von Schlippe's theory to define the relationship between the cornering force and the slip angle. can be measured by suitable tests. it is assumed that if no sliding takes place. The assumption that the equatorial line in the contact patch is a straight line is no longer valid. as shown in Fig. For instance. being known).52 indicate that.. (1. In the simplified model. + 1. If k./2)] + 1. ( I . is the equivalent lateral stiffness of the tire. the values of k. must be known.... As the slip angle increases. As noted above. Equations 1. and I./2)2/3+ I.ly.9r approximately.la to M Z / a is independent of k. FY (I. then when no lateral sliding between the tire tread and the ground takes place. Values of k.. On the other hand.)2 and F J a . have been carried out by several investigators.51 and 1. can be determined from the measured values of F y / a and M Z / a(contact length of the tire I. the ratio of (F. the theory proposed by Temple and von Schlippe is restricted to small slip angles. and 1. and therefore I.
The term (k:.. defined by Eq. and the cornering force F. at which lateral sliding in the trailing part of the contact patch begins. is given by Similar to the relationship between the tractive effortlongitudinal slip described in Section 1.. the relationship between the cornering force and the slip angle is expressed by F.3.. Eq. the critical values of the slip angle a.a dx   k:x tan 49 u and the cornering force developed on the entire contact patch is expressed by = (k:1:/2) tan a where 1.. tan a = a. is given by and the critical value of F. and Eq. 1. is the contact length of the tire. when no lateral sliding takes place on the contact patch.61 indicates that the relationship between the cornering force and the slip angle will be linear and no lateral sliding .58 may be rewritten as Following an approach similar to that for analyzing the relationship between the tractive effort and the longitudinal slip described in Section 1. = C. that is. The critical value of a. the slope of the cornering forceslip angle curve at the origin.3.1.1:/2) may be taken as the cornering stiffness C. which can easily be identified: Therefore. 1.. tan a (1.37. 1.4 CORNERING PROPERTIES OF TIRES dF. can be determined.58) If the slip angle a is small..
or Fya> Fyar). is expressed by 4C.62) The above equation indicates the nonlinear nature of the cornering forceslip angle relationship when lateral sliding takes place in part of the contact patch.63 to the measured data of a given tire. measured tire data. tractive (or braking) effort will reduce the cornering force that can be generated for a given slip angle. the cornering force decreases gradually with an increase of the tractive or braking effort. 1. normal load has a significant influence on the development of cornering force. and c. to more accurately represent tire characteristics.29.. such as braking in a turn. the following empirical equation has been proposed to represent the relationship between the cornering force F. if the cornering force is less than one half of its peak value (yW/2).e.50 MECHANICS OF PNEUMATIC TIRES will take place. In general.. While the theories described above provide physical insight into certain aspects of the cornering behavior of the pneumatic tire. the effect of the longitudinal force has not been considered. 1.39 [1. This is due to the mobilization of the available local adhesion by the tractive (or braking) effort. are often used. This would require an additional curvefitting exercise. and c. The difference in behavior between a biasply an4 a radialply passenger car tire is shown in Fig.22]: where c. analogous to Eq. As mentioned previously. In the simulations of the lateral dynamic behavior of road vehicles. In the discussion of the cornering behavior of pneumatic tires described above. . c. However. 1. c.6]. may be expressed as a quadratic function of normal load [I . A further increase of the tractive (or braking) force results in a pronounced decrease of the cornering force for a given slip angle. they are simplified representations of a highly complex process.. To take the effects of normal load into account. and the slip angle a [1. quite often both the side force and the longitudinal force are present. When lateral sliding between the tire tread and the ground takes place (i..At low values of tractive (or braking) effort. which reduces the amount of adhesion available in the lateral direction. tan a (1.22].the relationship between the cornering force and the slip angle. are empirical constants derived from fitting Eq. For instance.. the coefficients c. rather than theoretical relationships. a > a. It is interesting to note that for a radial . the decrease in the cornering force is mainly caused by the reduction of the cornering stiffness of the tire. Measured tire data in tabular form or represented by empirical equations may be entered as input to the simulation models..
45 kN . Monograph 122. 550 1 b F~ p. =l 1.8mph FZ= 2. 24.8 mph F= .) . Clark.39 Effect of tractive and braking effort on the cornering characteristics of (a) a biasply and (b) a radialply car tire. National Bureau of Standards.1 pi = 137 kPa. 550 Ib F~ /. 20 psi I 1 Fx 600 450 300 150 I I 2000 1000  0 I 0 BRAKING 150 I 300 1000 I 450 6 0 0 Ib + Fx 2000 N I DRIVING ) (b) Fig. edited by S.I. 24.4 CORNERING PROPERTIES OF TIRES TlRE 14515 ( 51 BIAS PLY 1 V = 40 km/h. 1971. 20 psi Fx 600 450 300 150 0 150 300 450 1 1 I 1 I 2000 1000 0 1000 2000  BRAKING DRIVING 6 0 0 Ib +Fx N ) (a) TIRE 165 .K. 2. (Reproduced with permission from Mechanics of Pneumatic Tires.45 kN. = 137 kPa. 1.15 ( RADIAL PLY 1 V = 40km/h.
the cornering force available at a given slip angle also decreases with an increase of the longitudinal force. 1.. The friction ellipse concept is based on the assumption that the tire may slide on the ground in any direction if the resultant of the longitudinal force (either tractive or braking) and lateral (cornering) force reaches the maximum value defined by the coefficient of road adhesion and the normal load on the tire. . a curve approximately semielliptical in shape may be obtained.39 is drawn. It is interesting to point out that if an envelope around each family of curves of Fig. 1. 1.40 Effect of longitudinal force on the cornering characteristics of a truck tire. the longitudinal and lateral force components may not exceed their respective maximum values F... attempts have been made to formulate an analytical framework for predicting the longitu LONGITUDINAL FORCE / NORMAL LOAD Fig..41.39. Based on the experimental observations described above.52 MECHANICS OF PNEUMATIC TIRES ply tire. and constitute the major and minor axis of the friction ellipse.41.. as shown in Fig. and F. as shown in Fig. 1. respectively. and F.) . F. The fact that the presence of the tractive (or braking) effort requires a higher slip angle to generate the same cornering force is also illustrated in Fig. Similar to that shown in Fig.40 shows the effects of longitudinal force on the development of cornering force for a truck tire at different slip angles [1. 1. Figure 1. for a truck tire.23. (Reproduced with permission of the Society of Automotive Engineers from reference 1. a higher cornering force is obtained during braking than when the tire is driven.. the cornering force available at a given slip angle is more or less the same for both braking and driving conditions. at a given slip angle.39. 1.23]. However. This enveloping curve is often refened to as the friction ellipse. . however. can be identified from measured tire data. . For a biasply tire.
e. 1. the relationship between the cornering force and the slip angle under free rolling conditions (i. dinal force and cornering force as functions of combined longitudinal slip (or skid) and slip angle.41 The friction ellipse concept relating the maximum cornering force to a given longitudinal force. as shown. as shown in Fig.1.4 CORNERING PROPERTIES OF TIRES 53 Fx max \ BRAKING & DRIVING 1 Fig.42(a). 1. 1. in the absence of tractive or braking effort) is first plotted. One of the simplest theories for predicting the cornering force available at a specific slip angle in the presence of a tractive or braking force is based on the friction ellipse concept described above. For 0 4" 8" SLIP ANGLE (a) Fxmax Fx LONGITUDINAL FORCE (b) Fig.. 1. 2) The cornering forces at various slip angles under free rolling conditions are then marked on the vertical axis of Fig. 1) From measured tire data.42 Construction of a friction ellipse relating cornering force to longitudinal force for a given slip angle. . The procedure for determining the available cornering force based on this simple theory is outlined below.42(b).
at the same time. the lateral deflection yr of a point on the tread in contact with the ground is given by (see Eq.31) where is is the longitudinal skid. the cornering force is reduced as a tractive (or braking) force is applied to the tire. F. 1.55) .54 MECHANICS OF PNEUMATIC TIRES instance. as shown in Fig.. the maximum tractive or braking force. If... 1. 3) From measured tire data. in the absence of lateral force. therefore..42(b) as shown... Following the procedure outlined above. then due to the longitudinal skid.42(b). and F.54) yr = x tan a l ( 1 . and a set of curves illustrating the relationships between the cornering force and the tractive (or braking) force at various slip angles can be plotted. the tire develops a slip angle a .42(b). 1. In this method. the tread in.40. 1.8]. which constitutes the minor axis of an ellipse to be established. 1. as the major and minor axis.is). As a result. 1. which constitutes the major axis of the ellipse. another semiempirical method for predicting the braking force and cornering force in the presence of both the longitudinal slud and slip angle has been proposed [1. the available cornering force at any slip angle in the presence of any given tractive or braking force can be determined. 1.. This is consistent with the trends of the measured data shown in Figs. at a given slip angle. the braking force per unit contact length at a distance of x from the front contact point is given by (see Eqs. 1. such as the 4" angle shown in Fig. as defined by Eq. Based on the simplified theory for the relationship between the braking force and the longitudinal skid described in Section 1. on the vertical axis. for any given tractive or braking force Fx is then determined from the following equation: It is noted that the above equation describes an ellipse with the measured values of F.is) (1.20 and 1..66) The corresponding lateral force per unit contact length is. it is assumed that when no sliding takes place. the cornering force developed at a slip angle of 4" is identified as F.30.39 and 1. is marked on the horizontal axis in Fig.contact with the ground will be elongated at a rate equal to 1/(1 . 4) The available cornering force F. respectively.. expressed by (see Eq. It is noted that for a given slip angle.3 and that between the cornering force and the slip angle described earlier in this section.
Then. no sliding will take place at a point located at a distance of x from the front contact point if the resultant of the braking force and lateral force per unit contact length is less than a minimum value defined by the coefficient of road adhesion p and the normal pressure p. If 1. The value of I. b the contact width.. This implies that if a point at a distance x from the front contact point is in the adhesion region.33 and 1. based on the concept of friction ellipse described above.1:/2 = C. 1.x tan dx 55 a / ( l . l : / 2 = C. is the contact length of the tire. 2 1 . and is given by where k . and k. 1.J Let p be the uniform normal pressure on the contact patch.4 CORNERING PROPERTIES OF TIRES dF_ = k. respectively. where W is the normal load and I.i.. and p the coefficient of road adhesion. is expressed by . the entire contact patch is an adhesion region.1... that is. as a function of slip angle a and slud i. can be derived from Eq. then x must be less than a characteristic length l./1. in relation to the contact length 1. which defines the length of the adhesion region where no sliding between the tire tread and the ground takes place. The braking force is given by and the cornering force F.68.57. as described by Eqs.
is given by . = [[k.4 )  2 2 / ( ~ .i. The braking force developed on the adhesion region F .. tan a)' The total cornering force F.xis/(l .i./1..) . )+~ (C. tan a)' l1 pW(1 . tan a / ( l  is) If 1. tan a))' E*. if sliding between the tread and the ground takes place.is Fx" = %'(~. is given by  wesis 2/(~.is)]dx and the braking force developed on the sliding region F. < 1.is) = C. tan a)' E*.. tan a d ( C Sis)' + (C.x tan a / ( l  is)]dx and the cornering force developed on the sliding region is expressed by Fyas = p WC..W. is expressed by P WC.42/(CSiJ2+ (C.is) 22/(CSiJ2 + (C. tan a))' Similarly. then the cornering force developed on the adhesion region is given by F.W(1.~)' + (C.= kil? tan a/2(1 .. tan a)'  The total braking force F.i. = 1: [k.)' + (C. then sliding between the tread and the ground will take place. i . l1 E*. is given by F.
The semiempirical method for modeling tire behavior described above has been incorporated into a computer model for simulating the directional response and braking performance of commercial vehicles [1.8].30 kN1rad (523 lb/ deg) and the longitudinal stiffness C.J2 + (C. C. is 186.000 Iblunit skid). The cornering stiffness of the tire C. and C.8]. and other tire parameters should be properly taken into account [1. may change with operating conditions. sliding takes place in part of the contact patch.It should be noted that the method presented above is for predicting the braking force and cornering force of a tire during combined bralung and cornering. C. is 133.1.. is calculated using Eq.tan a)' CORNERING PROPERTIES OF TIRES 57 pW(1 . A truck tire 10 X 20lF with a normal load of 24.)' + (c. Estimate the braking force and the cornering force that the tire can develop at a slip angle a = 4" and a longitudinal skid of 10%. The braking force can be predicted using Eq. tan a d(c. C. 1..15 kN (5430 Ib) is traveling on a dry asphalt pavement with a coefficient of road adhesion p = 0. To determine whether sliding takes place on the tire contact patch under the given operating conditions. the ratio 1. however.is) 2d(C. tan a)' Since 1. Solution. the effects of normal load and speed on the values of p. Following the same approach.1.82 kN1unit skid (42. p. the values of p.69: 4 .. W C.tan a)2 It should be noted that the parameters. Example 1.4  p WC. To achieve more accurate predictions. 1. are functions of the normal load and operating speed of the tire.i./1. 1.74: . and C .. a method for predicting the tractive force and cornering force as functions of combined longitudinal slip and slip angle can be formulated.85. < 1. In a dynamic maneuver involving both braking and steering. it has been found that on a given surface. For instance. the normal load and speed of the tires on a vehicle change as the maneuver proceeds./1.is) 42/(cSis)' + (c.i. pW ( 1 .
1. or braking effort.) ( C . selfaligning torque and slip angle.77:  = pWC.241. or braking effort and skid. i . tan a)2 PW ( 1  4 .is d ( ~ . Coefficient B is called stiffness factor. tan a)' 1 14. and reaches a maximum at x = x. and E curvature factor.is) (c. The Magic Formula.78) + S" where Y ( X ) represents cornering force. in its basic form.78 produces a curve that passes through the origin.i. It is expressed by [1. 1.30 kN (3215 lb) The cornering force can be predicted using Eq.58 MECHANICS OF PNEUMATIC TIRES  = p WC.. tan a d(C.14 kN (1605 lb) In recent years. selfaligning torque.271 D sin { C arctan [Bx y(x) = Y(x) = Y(X)  E(Bx . an empirical method for characterizing tire behavior known as the Magic Formula has been developed and used in vehicle handling simulations [1.arctan Bx)]} (1.tan a)' I 7. can be used to fit experimental tire data for characterizing the relationships between the cornering force and slip angle. ) '+ ( C .i. S. and S. Beyond that it . x = y = 0.>' + (c. as shown in Fig. respectively.241.tan a)2 ['  pW (1 .271. and X denotes slip angle or skid. are the horizontal shift and vertical shift. C shape factor.43. Equation 1. D peak factor.
(From Pacejka. as shown in Fig. 1. selfaligning torque. 1.78 and 1. Consequently. The Magic Formula is capable of producing characteristics that closely match measured data. As an example. Used with permission. 1.4 CORNERING PROPERTIES OF TIRES 59 Fig. of a car tire are given in Table 1. or rolling resistance on cornering force. (1997).79 for the relationships of cornering force and slip angle.25]. representing cornering force. if Fig. Figure 1.78 and 1.78. It should be noted that in using the values of the coefficients in the table to predict the cornering force. and 1. the values of the coefficients in Eqs.) decreases and finally approaches an asymptote ya. and braking effort F.B.44.43. For given values of the coefficients. then coefficient D represents the peak value with respect to x.6. 234249. is established. and Besselink. selfaligning torque and braking effort. 1.45. the resulting values are in N. or braking effort to be taken into account..M. x = y = 0.46 show a comparison of the experimental data and fitted curves using Eqs. To allow the curve to have an offset with respect to the origin. selfaligning torque. representing the cornering stiffness of the tire. conicity. the curve shows an antisymmetric shape with respect to the origin. For instance. m. O Swets & Zeitlinger. pp. y coordinates and the product BCD corresponds to the slope of the curve at the origin. Figures 1. as defined by Eq. a new set of coordinates X and Y. two shifts S. 1. and S. are introduced. or braking effort and slip angle or skid. selfaligning torque.43 illustrates the meaning of some of the coefficients in Eq.1. H. Mz.79 for predicting cornering force F. N . respectively [1. Proceedings of the 2nd International Colloquium on Tyre Models for Vehicle Dynamic Analysis. This enables the effects of plysteer. selfaligning torque and slip angle.43 Characteristics of the Magic Formula for fitting tire test data.J. and N. 1. respectively. 1. 1. re .37. and braking effort and skid of a passenger car tire..43 represents the cornering force and slip angle relationship of a tire. I.
890087 O 1989 Society of Automotive Engineers.60 MECHANICS OF PNEUMATIC TIRES SIDE FORCE 8. (Reprinted with pennission from SAE paper No.000 MEASURED x Fz=2kN A F z = 4 kN W Fz=6kN SLIP ANGLE Fig. 890087 O 1989 Society of Automotive Engineers. Inc. 1.) Fig.45 Comparison of the measured and fitted relationships between selfaligning torque and slip angle using the Magic Formula. (Reprinted with permission from SAE paper No. Inc.) . 1.44 Comparison of the measured and fitted relationships between side force and slip angle using the Magic Formula.
39 58.61 2.1 104 BCD 780.69 1.210 0.6 1038 1091 1017 9.178 0. N MI.247 0. kN B C D E s.36 2.125 0.164 0.118 156 181 240 12.000 0.171 0.00 4.464 0.126 0.67 1.678 1. N F:.6 Values of the Coefficients in the Magic Formula for a Car Tire (Slip Angle in Degrees and Skid in Minus %) Load.127 0.41 1.000 0. (Reprinted with permission from SAE paper No. Inc. O 1989 Society of Automotive Engineers.92 0.21 0.27 1.61 1.68 2. 2 4 6 8 2 4 6 8 2 4 6 8 0.56 112.53 48.164 0.6 80.082 0.46 2.56 2.432 0. F.125 0. 1.783 0.19 1..0 1224 2136 2937 .244 0.50 1.16 3.000 Source: Reference 1.000 Fz=2kN A Fz=4kN F z = kN ~ Fz=8kN ' I t ' ~ * ~ ~ & r i r ~ r r r Fig.049 0.000 0. su .234 0.5 191.7 6.009 0.820 30.000 F* (N) MEASURED x mme 4.686 0.. 890087.78 1936 3650 5237 6677 15.46 Comparison of the measured and fitted relationships between braking force and skid using the Magic Formula.132 0.24.22 25.5 11.55 605.112 0.55 1.4 CORNERING PROPERTIES OF TIRES BRAKE FORCE 8.214 1.3 2193 4236 6090 7711 0.46 2.0 70.280 0.N.619 0.239 0.45 45.04 3.m F.) TABLE 1.
7 gives the values of coefficients a .84. the initial slope of the braking effortskid curve): BCD = a. arctan (a. are empirical coefficients. is in kN.1.78 and 1. the initial slope of the cornering forceslip angle curve): BCD = a.6)..80. and a. sin [a.65 The stiffness factor B can be derived from B BCD CD =  The curvature factor E as a function of normal load F. is given by where a...spectively.79 are functions of the normal load andlor camber angle of the tire [1. C = 1. F. Camber angle y is found to have an influence on the relationships between cornering force and slip angle and selfaligning torque and slip angle. For the cornering forceslip angle relationship. and that the slip angle is in degrees and skid is defined by Eq.24]. 1.. C = 2.e. 1. are empirical coefficients. a.. in the . It is found that some of the coefficients in Eqs.. for the same tire as in Table 1. 1. is in kN. and the average values for the particular car tire tested may be taken as follows (based on the data shown in Table 1. easFr The shape factor C appears to be practically independent of F. It should be noted that in Eqs. and a. F. to a. For cornering stiffness (i. Table 1. peak factor D may be expressed as a function of normal load F.e. F.For instance. are empirical coefficients.6.30 For the selfaligning torqueslip angle relationship. and a .2 + a4 F. For aligning stiffness (i... as follows: where F. C = 1.e.40 For the braking effortskid relationship. the initial slope of the selfaligning torqueslip angle curve) or longitudinal stiffness (i. and a.)] (1.30 and considered to be a negative value. a.81) where a.
in kN) Source: Reference 1. to a. for a Car Tire (F.24 .TABLE 1.7 Values of Coefficients a.
.. for the same tire as in Table 1..8. followed by a continuous decrease. 1 yl). Under these circumstances. when a tire operates under a given slip angle and at the same time its skid gradually increases. The change in stiffness factor AB is obtained by multiplying B by (1 a12 lyl):  where a. may first show a slight increase in magnitude. empirical weighting functions G are introduced. the weighting functions G take the value of one.24. Eqs. the tires on a vehicle develop both slip angles and skids. for a Car Tire (Camber Angle in Degrees) Source: Reference 1..79 produce the interactive effects of skid on cornering force and selfaligning torque.a.261..87) where B'. C'. is an empirical coefficient. must be divided by (1 .6 are given in Table 1. and D' are empirical coefficients.78 and 1. 1. However. then reach its peak. or braking effort. [1. and x is either slip angle or TABLE 1..281.8 The Values of Coefficients a. and a. selfaligning torque. When brakes are applied during a turning maneuver.79 are inadequate for characterizing tire behavior. To characterize the combined effects of slip angle and skid on the cornering force. The weighting function G takes the following form: G = D'cos[C1 arctan (B'x)] (1. 1. When the tire operates only with slip angle or skid. and S. . or of slip angle on braking effort [1.. The values of coefficients a. the curvature factor E for selfaligning torque M . To compensate for this effect. to a. which when multiplied by the original functions given in Eqs. to a.241..form of horizontal and vertical shifts. are empirical coefficients. S.78 and 1. The value of the selfaligning torque at high slip angles will change due to this change in stiffness factor B. a. then the weighting function for cornering force F. The additional shifts due to camber angle y may be expressed by where a.
281.0. represent the braking effort F. shown in Table 1. The performance of tires on wet surfaces depends on the surface texture. E. and having empirical coefficients B.210 (25  arctan[0. estimate the braking effort developed by a tire with a normal load of 6 kN (1349 Ib). the braking effort at a skid of 25% is calculated as follows: F. water depth. at a skid of 25%. It should be noted that skid is in the Magic Formula is expressed in percentage and considered to be a negative value and that the value of the arctan function should be expressed in radians. The equations given previously may be inadequate for characterizing the transient response of the tire.261. Example 1. and skid is. Studies on the transient cornering behavior of tires have been made [1. When a vehicle is in transient motion. the slip angle and/or skid of the tire are in a transient state.25 + 80.2. respectively. please refer to references [1.6.1. For instance.) Using the appropriate values of the empirical coefficients for a normal load of 6 kN (1349 lb) given in Table 1.686(5.686{0. Using the Magic Formula.210(25 + 0) . 1.. 1.3826)]} (1221 1b) 1. Solution.0.27.1 = 5433N + 1. For details concerning the characterization of tire behavior under the combined effects of slip angle and skid. It should also be noted that the discussions presented above are for characterizing the steadystate cornering behavior of tires.210(25 + 0) + O)] })I + 80. Eqs.78 and 1. 1.25 .79. + S. 1. then x in Eq. and S.67 arctan [5.301. as many accidents occur on slippery roads. S. = D sin [C arctan (B(i. For this case. = 6090 sin [1. 1.1 = 6090 sin (1. at a given slip angle.6. D. C. the variables Y and X in the Magic Formula. such as when the steering wheel angle and/or braking effort vary with time during a turning maneuver. F.87 represents the skid of the tire. if Eq.67 arctan (0.5 PERFORMANCE OF TIRES ON WET SURFACES The behavior of tires on wet surfaces is of considerable interest from a vehicle safety point of view. + S.)  E{B(i.29.87 represents the weighting function for determining the effect of skid on the cornering force F. .5 PERFORMANCE OF TIRES ON WET SURFACES 65 skid.
When a pneumatic tire is braked over a flooded surface. and microharshness to produce sharp points that can penetrate the remaining water film [1. Figures 1. including the ribbed and siped tires. a tire with ribs. maintaining effective contact between the tire tread and the road is of importance. and a tire with ribs and sipes on wet quartzite. and that its effectiveness decreases with the wear of the tread or the tread depth. the motion of the tire creates hydrodynamic pressure in the fluid. At low speeds. freerolling.48 show the variations of the peak values F. This phenomena is usually referred to as "hydroplaning7' and is illustrated in Fig.e.66 MECHANICS OF PNEUMATIC TIRES tread pattern. or cornering). Thus. The effects of tread pattern and speed on the braking performance of tires on various wet surfaces have been studied experimentally by a number of investigators. It should be pointed out that tread pattern can function satisfactorily on a wet road only when the grooves and sipes constitute a reservoir of sufficient capacity. the front part of the tire rides on a wedge or a film of fluid. there is little pattern effect on wet quartzite surfaces. and the surface of the pavement should have an appropriate texture to facilitate drainage as well. and smooth tires on wet asphalt and concrete surfaces. asphalt. as rough roads can provide better drainage. gravel. accelerating.31]. It can be seen that there is a marked difference in the coefficient of road adhesion between patterned tires. tread depth. and all contact with the ground is lost. and concrete [1. To achieve acceptable performance on wet surfaces.. and a high level of road adhesion is maintained over the entire speed range. the tire tread should have a suitable pattern to facilitate the flow of fluid from the contact area. At a particular speed. it can be concluded that the advantages of a patterned tire over a smooth tire are pronounced only on badly drained surfaces. tread material. For smooth or closepatterned tires that do not provide escape paths for water and for patterned tires on flooded surfaces with a fluid depth exceeding the groove depth in the tread. the tire rides completely on the fluid. and there is no doubt about the necessity of removing water from the contact area as much as possible. The tread pattern increases the value of the coefficient of road adhesion and reduces its speed dependency.32]. To maintain effective contact between the tire and the road. The hydrodynamic pressure acting on the tire builds up as the square of speed of the tire. In contrast. To provide good skid resistance. the speed at which hydroplaning occurs may .47 and 1. road surfaces must fulfill two requirements: an open macrotexture to facilitate gross draining. and the sliding values K of the coefficient of road adhesion with speed for a smooth tire. and tends to separate the tire from the ground.31]. braking. 1. This fluid film extends backward into the contact area as the speed of the tire increases. and operating mode of the tire (i. the hydrodynamic lift developed under the tire equals the vertical load.49 [1. The decline in value of the coefficient of road adhesion with the decrease of tread depth is more pronounced on smooth than on rough roads.
the square of the vehicle speed ground contact area A. the lift component of the hydrodynamic force . is proportional to the tire. fluid density P . r SURFACES 67 QUARTZITE 20 30 40 50 60 70 mph 20 30 40 50 60 70 mph GRAVEL 0.) be determined based on the theory of hydrodynamics. National Bureau of Standards.2 .K.1.8 Sm: SMOOTH Rbd: RIBBED Spd. 1. Monograph 122. edited b y S.5 PERFORMANCE OF TIRES ON WET 1. over wet surfaces..47 Effect of tread design on the peak value of road adhesion coefficient p. RIBBED AND SlPED Fig. It can be assumed that the lift component of the hydrodynamic force F.33. Clark. 1. ~ and V [1.341: When hydroplaning occurs. (Reproduced with permission from Mechanics of Pneumatic Tires. 1971.
the following formula was proposed by Home and Joyner for predicting the hydroplaning speed V.89) . 1971..68 MECHANICS OF PNEUMATIC TIRES r QUARTZITE 20 r 30 r GRAVEL 40 50 60 70 mph CONCRETE LL..: V. (Reproduced with permission from Mechunics of Pneumatic Tires.K. over wet surfaces. Clark. Monograph 122. 1.. is proportional to the square root of the nominal ground contact pressure WIA.35 2/Flm mph (1.48 Effect of tread design on the sliding value of road adhesion coefficient p.Based on this reasoning and on experimental data shown in Fig. 20 30 40 50 Srn : SMOOTH R bd RIBBED S pd RIBBED AND SlPED 60 70 rnph Fig.34]. = 10. 1. therefore. The speed at which hydroplaning begins.50 [1.) is equal to the vertical load acting on the tire. which is proportional to the inflation pressure of the tire pi. National Bureau of Standards. edited by S.
Monograph 122. For heavy trucks.UNBROKEN WATER FlLM BREGION OF PARTIAL BREAKDOWN OF WATER FlLM C .90) where p. The para . For passenger car tires. 1.5 PERFORMANCE OF TIRES ON WET SURFACES 60 CONTACT AREA ( a ) PARTIAL HYDROPLANING L CONTACT AREA (b) COMPLETE HYDROPLANING A . which is well within the normal operating range for passenger cars. and a generally accepted theory has yet to be evolved. = 6. the hydroplaning speed V. 1. However. the inflation pressure is usually in the range 620827 kPa (90120 psi). From Eq. for a tire at an inflation pressure of 193 kPa (28 psi) is approximately 88 kmlh (54. National Bureau of Standards. 1. (Reproduced with permission from Mechanics of Pneumatic Tires.CONTACT ZONE Fig. 1.) V.34 a kmlh (1.K. edited by S.89 and in kPa for Eq.7 mph).90.90.49 Hydroplaning of a tire on flooded surfaces. for a tire at an inflation pressure of 620 kPa (90 psi) is approximately 158 kmlh (98 mph). This would suggest that hydroplaning may not be possible for heavy truck tires under normal circumstances.. the inflation pressure is usually in the range 193248 kPa (2836 psi). 1. For patterned tires on wet surfaces where the fluid depth is less than the groove depth of the tread. the prediction of the hydroplaning speed is more complex. 1971..1. According to Eq. which is beyond the normal range of operating speed for heavy trucks. the hydroplaning speed V. the tractive performance of truck tires is still significantly influenced by the presence of fluid on wet pavements.90. Clark. is the inflation pressure of the tire in psi for Eq.
and directional stability. fluid density.8 22. 1. x 17 in.5 VEHICLE AIRCRAFT AIRCRAFT C 123 AIRCRAFT 124 mm x 432 mm A 39x13 0 VII 12. Figure 1.000 44. This affects braking.70 MECHANICS OF PNEUMATIC TIRES  0 10 20 40 500 100 200 60 80 100 300 400 psi kPa 1000 TIRE PRESSURE LOAD PER TIRE Ib kN TIRE VII 4 4 X 13. 880 JET FOUR WHEEL BOGlE 965 mm x 318 mm V 67015 AUTOMOBILE Fig.8 17. (Reproduced with permission of the Society of Automotive Engineers from reference 1.0 VII 32X8. tire tread pattern.9 in.50 Variation of hydroplaning speed with inflation pressure of tires.020 111 4. x 12.51 shows the degradation . tire inflation pressure. fluid viscosity.) meters found to be of significance to hydroplaning are pavement surface texture.34. and tire tread depth. The most important effect of hydroplaning is the reduction in the coefficient of road adhesion between the tire and the ground.5 in. steering control.000 97. pavement fluid depth. tire normal load. 9400 41.5016 38 in.8 10.
1.3 in.33]. .04 in. Figure 1. a noticeable difference in traction on wet pavements between truck and passenger car tires is observed. 7.5 PERFORMANCE OF TIRES ON WET SURFACES % 100 4GROOVE TREAD WATER DEPTH  71 4GROOVE TREAD WATER DEPTH 0. It . 7.34.62 mm  60  \ 40 0 % 3 100 20 40 60 80 100 IW w SMOOTH TREAD WATER DEPTH 0.1.02 mm cn WATER DEPTH 0. (Reproduced with permission of the Society of Automotive Engineers from references 1.52 shows a comparison of the peak value y and sliding value pE of the coefficient of road adhesion on wet pavements of a sample of three radialply truck tires and a corresponding sample of radialply passenger car tires with different tread depths [1.62 mm  W 0  60 PREDICTED HYDROPLANING  SPEED 7 I 0 50 100 SPEED  100 SPEED TEXTURED CONCRETE SMOOTH CONCRETE 150 0 50 1 150 km/h Fig.51 Effect of tread design and surface conditions on the degradation of cornering capability of tires on wet surfaces. It should be mentioned that because of the difference in design priorities.8].) of the cornering force of passenger car tires on two different wet surfaces at various speeds [1.3 in. 1.
4 Omm 12mm.8  .72 MECHANICS OF PNEUMATIC TIRES 1.) . .28in. of car and truck tires on wet surfaces.8.L L w e ~ 00 .  oa Omm W 6TRUCK TIRES 20 40 SPEED 60 mph ACAR TIRES BTRUCK TIRES I I 20 1 40 SPEED I 60 mph Fig.6  (a) TREADDEPTH 7mm.0 . I2 ZO wz ?.52 Comparison of (a) the peak value of road adhesion coefficient pp and (b) the sliding value of road adhesion coefficient p.47in. 1. 0. 0. (Reproduced with permission from reference 1.
652.54 shows the interrelationship among the static load. the stopping distance for a heavy truck with tires ranging from the best available to the worst. have also been proposed. the cushioning characteristics of a pneumatic tire may be represented by various mathematical models. As a result. The most widely used and simplest model representing the fundamental mode of vibration of the pneumatic tire consists of a mass element and a linear spring in parallel with a viscous damping element. synthetic rubber compounds provide a fundamentally higher value of coefficient of road adhesion. 1.0012 are shown in Fig. particularly on wet pavements. For instance. slippery road. and rolling dynamic stiffness.55 and 1. The loaddeflection curves at various inflation pressures for a terra tire 26 x 12. respectively [1.53 is usually referred to as a lattice plot. The vertical loaddeflection curves are useful in estimating the static vertical stiffness of tires. but of a fairly typical type could be 1.65 times longer than that of a passenger car with normal highgrip tires [I. greater emphasis is placed on tread life. while natural rubber compounds offer higher abrasion resistance and lower hysteresis losses. the tire progressively deflects as the load increases.36].5016 are shown in Figs. natural rubber as the base polymer for the tread is widely used for truck tires.58. 1. it has been reported that on a wet. and deflections for a 165 X 13 radialply passenger car tire. in which the origin of each loaddeflection curve is displaced along the deflection axis by an amount proportional to the inflation pressure. When a normal load is applied to an inflated tire. 1. Figure 1. In vehicle vibration analysis and ride simulation. As mentioned previously. such as the socalled "viscoelastic" model shown in Fig. The lattice plots of the loaddeflection data at various inflation pressures for tractor tires 1136 and 7. whereas syntheticrubber based compounds are universally adopted for passenger car tires. 1. The substantial difference in tractive performance between car and truck tires results in a significant difference in stopping distance. The relationship between the load and the inflation pressure for constant deflection can also be shown in the lattice plot. 11. 1. Figure 1.56. tread patterns and tread compounds for truck tires are different from those for passenger car tires.53 shows the static loaddeflection relationship for a 5.6 RIDE PROPERTIES OF TIRES Supporting the weight of the vehicle and cushioning it over surface irregularities are two of the basic functions of a pneumatic tire. nonrolling dynamic. For instance.6 RlDE PROPERTIES OF TIRES 73 can be seen that the tractive performance of the truck tires tested is substantially poorer than that of the passenger car tires. Depending upon the test conditions. .351. The type of diagram shown in Fig.1. three distinct types of tire vertical stiffness may be defined: static.57. inflation pressure. Other models. 1S8.60 X 13 biasply tire at various inflation pressures C1. as shown in Fig. In the design of heavy truck tires.
25.9.0 in. 1. the loaddeflection characteristics for both radial. the tire with a certain load is allowed to fall freely from a height at which the tire is just in contact with the ground.35. Nonrolling Dynamic Stiffness The dynamic stiffness of a nonrolling tire may be obtaining using various methods. It has been found that for a given inflation pressure.0012 at various inflation pressures are given in Table 1. 1.4 mm BImPLY 2 C3 4 3 0. and those of the terra tire 26 X 12. In this test..and biasply tires are more or less linear.. Consequently.1 mm DEFLECTION Fig. such as those shown in Figs.35]. One of the simplest is the socalled drop test.53 Static loaddeflection relationship of a biasply car tire.) Static Stiffness The static vertical stiffness of a tire is determined by the slope of the static loaddeflection curves. The transient . except at relatively low values of load.60x13 600  500  1. The values of the static vertical stiffness of the tractor tires 1136 and 7.2 in. the tire remains in contact with the ground throughout the test.531.57. 5. it can be assumed that the tire vertical stiffness is independent of load in the range of practical interest. 1.74 MECHANICS OF PNEUMATIC TIRES kN 3 Ib 700 3 am Q t TIRE 5. Consequently.516. Figure 1.59 shows the variation of the stiffness with inflation pressure for the 165 X 13 radialply tire. The values of stiffness shown are derived from the loaddeflection curves shown in Fig. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 1.54 [1.
75
1.6 RIDE PROPERTIES OF TIRES
0
20
10
40
30
mrn
DEFLECTION
Fig. 1.54 Static loaddeflection relationship of a radialply car tire. (Reproduced with
permission of the Council of the Institution of Mechanical Engineers from reference
1.35.)
kN
TIRE 1136
Ib
I
0
25
50
I
I
I
75
100
125
mm
DEFLECTION
Fig. 1.55 Static loaddeflection relationship of a tractor tire 1 136. (Reproduced with
permission of the Journal of Agricultural Engineering Research from reference 1.36.)
76
MECHANICS OF PNEUMATIC TIRES
TIRE 7.5016
kN
Ib
36 psi, 248 kPa
28 psi, 193 kPa
20 psi. 138 kPa
0
I
0
0.5 1.0
I
1.5 2.0 2.5 3.0 3.5 4.0
DEFLECTION
Fig. 1.56 Static loaddeflection relationship of a tractor tire 7.5016. (Reproduced
with permission of the Journal of Agricultural Engineering Research from reference
1.36.)
A 10.00psi, 68.9 kPa
N
Ib
8.00
6 . 0 0
V 4.00
4 3.00
ar> 2.00
55.2
41.4
27.6
20.7
13.8
.4in.
DEFLECTION
Fig. 1.57 Static loaddeflection relationship of a terra tire 26 x 12.0012 for allterrain vehicles.
1.6 RIDE PROPERTIES OF TIRES
(a)
77
(b)
Fig. 1.58 (a) A linear model and (b) a viscoelastic model for tire vibration analysis.
response of the tire is recorded. A typical amplitude decay trace is shown in
Fig. 1.60. The values of the equivalent viscous damping coefficient c, and
the dynamic stiffness k, of the tire can then be determined from the decay
trace using the wellestablished theory of free vibration for a singledegreeoffreedom system:
and
(1.92)
o,is the damped natural frequency of the tire with mass m, and can be
identified from the amplitude decay trace shown in Fig. 1.60.
where T is the period of damped oscillation shown in Fig. 1.60.
6 is the logarithmic decrement, which is defined as the natural logarithm
of the ratio of any two successive amplitudes, such as x, and x,, shown in
Fig. 1.60.
The drop test may also be performed utilizing a tire endurance testing
machine consisting of a beam pivoted at one end, which carries the test tire
loaded against a drum. To initiate the test, the beam is displaced and the
system is set in angular oscillation about the pivot of the beam. A decay trace
for the amplitude of angular displacement is recorded. A set of equations for
78
MECHANICS OF PNEUMATIC TIRES
psi
l NFLATION PRESSURE
Fig. 1.59 Variation of static stiffness with inflation pressure for a radialply car tire.
(Reproduced with permission of the Council of the Institution of Mechanical Engineers
from reference 1.35.)
this torsional system, similar to that for a singledegreeoffreedom linear
system described above, can be derived for determining the equivalent damping coefficient and nonrolling dynamic stiffness for the tire from the decay
trace.
Table 1.9 shows the values of the nonrolling dynamic stiffness and the
damping coefficient for the tractor tires 1136 and 7.516 [1.36], and the
damping coefficient for the terra tire 26 X 12.0012. The values of the damping coefficient for the 5.60 x 13 biasply and the 165 X 13 radialply car
tire are given in Table 1.10 [1.35].
Rolling Dynamic Stiffness The rolling dynamic stiffness is usually determined by measuring the response of a rolling tire to a known harmonic excitation. The response is normally measured at the hub, and the excitation is
given at the tread. By examining the ratio of output to input and the phase
angle, it is possible to determine the dynamic stiffness and the damping coefficient of a rolling tire.
An alternative method for determining the dynamic stiffness of a tire is to
measure its resonant frequency when rolling on a drum or belt. Figure 1.61
shows the values of the dynamic stiffness for various types of car tire obtained
using this method [1.6]. It is shown that the dynamic stiffness of car tires
TABLE 1.9 Vertical Stiffness of OffRoad Tires
Tire
Inflation
Pressure
1136
(4ply)
7.516
(6ply)
Static Stiffness
82.7 kPa
(12 psi)
6.67 kN (1500 lb)
8.0 kN (1800 lb)
9.34 kN (2100 lb)
357.5 W / m (24,500 Iblft)
357.5 kN1m (24,500 Iblft)
379.4 kN1m (26,000 Iblft)
394.0 kN/m (27,000 lblft)
423.2 W / m (29,000 lblft)
110.3 kPa
(16 psi)
6.67 kN (1500 lb)
8.0 kN (1800 lb)
9.34 kN (2100 lb)
3.56 kN (800 lb)
4.45 kN (1000 lb)
4.89 kN (1100 Ib)
3.56 kN (800 lb)
4.45 kN (1100 Ib)
4.89 kN (1300 lb)
1.78 kN (400 Ib)
379.4 kN1m
386.7 kN1m
394.0 kN/m
175.1 kN/m
175.1 kN/m
182.4 kN/m
218.9 kN1m
226.2 kN/m
255.4 kN1m
51.1 kN/m
394.0 kN/m
437.8 kN/m
423.2 kN/m
218.9 kN1m
233.5 kN/m
248.1 kN/m
233.5 kN/m
262.7 kN1m
277.3 kN1m
138 kPa
(20 psi)
193 kPa
(28 psi)
26 X 12.0012
GP~Y)
Nonrolling Dynamic
Stiffness (Average)
Load
15.5 kPa
(2.25 psi)
27.6 kPa
(4 psi)
Source: Reference 1.36
1.78 kN (400 Ib)
(26,000 lblft)
(26,500 Iblft)
(27.000 lblft)
(12,000 lblft)
(12,000 Iblft)
(12,500 lblft)
(15,000 Iblft)
(15,500 Iblft)
(17,500 Iblft)
(3500 lblft)
(27,000 lblft)
(30,000 lblft)
(29,000 lblft)
(15,000 lb/ft)
(16,000 lblft)
(17,000 lblft)
(16,000 lblft)
(18,000 lb/ft)
(19,000 lb/ft)

Damping Coefficient
2.4 kN . slrn (165 lb slft)
2.6 kN . slrn (180 lb slft)
3.4 kN . s/m (230 lb . s/
ft)
2.1 kN . slrn (145 lb s/ft)
2.5 kN . slrn (175 lb . slft)
2.5 kN . slrn (175 Ib slft)
0.58 kN . s/m (40 lb slft)
0.66 kN slm (45 l b . slft)
0.80 kN . slm (55 lb slft)
0.36 kN . s/m (25 lb slft)
0.66 kN slm (45 Ib slft)
0.73 kN slm (50 lb slft)
0.47 kN slm (32 lb slft)


.
.
.
.
0.49 kN . slm (34 Ib . slft)
Fig. 1.60 An amplitude decay record of a nonrolling tire obtained from
a drop test.
,'
/'
I
decreases sharply as soon as the tire is rolling. However, beyond a speed of
approximately 20 kmlh (12 mph), the influence of speed becomes less important.
Table 1.11 shows the values of vertical stiffness of a sample of truck tires
at rated loads and inflation pressures [1.19]. They were obtained when the
tires were rolling at a relatively low speed.
It can be seen from Table 1.11 that values of the vertical stiffness for the
truck tires tested range from 764 to 1024 kN/m (4363 to 5850 lblin.), and
that the vertical stiffness of radialply truck tires is generally lower than that
of biasply tires of similar size.
Figure 1.62 shows the variation of the dynamic stiffness of a 13.6 X 38
radial tractor tire with speed [1.37]. The static load on the tire was 18.25 kN
(4092 lb), and the inflation pressure was 138 kPa (20 psi). It can be seen that
the dynamic stiffness of the tractor tire decreases sharply as soon as the tire
begins rolling, similar to that for passenger car tires shown in Fig. 1.61. The
TABLE 1.10 Damping Coefficient of Tires
Tire
Inflation Pressure
Biasply
5.60 X 13
103.4 kPa
137.9 kPa
172.4 kPa
206.9 kPa
241.3 kPa
103.4 kPa
137.9 kPa
172.4 kPa
206.9 kPa
241.3 kPa
Radialply
165 X 13
Source: Reference 1.35.
(15 psi)
(20 psi)
(25 psi)
(30 psi)
(35 psi)
(15 psi)
(20 psi)
(25 psi)
(30 psi)
(35 psi)
Damping Coefficient
4.59
4.89
4.52
4.09
4.09
4.45
3.68
3.44
3.43
2.86
kN . slm (315 Ib slft)
kN . slm (335 lb . slft)
kN . slm (310 lb . slft)
kN . slm
kN . slm
kN . slm
kN . slm
kN . slm
kN . slm
kN . slrn
(280 lb
(280 lb
(305 lb
(252 lb
(236 Ib
(235 Ib
(196 lb
. slft)
 slft)
. slft)
. slft)
. slft)
. slft)
. slft)
1.6 RIDE PROPERTIES OF TIRES
81
DRUM DIAMETER 2.5m, 8.2 ft
AMPLITUDE 5 10mm. 0.2 0.4 in
TIRE 165x400
INFLATION
.
245 kPa 147 kPa
(35.5psi) (21.3psi)
BIAS PLY
RADIAL PLY
RADIAL PLY
(SPECIAL
A
0
n
0
SPEED
Fig. 1.61 Effect of speed on rolling dynamic stiffness of car tires. (Reproduced with
permission from Mechanics of Pneumatic Tires, edited by S.K. Clark, Monograph 122,
National Bureau of Standards, 1971.)
effects of inflation pressure on the dynamic stiffness of the same tire are
shown in Fig. 1.63. The variation of the damping coefficient with speed for
the tractor tire is shown in Fig. 1.64. It can be seen that beyond a speed of
1 kmlh (0.6 mph), the damping coefficient drops rapidly until a speed of 5
kmlh (3.1 mph) is reached, and then approaches an asymptote. The effects
of inflation pressure on the damping coefficient are shown in Fig. 1.65.
Attempts to determine the relationship between the static and dynamic
stiffness of tires have been made. However, no general conclusions have been
reached. Some reports indicate that for passenger car tires, the rolling dynamic
stiffness may be 1015% less than the stiffness derived from static loaddeflection curves, whereas for heavy truck tires, the dynamic stiffness is ap
TABLE 1.11 Vertical Stiffness of Truck Tires at Rated Loads and Inflation
Pressures
Tire Type
Unspecified 11.0022/ G
Unspecified 11.0022/F
Unspecified 15.00 X 22.51H
Unspecified 11.0020/F
Michelin Radial 11R22.5 XZA (1 13 Tread)
Michelin Radial 11R22.5 XZA (1 12 Tread)
Michelin Radial 11R22.5 XZA
Unspecified 10.0020/F
Michelin Radial 11R22.5 XZA
Michelin Pilote 11180R22.5 XZA
Unspecified 10.0020/F
Michelin Pilote 11180R22.5 XZA
Unspecified 10.00201G
Vertical Stiffness
Tire
Construction
kN/m
lblin.
Biasply
Biasply
Biasply
Biasply
Radialply
Radialply
Radialply
Biasply
Radialply
Radialply
Biasply
Radialply
Biasply
1024
977
949
88 1
874
864
83 1
823
809
808
788
774
764
5850
5578
5420
5032
4992
4935
4744
4700
4622
4614
4500
4418
4363
Source: UMTRI, reference 1.19.
0
5
10
15
20
25
I
I
1
1
0
5
10
15
SPEED
Fig. 1.62 Effect of speed on rolling dynamic stiffness of a radialply tractor tire
13.6 x 38. (Reproduced with permission from reference 1.37.)
1.6 RIDE PROPERTIES OF TIRES
kN/m
83
Iblin.
Okm/h,O.Omph
1km/h,O.6mph
3km/h,l.8mph
5km/h,3.1mph
1Okmlh,6.2mph
15km/h,9.3mph
I
50
100
150
200
I
I
1
10
20
30
250 kPa
psi
INFLATION PRESSURE
Fig. 1.63 Effect of inflation pressure on rolling dynamic stiffness at various speeds
of a radialply tractor tire 13.6 x 38. (Reproduced with permission from reference
1.37.)
proximately 5% less than the static value. For tractor tires, it has been reported
that the dynamic stiffness may be 26% lower than the static value. In simulation studies of vehicle ride, the use of the rolling dynamic stiffness is preferred.
It has been shown that among various operation parameters, inflation pressure, speed, normal load, and wear have a noticeable influence on tire stiffness. Tire design parameters, such as the crown angle of the cords, tread
width, tread depth, number of plies, and tire material, also affect the stiffness.
The damping of a pneumatic tire is mainly due to the hysteresis of tire
materials. Generally speaking, it is neither Coulombtype nor viscoustype
damping, and it appears to be a combination of both. However, an equivalent
viscous damping coefficient can usually be derived from the dynamic tests
mentioned previously. Its value is subject to variation, depending on the design and construction of the tire, as well as operating conditions. It has been
shown that the damping of pneumatic tires made of synthetic rubber compounds is considerably less than that provided by a shock absorber.
To evaluate the overall vibrational characteristics of tires, tests may be
carried out on a variablespeed rotating drum. The profile of the drum may

0
L
10
5
15
I
I
5
10
25 kmlh
20
1
15
mph
SPEED
Fig. 1.64 Effect of speed on damping coefficient of a radialply tractor tire 13.6
x 38. (Reproduced with permission from reference 1.37.)
be random, sinusoidal, square, or triangular. Experience has shown that the
use of a periodic type of excitation enables rapid assessments to be made.
Figure 1.66 shows the wheel hub acceleration as a function of frequency for
a radialply and a biasply tire over a sinusoidal profile with 133 mm (5.25
in.) pitch and 6 mm (0.25 in.) peaktopeak amplitude [1.38]. The transmissibility ratios in the vertical direction over a wide frequency range of a radialply and a biasply tire are shown in Fig. 1.67 [1.38]. This set of results has
been obtained using a vibration exciter. The vibration input is imparted to the
tread of a nonrolling tire through a platform mounted on the vibration exciter.
It can be seen from Figs. 1.66 and 1.67 that the transmissibility ratio for
vertical excitation of the radialply tire is noticeably higher than that of the
biasply tire in the frequency range of 60100 Hz. Vibrations in this frequency
range contribute to the passenger's sensation of "harshness." On the other
hand, the biasply tire is significantly worse than the radialply tire in the
frequency range approximately 150200 Hz. In this frequency range, vibrations contribute to induced tire noise, commonly known as "road roar" [1.1].
Tire noise is generated by the following major mechanisms [1.23]:
1) Air pumping effectAs the tire rolls, air is trapped and compressed in
the voids between the tread and the pavement. Noise is generated when
the compressed air is released at high speed to the atmosphere at the
exit of the contact patch.
1.6 RIDE PROPERTIES OF TIRES
85
Okmlh
3km/h, 1.8mph
5km/h, 3.1 mph
0
t
0
50
100
150
1
I
200
250 kPa
1
10
20
30
INFLATION PRESSURE
psi
Fig. 1.65 Effect of inflation pressure on damping coefficient at various speeds of a
radialply tractor tire 13.6 x 38. (Reproduced with permission from reference 1.37.)
VERTICAL DRUM
RADIAL PLY TIRE
BIASPLY
W
TIRE
03
Fig. 1.66 Vibration characteristics of a biasply and a radialply car tire subject to
sinusoidal excitation. (Reproduced with permission of the Council of the Institution
of Mechanical Engineers from reference 1.38.)
(Reproduced with permission of the Society of Automotive Engineers from reference 1. 1.67 Transmissibility ratio of a biasply and a radialply car tire. 1. 40 50 I .50 75 1 60 .) I I I 20 30. 100 mph kmlh SPEED Fig. o_ 2 3 r a E 2 0.68 Effect of speed on noise generated by biasply and radialply truck tires.38.86 MECHANICS OF PNEUMATIC TIRES VERTICAL Vl BRATOR d m U) v.) . (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 1.1  10 20 40 60 80 100 200 300 Hz Fig.23.
A.12 Effect of Pavement Texture on Noise Level Generated by a BiasPly Truck Tire Road Surface Moderately smooth concrete Smooth asphalt Worn concrete (exposed aggregate) Brushed concrete Noise Level dB (A) 70 72 72 78 Source: Reference 1. The Friction of Pneumatic Tyres. Monograph 122. Moore. 1978. 2) Tread element vibrationsTread elements impact the pavement as the tire rolls. Ed. "Construction and Behaviour Characteristics of Tyres. Tire Technology." in Proc. Carcass vibrations and the grooves and lug voids in the tread acting like resonating pipes also contribute to noise radiation from the tire.. AD 14/59. 2nd ed.23]. van Eldik and Thieme and H.K. 1975. REFERENCES T. V. of the Institution of Mechanical Engineers. DC: National Bureau of Standards. Robert Bosch GmbH. Mechanics of Pneumatic Tires.E.12 [I . Clark. When the elements leave the contact patch. French.. 1971. SAE J670e. 1989. D. DC: National Bureau of Standards. Washington. T. the noise level generated by a tire is a function of operating speed. Ed.B. "The Tire as a Vehicle Component. French. Pacejka.C. 1971. etc. The results were obtained following the SAE J57 test procedure. "The Mechanics of HeavyDuty Trucks and Truck Combinations. ribbed truck tire at 80 kmlh (50 mph) is shown in Table 1." in S. Washington. These induce vibrations of the tread." presented at the Engineering Summer Conferences. 1959.. Amsterdam: Elsevier. "Structure of the Tire.23]. University of Michigan. Monograph 122. Mechanics of Pneumatic Tires. Automotive Handbook. H. Society of Automotive Engineers. Ann Arbor. the vibrations of tread elements and carcass. Figure 1. Since the air pumping effect. Automobile Division.K.68 shows the variations of noise level with speed for various types of truck tire on a smooth pavement [1. they are released from a highly stressed state. Segel. Vehicle Dynamics Terminology. 1986.F. which form a major source of tire noise. Bristol and New York: Adam Hilger. ." in S.23. 1984. Clark.TABLE 1. Gough. are related to speed. The effect of pavement texture on the noise level generated by a biasply. L.
L. Ford and F. University of Michigan. "Mechanics of Vehicles. V. 1971 Summer Computer Simulation Con$. 1994. "Tires for HighPerformance Cars. Special Publications. "The Effect of Tread Polymer Variations on Radial Tire Rolling Resistance. MA. 1989. Gough.D.B. and G. vol. paper 870421. 1986. J." Society of Automotive Engineers.S." Society of Automotive Engineers. Bakker.D. "Force and Moment Characteristics of Rolling Tires. "The Tyre as a Vehicle Component. R. Ministry of Supply. BiasBelted and Radial Tire Performance. M. 1977. and G. Pacejka." Machine Design." SAE Transactions. Hunt. paper 690214. J. "Development of a Hybrid Simulation for Extreme Automobile Maneuvers.D.W. Sharpf. 10152." Society of Automotive Engineers. Turner. L." SAE Transactions. National Highway Traffic Safety Administration." Society of Automotive Engineers. Fancher and P. paper 713A. Cortese. C." S&T Memo No." in Proc. Prague.D. Collier and J. 1969. D. "The Influence of Road Surface Texture on Tire Rolling Resistance.R. Ervin. E. Winkler. Boston. and T. R. Walter. Highway Safety Research Institute. paper 890087. B. Society of Automotive Engineers. H.L.E. 1956. 1988.B. XXVI FISITA Congress.88 MECHANICS OF PNEUMATIC TIRES J. "The Mechanical Characteristics of Pneumatic Tyres. Hall. Symposium on Commercial Vehicle Braking and Handling. "Practical Tire Research. "The Effect of Inflation Pressure on Bias. U.S. paper 800087. Lidner. vol.L. 1980. DOT HS 807 125. London: Mechanical Engineering Publications. Janssen and G.B.E.S. 1980. Gillespie. "A New Tire Model with an Application in Vehicle Dynamic Studies. Johnston. H. 1952." in Proc. Ann Arbor. vol. 1975. .B.T. Vehicle Handling Dynamics. J. Bakker. Charles. 1971. P74." Society of Automotive Engineers. Hadekel. Harned.L.D. 26. "Mobile Measurement of Truck Tire Traction. 1957. 1956. R. 1996 (CDROM). 64. J. P. Department of Transportation. J. Nyborg." Report No." The ThirtyFourth L.L.J. Warchol. paper 800090. P. Hall. England.L." Society of Automotive Engineers. T.L. 78. Ray Buckendale Lecture. Tire Rolling Losses and Fuel EconomyAn R&D Planning Workshop." SAE Transactions. SP729. E. 1977. Taborek. "A Fact Book of the Mechanical Properties of the Components for SingleUnit and Articulated Heavy Trucks.C. 1963. Pacejka.D. Ellis. London. 1987. L. May 30Dec. Hartley and D. Special Publication P74. "Tyre Modelling for Use in Vehicle Dynamic Studies. DeRaad. Ervin. Tire Rolling Losses and Fuel EconomyAn R&D Planning Workshop. June 1623. 64.M. "Heavy Duty Truck Tire Engineering. and H.D." in Proc." Society of Automotive Engineers. L. and L. "Measurement of Tire Brake Force Characteristics as Related to Wheel Slip (Antilock) Control System Design. Grote. "Effect of Ambient Temperature on Radial Tire Rolling Resistance. Nordeen and A. Fancher.S. Pacejka.
K. Proc. Barson. Morcombe. 314. no. but having biasply tires in the speed range 40100 k m / h (2562 mph)." in S. 31. Dreher." in F. Ed. 1997.D.D.1 and 1. Lutz. W.A. DC: National Bureau of Standards. Home and U. "The Contact Between Tire and Roadway. Investigation of Tractor Dynamics by Analogue Computer Simulation. no.1963. The Netherlands: Swets & Zeitlinger. "A New Tyre Model for Vehicle Dynamics Simulations. B. Zhou. "Skid Resistance and Directional Control. 184. Clark. 2. and S. Berlin. Three Plane Tyre Model for Simulation of Transient Behavior. A. C. vol. Lines and N. Clark. vol. James. 1989. respectively.K. 1." Proc. Institution of Mechanical Engineers. Willumeit. Institution of Mechanical Engineers.57 kN (3500 lb) and having radialply tires with that of the same vehicle. J. 182. Ed. "Measurement and Simulation of Transient Tire Forces.PROBLEMS 89 H. "A Machine for Measuring the Suspension Characteristics of Agricultural Tyres. vol. 2nd Int." in Proc.W." Society of Automotive Engineers. 1993. P. Forissier. and C. 1989. Pacejka and I. Home and R. 26. D. 1971. Lisse." NASA TND2056. Ashley.. Matthews and J. Lafon. paper 650145. part 3B.5. W.W. S." Vehicle System Dynamics.C. Washington. "The Vertical Response Characteristics of the NonRolling Tire. A. J.J. Monograph 122. Eds. 111.1 Compare the power required to overcome the rolling resistance of a passenger car weighing 15. "Some Aspects of Tire and Vehicle Vibration Testing. Colloquium on Tyre Models for Vehicle Dynamic Analysis.P. Sharp. 1999. Talamo." Journal of Terramechanics. and A. 10. van Zanten. Monograph 112.B. 19671968.B. Bohm and H. DC: National Bureau of Standards. J. 19691970. Mechanics of Pneumatic Tires. .K." in S. Mechanics of Pneumatic Tires. PROBLEMS 1. no. Bayle.. "Ride Comfort for Tractor Operators.F." Journal of Agricultural Engineering Research.H. 196. Ruf. "Phenomena of Pneumatic Tire Hydroplaning. vol. no. Young. Wong. 2.Y." Society of Automotive Engineers.. Besselink. "Magic Formula Tyre Model with Transient Properties. Schallamach. W. "Pneumatic Tire Hydroplaning and Some Effects on Vehicle Performance.C. NOV. The variations of the coefficient of rolling resistance of the radialply and biasply passenger car tire with speed are described by Eqs. U. part 2A.M. Overton. Joyner. 1.T.B. vol. J.A.K. Washington.A. 1971. & International Press." in Automotive Technology International '93. J. Mills. 1965. Clark. J.2. paper 890640. and R. "A MultiSpoke. and A.S.
Estimate the fundamental natural frequencies of the vehicle in the vertical direction at the two inflation pressures. using the simplified theory described in Section 1. 1. is 132.4. determine whether or not the vehicle will be hydroplaning. estimate the cornering force of a car tire at a normal load of 6 kN (1349 lb) with a slip angle of 5". The inflation pressure of the tires is 179. determine the relationship between the cornering force and the slip angle in the range 016" of the truck tire described in Problem 1.4.3 Using the simplified theory described in Section 1.32 kN/m (550 lblin.2 and 1. 1.) at an inflation pressure of 27.9 kPa (10 psi).) at a pressure of 68.000 lblunit skid).6 kPa (4 psi). and a stiffness of 96.8.6.4.7 Using the Magic Formula described in Section 1.56 kN (800 lb) and has four terra tires. Assume that there is no braking torque applied to the tire.27 kPa (26 psi). 1.4.54 kN/m (300 Iblin. is 224.2. . The values of the empirical coefficients in the Magic Formula for the tire are given in Table 1.4.6 An allterrain vehicle weighs 3.4.5 A passenger car travels over a flooded pavement.4 Determine the available cornering force of the truck tire described in Problems 1.64 kN1unit skid (55.80. If the initial speed of the car is 100 kmlh (62 mph) and brakes are then applied. The longitudinal stiffness of the tire during braking C. The cornering stiffness of the tire C.78 kN (5570 1b) travels on a dry concrete pavement with a peak value of coefficient of road adhesion pP = 0.3.3 as a function of longitudinal skid at a slip angle of 4". Plot the cornering force of the tire at a slip angle of 4" versus skid in the range 040%. The coefficient of road adhesion is 0.53 kN1rad (520 lbldeg). plot the relationship between the braking force and the skid of the tire up to skid is = 20%. Using the simplified theory described in Section 1. 1. The vehicle has no spring suspension. each of which has a vertical stiffness of 52.1. 1.2 A truck tire with vertical load of 24.
an understanding of the mechanics of vehicleterrain interaction is of importance to the proper selection of vehicle configuration and design parameters to meet specific operational requirements. dependent upon the manner in which the vehicle interacts with the terrain. perhaps. the measurement and characterization of the behavior of the terrain will be discussed. particularly since World War 11. ranging from desert sand through soft mud to fresh snow.12. exploration. a wide range of human endeavors in such fields as agriculture. recreation. essential to the proper development and design of offroad vehicles for a given mission and environment. On a given terrain. and military operations still involves locomotion over unprepared terrain using specialized offroad vehicles. construction. In this chapter. therefore. Consequently. Systematic studies of the principles underlying the rational development and design of offroad vehicles.41. logging. In offroad operations. the performance of an offroad vehicle is. The properties of the terrain quite often impose severe limitations to the mobility of offroad vehicles. to a great extent. various types of terrain with differing behavior. mining. therefore.CHAPTER 2 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS While transporting passengers and goods by vehicles on paved roads constitutes a significant part of the overall transportation activities in a modem society. The study of the performance of an offroad vehicle in relation to its operating environment (the terrain) has now become known as "terramechanics" [2. An adequate knowledge of the mechanical properties of the terrain and its response to vehicular loadingterramechanicsis. have attracted considerable interest. may be encountered. A central issue in terramechanics is to establish a quantitative relationship between the . analogous to the role of aerodynamics in the development of aircraft and spacecraft and to that of hydrodynamics in the design of marinecraft. This is.
a variety of methods.1 Behavior of an idealized elastoplastic material. 2. isotropic. homogeneous. The idealization of the terrain as an elastic medium has found applications in the prediction of stress distribution in the soil. When the stress level in the terrain does not exceed a certain limit.1. 2. ranging from empirical to theoretical. the terrain may exhibit elastic behavior.1. in connection with the study of soil compaction due to vehicular loads [2.92 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS performance and design of an offroad vehicle for a given operating environment.2: ELASTIC RANGE PLASTIC RANGE Fig. 2. for predicting the performance of tracked and wheeled vehicles over unprepared terrain have been developed or proposed.5].1 DISTRIBUTION OF STRESSES IN THE TERRAIN UNDER VEHICULAR LOADS Certain types of terrain. 2. such as saturated clay and compact sand. such as that denoted by "a" in Fig. His solutions give the following expressions for the vertical stress uzat a point in the elastic medium defined by the coordinates shown in Fig. O STRAIN . 2. The method for calculating the stress distribution in a semiinfinite. may be compared to an ideal elastoplastic material with the stressstrain relationship shown in Fig. which cover part of the trafficable earth surface. Some of the representative ones will be presented in this chapter. elastic medium subject to a vertical point load applied on the surface was first developed by Boussinesq. The prediction of stress distribution in an elastic medium subject to any specific load may be based on the analysis of the distribution of stresses under a point load. Over the years.
.1 and 2. and that they are only functions of the load applied and the distance from the point of application of the load.2 Stresses at a point in a semiinfinite elastic medium subject to a point load. dW = p.1]. Hence. 2. Based on the analysis of stress distribution beneath a point load.. For instance. 1956.G. The material in the immediate vicinity of the point load does not behave elasticity. in accordance with Eq. 2.2) is given by u.1 DISTRIBUTION OF STRESSES IN THE TERRAIN UNDER VEHICULAR LOADS 93 Fig.3). (Fig. copyright O by the University of Michigan. Bekker. The resultant vertical stress a: at a depth z below the center of the contact . the vertical stress at a depth z below the center of the contact area may be determined in the following way [2.= 3W cos 0 2 5R2  It is interesting to note that the stresses are independent of the modulus of elasticity of the material. It should be mentioned that Eqs. (From Theory of Land Locomotion by M. the distribution of stresses in an elastic medium under a variety of loading conditions may be predicted using the principle of superposition. reproduced with permission of the University of Michigan Press. 2. the radial stress a. for a circular contact area having a radius r. The load acting upon the contact area may be represented by a number of discrete point loads. (Fig.) 3W 0z = (. and with a uniform pressure p.2.I3 g = cos" where When polar coordinates are used.dA = p"rdrd8. 2.2 are only valid for calculating stresses at points not too close to the point of application of the load.1. 2.
) area is then equal to the sum of the stresses produced by point loads of pordrdO. Bekker. and cannot be generalized by a simple set of equations. reproduced with permission of the University of Michigan Press. 2. 1956. The stress distribution in an elastic medium under distributed loads over an elliptic area.1]: By substituting ( r l ~=) u2. ~ it is found that The computation of the stresses at points other than those directly below the center of the contact area is rather involved. 2. reproduced with permission of the University of Michigan Press.3 Vertical stresses in a semiinfinite elastic medium below the center of a circular loading area. similar to that applied by a tire.G.94 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Fig.4). Such a strip load may be considered as an idealization of that applied by a tracked Fig. Bekker. Another case of interest from the vehicle viewpoint is the distribution of stresses in the elastic medium under the action of a strip load (Fig. can be determined in a similar way. copyright O by the University of Michigan. (From Theory of Land Locomotion by M. (From Theory of Land Locomotion by M. and can be computed by a double integration [2.) . 2.4 Distribution of vertical stresses in a semiinfinite elastic medium under a tracked vehicle. 1956.G. copyright O by the University of Michigan.
]  8. various semiempirical equations have been developed to account for the different behavior of various types of soil. may be assumed as being sloped at an angle of 45" with the horizontal shown in Fig. There is a tendency for the compressive stress in the soil to concentrate around the loading axis.6) The points in the medium that experience the same level of stress form a family of isostress surfaces commonly known as pressure bulbs. for all practical purposes.5 Stresses at a point in a semiinfinite elastic medium subject to a uniform strip load. In view of this. The general characteristics of the bulbs of vertical pressure under a uniform strip load are illustrated in Fig. reproduced with permission of the University of Michigan Press. 2. Frohlich introduced a concentration factor v to Boussinesq's equations.5]. It can be shown that the stresses in an elastic medium due to a uniform pressure p.1]. cos 0.[8. copyright O by the University of Michigan. This tendency becomes greater when the soil becomes more plastic due to increased moisture content or when the soil is less cohesive.G.5) (2. + sin 8.4 [2. The boundaries of the bulbs of a vertical pressure. (From Theory of Land Locnmotion by M.1]: U.  8. Measurements have shown that the stress distribution in a real soil deviates from that computed using Boussinesq's equations [2. 2. + sin 8. . Bekker. cos 8. and it practically vanishes at a depth equal to twice the width of the strip. applied over a strip of infinite length and of constant width b (Fig.  T a. It is interesting to note that at a depth equal to the width of the strip. cos 8. The factor v reflects the behavior of various types Fig. cos 8. 2.5) can be computed by the following equations [2.4. 1956. It should be pointed out that the use of the theory of elasticity for predicting stresses in a real soil produces approximate results only. such as sand. Po = T [8. sine.sin 8.) .2.1 DISTRIBUTION OF STRESSES IN THE TERRAIN UNDER VEHICULAR LOADS 95 vehicle. the vertical stress under the center of the loading area is approximately 50% of the applied pressure p.= Po . 2.] (2.
2.5]. in fairly moist. Usually.The rut becomes deeper with increasing porosity and moisture content of the soil. respectively [2. relatively dense soil. = vw C o S ~ . 2.2. Figure 2. To determine the stress distribution in the soil due to tire loading.5]. respectively. 2. the actual size of the contact area and the pressure distribution over the contact patch must be known. Introducing the concentration factor. the expressions for the vertical and radial stress in the soil subject to a point load on the surface take the following forms: vw aZ= cos" t3 2 nR2 a.1 and 2.8 and 2.6 Distribution of radial stresses under a point load in soils with different concentration factors. Figure 2.5. Knowing the shape of the contact area and pressure distribution over the contact patch.7 shows the measured contact areas of a tire under different soil conditions [2. the pressure over the contact area varies with the depth of the rut. dry soil. under a point load in soils with different concentration factors [2. In soft soils.8(a). if v is equal to 3. 1690 Ib (I w 400 F Fig. and in wet soil are shown in Fig.) . dry soil. (Reproduced with permission from reference 2. A tire transfers its load to the soil surface usually not at one point. it is possible to predict the distribution of stresses in a soil by w P LOAD : 7. Representative pressure distributions over the contact area in hard.. (b).5]. the contact pressure decreases towards the outside of the contact area. The value of the concentration factor depends on the type of soil and its moisture content.2 2 nR2 = vw 7 cos 2nz 6= vw Y+2 8 cos" 8  2 nz2 Equations 2.9 are identical to Eqs. and is more concentrated towards the center of the loading area. and (c).5kN.6 shows the bulbs of radial stress a.of soil in different conditions. but through a finite area of contact. An approximately uniform pressure over the entire contact area may be assumed for tires without lugs in hard.
In the calculations. It shows that for the same HARD DRY SOlL FAIRLY MOIST RELATIVELY DENSE SOlL WET SOlL Fig. I I HARD DRY SOlL WHEEL AXIS 75 484 127 819 141 910 165 1064 176 ~ n f 1135 crn2 CONTACT AREA Fig.8 or 2.7 Contact area of a tire under different soil conditions.9 shows the distributions of the major principal stress in a soil having normal field density and moisture under tires of different sizes and carrying different normal loads. 2.5.) employing Eq.5. as proposed by Frohlich. Figure 2. (Reproduced with permission from reference 2.2.1 DISTRIBUTION OF STRESSES IN THE TERRAIN UNDER VEHICULAR LOADS 97 TIRE 940 AS.5 I I I 1 8. but with the same inflation pressure [2. and that the pressure distribution over the contact area is similar to that shown in Fig. (Reproduced with permission from reference 2.5 3. 2. LOAD = 6. 1540 1b INFLATION PRESSURE = 83 kPa .8(b).6].5 1 1. 2.5 in.8 kN.9 cm 3. it is assumed that the concentration factor v is 5.5].) . It has been reported by Sohne that the difference between the measured values and calculated ones obtained using Frohlich's equations is approximately 25%. 12 PSI 0 0 DEPTH OF TRACK : 6. which may be regarded as reasonable for this type of problem [2.5 2.9. 2.8 2.8 Pressure distribution on the tire contact area under different soil conditions.
there may be hardly any difference between the contact pressure under the lugs and that under the carcass.dso contact area.I 12 1330 9. the stress distribution in tha soil under tires with lugs . In hard. the line$. (Reproduced with permission from reference 2. In this case.9 Distribution of major principal stresses in a soil under various tire loads. This is because in soft soil.4.) inflation pressure. the stress can penetrate much tlaeper with larger tires carrying higher loads. dry. For tires with lugs.9 LOAD : 660 : INFLATION . the soil can flow sideways so that the stress is more concentrated towards the center of the loading area.TIRE SIZE 724 2. 2. The pressure over the contact area of the lugs is three to four times higher than that of an equivalent tire without lugs.10 shows the effects of soil conditions I ~nthe shape of the pressure bulbs [2. 2. The softer the sol I. 2. because of the sinkage of the tire. In principle. As a result. the distribution of contact pressure may he similar to that shown in Fig.9 1100 83 12 112.8 kN 2200 1b 83 kPa 12 PSI kPa ps~ CONCENTRATION FACTOR V =5 SOIL WITH NORMAL DENSITY AND WATER CONTENT Fig.8.8(c). This is because the larger tire has a larger contact area.4 ZCi 165Cl 88 ' .5. the narrower the pressure bulbs become. and dense soil. the lugs of the tire carry the entire load. It should also be mentioned that soil compaction is more closely related to the major principal stress than the vertical stress. dry soil. In hard. although the pressure applied on the soil surface remains the same. uj PRESSURE 83 12 924 4.5]. such as tractor tires.of equal major principal stress are approximately circular. Figure 2. In a wet soil. the stress at the same depth beneath the center of the contact patch increases as indicated by Eq. the prcssure distribution over the contact area differs from that shown in Fig. 2. but . This indicates that the stress distribution in a soil is a function of not only contact pressure.
(Reproduced with permission from reference 2.1 DISTRIBUTION OF STRESSES IN THE TERRAIN UNDER VEHICULAR LOADS 99 TIRE SIZE 1128 LOAD = 7.5. 1650 Ib INFLATION PRESSURE = 83 kPa. The contact patch of a tire without lugs on a hard and dry soil may be approximated by a circular area of radius of 20 cm (7. and with a uniform contact pressure p. 12 psi DRY SOIL  CONCENTRATION FACTOR SOlL WITH NORMAL DENSITY AND WATER CONTENT WET SOIL v=5 v=6 Fig. When the concentration factor v is 4.2.9 in. For this type of soil. 2. the computation will be more involved.95 kPa (10 psi). the vertical stress a. Example 2.4 kN. at a depth z directly below the center of a circular contact area of radius r.). Calculate the vertical stress a. at a point in the soil due to a point load W applied on the soil surface is expressed by The vertical stress o. in the soil at a depth of 20 cm directly below the center of the contact area. The contact pressure is assumed to be a uniform 68.10 Distribution of major principal stresses under a tire for different soil conditions. is given by .1. However.) v=4 may be estimated following an approach similar to that described above. the concentration factor v is assumed to be 4. Solution..
2. the shear strength may be expressed by . therefore. the shear strength of saturated clay and the like does not depend on the normal load. c is the apparent cohesion of the material. 51. and z = 20 cm.1. r.7 kPa (7. It postulates that the material at a point will fail if the shear stress at that point in the medium satisfies the following condition: where r is the shear strength of the material. On the other hand. The transition from the state of plastic equilibrium to that of plastic flow represents the failure of the mass.95 kPa. whereas the shear strength of dry sand increases with an increase of the normal load. Cohesion of the material is the bond that cements particles together irrespective of the normal pressure exerted by one particle upon the other.5 psi) 2. For dry sand.For p. There are a number of criteria proposed for the failure of soils and other similar materials. = 20 cm. and C$ is the angle of internal shearing resistance of the material. The state that precedes plastic flow is usually referred to as plastic equilibrium. An infinitely small increase of stress beyond point "a7'produces a rapid increase of strain. = = 68.100 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS where u2 = r2/z2. theoretically. One of the widely used and the simplest criterion is that due to MohrCoulomb. Thus. the stress level within a certain boundary of the terrain may reach that denoted by "a" on the idealized stressstrain curve shown in Fig. which constitutes plastic flow. particles of frictional masses can be held together only when a normal pressure exists between them.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM TO THE MECHANICS OF VEHICLETERRAIN INTERACTION When the vehicular load applied to the terrain surface exceeds a certain limit. a is the normal stress on the sheared surface.
The triaxial apparatus and the translational shear box are the most commonly used in civil engineering. To illustrate the application of the MohrCoulomb criterion. This will be discussed further later in this chapter. 2.13. The meaning of the MohrCoulomb criterion may be illustrated with the aid of the Mohr circle of stress. however.10 may be measured by a variety of devices [2.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 7 = (T tan 4 101 (2. If a straight line envelope is drawn to the set of Mohr circles so obtained. 2. 2. 2. as shown in Fig. 2. There are no shear stresses on the vertical sides of the prism. If specimens of a soil are subject to different states of stress. failure will take place at that point. with the cohesion of the soil being determined by the intercept of the envelope with the shear stress axis. rectangular or annular shear plates shown in Fig.. 2. The MohrCoulomb criterion is simply that if a Mohr circle representing the state of stress at a point in the soil touches the envelope.11 MohrCoulomb failure criterion. however.10. having depth z and width equal to unity.2. for each mode of failure a Mohr circle can be constructed (Fig.11). is in a state of incipient plastic failure due to lateral pressure. the normal stress on the base of the prism and that on the vertical sides are therefore the principal stresses. let us consider the problem of plastic equilibrium of a prism in a semiinfinite mass (Fig.12 are usually employed to simulate the shearing action of the vehicle running gear and to obtain the shear strength parameters of the terrain. 2. The prism may be set into a state (I) ANGLE OF INTERNAL  t NORMAL STRESS d COMPRESSIVE APPARENT COHESION C Fig. For vehicle mobility study. The shear strength parameters c and 4 in Eq. The prism of soil with unit weight y.13). it will be of the form of Eq. it may take the form Granular masses that cover most of the trafficable earth surface. 2.71.1 1) and for saturated clay and the like. + . and the angle of internal shearing resistance being represented by its slope. usually have both cohesive and frictional properties.4.
(From Introduction to TerrainVehicle Systems by M. 1969. 2.z MAJOR PRINCIPAL STRESS I MINOR PRINCIPAL STRESS UP Fig. reproduced with permission of the University of Michigan Press.102 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Fig. In this case.12 Rectangular and annular shear plates for measuring terrain shear strength parameters. Bekker. while the normal stress on the bottom remains unchanged.13 Active and passive failure of soil. If the prism is stretched.G. copyright 0 by the University of Michigan. and the other is to compress it in the horizontal direction. 2.) of plastic equilibrium by two different operations: one is to stretch it. the weight of the soil assists in producing ' ACTIVE EXPANSION 7 45%: PASSIVE COMPRESSION + +  1y. the normal stress on the vertical sides decreases until the conditions for plastic equilibrium are satisfied. . Any further expansion merely causes a plastic flow without changing the state of stress.
13.13 and is expressed by r. From the geometry of the Mohr diagram shown in Fig. therefore can be traced to represent the state of stress at that point. 2. 4) and Y.sz ql = (1 + sin 4 ) / ( 1 .sin 4 )  2c cos + / ( I . . The two states of stress prior to plastic flow caused by compression and expansion of the soil are often referred to as the Rankine passive and active state.J L   sin (Ccos 4 +~ r sin . lateral compression of the soil is resisted by its own weight. = 1 (Ccos 4 1 . Circle C.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 103 an expansion.sin 4) (1 + sin + ) / ( I . It is interesting to point out that circle C. the normal ) the major principal stress a on the base of the element at depth z ( a = y .13. the normal stress on the vertical sides increases. Both types of soil failure may be analyzed quantitatively by means of the Mohr circle. which is the normal stress on the vertical sides required to bring the mass at that point into active failure. This normal stress is called the active earth pressure a. is the radius of circle C. as shown in Fig. which represent the MohrCoulomb failure criterion. This circle is tangent to the lines OM and O M . 2. 2. if the prism of soil is compressed. as shown in Fig. is given by where r. This indicates that there . shown in Fig.sin 8 + a. sin 4 ) Therefore. and the resulting failure is called the passive failure. a. OM and O M . respectively [2.sin 4 ) where N4 is equal to tan2 (45" + 4 1 2 ) and is called the flow value.2. 2. In the case of active failure. . ~ is stress. In this case. On the other hand. = Y.13.. at a and a'. and this type of failure is called the active failure.8]. The point of intersection between the circle and the horizontal axis of the Mohr diagram determines the minor principal stress. the expression for the active earth pressure u. while the normal stress at the bottom remains unchanged. touches the boundaries of failure.
since the major principal stress is horizontal. 2. It follows that there are two sets of slip lines sloped to the major principal stress on either side at an angle of 45" .104 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS are two planes sloped to the major principal stress plane on either side at an angle of 45" + 412. since the major principal stress is vertical.sin 4 For passive failure.. the slip line field is composed of parallel lines sloped to the horizontal at 45" . as shown in Fig. then the normal stress at the base of an element at depth z is ..13. which is also the lateral. 2.z + 2r.13. .412.13 and is expressed by 1 r.z) is the minor principal stress. the slip line field comprises parallel lines sloped to the horizontal at 45" + 412.( c cos sin 4 4+ y..z sin 4 ) Therefore. is given by a. is the radius of the circle C. on which the shear stress satisfies the MohrCoulomb criterion. As passive failure is caused by lateral compression. therefore.. 2. as shown in Fig. the normal stress a acting on the bottom of the element (cr = y. If a pressure q is applied to the soil surface. 2.. be drawn to represent the stress conditions of a point in the state of incipient passive failure. compressive stress on the vertical sides required to set the mass at that point into passive failure. = y. shown in Fig. Circle C. In the case of active failure. and the intersection between a surface of sliding and the plane of drawing is usually referred to as a shear line or slip line.412.vz 1 + sin 4  sin cos 4 4 + 2c 1 . usually referred to as the surcharge.. These planes are called surfaces of sliding. the expression for the passive earth pressure a.13. This normal stress is referred to as the passive earth pressure a. where r. 2..  1 y. The point of intersection between the circle and the horizontal axis of the Mohr diagram determines the major principal stress.13. From the geometric relationships shown in Fig. can. as shown in Fig.
From Eq.14 Interaction of a soil cutting blade and a grouser of a wheel with soil.14.14. being pushed against the soil. such as a bulldozer blade. the resultant force acting on the blade per unit width F. 2. the resultant force acting on the blade per unit width F.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 105 Accordingly. Consider a vertical cutting blade. Furthermore. if the blade is vertical and its surface is relatively smooth. the problem may be considered as two dimensional. If the ratio of the width of the blade to the cutting depth is large.. the active and passive pressures are given by The action of the vehicle running gear and other soilengaging devices generally causes passive failure of the terrain. . then the normal pressure exerted by the blade on the soil will be the major principal stress..2.. as shown in Fig. may be calculated by integrating the passive earth pressure a. The soil in front of the blade will be brought into a state of passive failure. 2. 2. may be expressed by 's Fig. If there is a surcharge q acting on the soil surface in front of the blade. and will be equal to the passive earth pressure c. The theory of passive earth pressure has found applications in the prediction of the forces acting on a soil cutting blade and in the estimation of the tractive effort developed by a lug (grouser) of a wheel.If there is no surcharge. over the cutting depth h..
On the other hand.I MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS It should be mentioned that for a blade of finite width. such as that used in paddy fields or that attached to a tire as a tractionaid device on wet soils. When the ratio of the lug width to the penetrating depth is large and the lug surface is relatively smooth. then the behavior of the lug will be similar to that of the soil cutting blade.7 kN/m3 (100 lb/ft3).72 m (5.6 ft). = 15 cm (6 in. If the spacing between the lugs is too small.2. and penetrate 15 cm (6 in. 2. In general. and the vertical load is mainly supported by the tire. It should be pointed out that the shearing forces developed on the vertical surfaces on both sides of the lug would increase the total tractive effort. The surface of the lug is relatively smooth. The lugs are 25 cm (10 in.) is .18. the wheel rim is relatively narrow. the tractive effort per unit width developed by the lug in the vertical position can be estimated using Eq. the space between them may be filled up with soil. and shearing will occur across the lug tips. In this case.6 in.14. the lug may behave in one of two ways. 4 = 6". there will be a surcharge acting on the soil surface behind the lug due to the vertical load applied through the wheel rim.14 with a penetration h. A similar approach may be followed to estimate the tractive effort developed by the lugs of a cage wheel. the benefit of the surcharge would not be obtained.) into the ground at the vertical position.14. the major effect of the lugs would be the increase of the effective diameter of the wheel.). 2. and that they should be taken into account when the penetration depth of the lug is relatively large. A tractionaid device with 20 lugs on a narrow rim is to be attached to a wheeled vehicle to increase its traction. For cage wheels with lugs attached to tires as tractionaid devices. if the spacing between the lugs is large so that the soil fails in a manner shown in Fig. Example 2. shown in Fig.) wide. Estimate the tractive effort that a lug can develop in the vertical position in a clayey soil with c = 20 kPa (2. The spacing between two lugs at the tip is 27 cm (10. 2. as shown in Fig.9 psi).and ys = 15. 2.19 is applicable. 2. Under these conditions. Eq. end effects would increase the total force acting on the blade. If the wheel rim and the lugs are of the same width. Solution. The rupture distance I. Under these circumstances. The outside diameter of the device measured from the lug tips is 1. and the friction and adhesion between the lug and the soil may be neglected.
Since the rim of the device is narrow. = hb tan (45" . in accordance with the Ranlune passive failure. the inclination as well as the penetration of the lug changes. the value of the tractive effort that the lug in the vertical position can develop is F. such as DB in Fig. as assumed in the simple theory. chromiumplated steel with dry sand to almost equal to the angle of internal shearing resistance of the soil for very rough steel surfaces [2. Because of the existence of friction and/or adhesion between the soil and the blade (or lug) surface. Since more than one lug is in contact with the terrain. as being either a logarithmic spiral (for materials with frictional property) or an arc of a circle (for cohesive materials). which is characterized by straight slip lines inclined to the horizontal at an angle of 45" . with sufficient accuracy. It has been found that the angle of soilmetal friction S may vary from I l o for a highly polished.6 in. There are limitations on the application of the simple earth pressure theory described above to the solution of practical problems. Substituting the given data into the above expression. the normal pressure on the contact surface will no longer be the principal stress.2. the total tractive effort that the tractionaid device can develop is the sum of the horizontal forces acting on all of the lugs in contact with the ground.7 cm (6. Zone ABD adjacent to the blade is characterized by curved and radial slip lines.412. the effect of surcharge may be ignored. In the presence of friction andlor adhesion between the . The soil mass in zone ABC is in the Rankine passive state. 2. The shape of the curved slip lines.15(a).412) = 107 16. and is usually called the radial shear zone. For instance. the surface of bulldozer blades or lugs is usually not smooth. 2. The horizontal force acting on a lug in the vertical position is given by where b is the width of the lug. there will be shear stresses on the soilblade interface when the soil adjoining the blade is brought into a state of plastic equilibrium.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM I. can be considered. Consequently.72 kN (387 Ib) As the wheel rotates.) It indicates that the spacing between two adjacent lugs is large enough to allow the soil to fail. and the failure pattern of the soil mass will be as that shown in Fig. = 1. Thus.7].15(a). the tractive effort developed by the lug varies with its angular position.
The resultant force F. Eq... but do not depend on z and ys. which is equal to the soilmetal friction angle. as shown in Fig. 1956. 2. copyright O by the University of Michigan. will be at an angle 6 to the normal of the blade. If the blade or the lug is sloped .108 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Fig. .They may be computed by various methods. 2.15(a).) blade and the soil.111..of pressure acting on a vertical rough blade at a depth r: below A can be approximately expressed by a linear equation where q is the surcharge. K. 2. and K.14 can no longer be used to predict the passive earth pressure. and the inclination of the lug of a wheel varies as the wheel rotates.. bulldozer blades are usually not vertical. In practice. 2.15(a). are constants and are functions of the angle of internal shearing resistance of the soil and of the friction between the soil and the blade. including the logarithmic spiral method and the friction circle method [2. and K. Bekker.G. reproduced with permission of the University of Michigan Press. the passive earth Referring to Fig. the normal component u ~ .82. (From Theory of k n d Locomotion by M.15 Failure patterns of soil in front of (a) a vertical and (b) an inclined cutting blade with rough surface.
. between the soil and the surface of the blade. 2.. a number of other methods for predicting the passive earth pressure based on a more rigorous application of the theory of plastic equilibrium have been developed [2. which acts at an angle 6 to the normal on the contact surface.92. when the load is increased to a certain level. The adhesion force F. When the load is light.J (2. = c . In addition to the methods described above. hb cos p.+ cK. in recent years. h.. The theory of passive earth pressure also finds application in the prediction of the maximum load of a tracked vehicle that can be supported by a particular type of soil or terrain without causing failure. then the resultant force F.).. sin a. with the frictional component F. cos 6  =  2 K"Y cos p. the ... is given by F. cos s + + sin h...111. cos w. The vertical load applied by a rigid track to the soil surface may be idealized as a strip load. the soil beneath it may be in a state of elastic equilibrium. = 90" a. there may be adhesion c.) s (qK...15(b).. COS p. the resultant force F.22) In addition to the soilmetal friction. Fpn cos S F = 1 2 Km sin a. (or to the vertical at an angle p. cos 6 a. + cK. However. = 7 C . h. as mentioned previously... normal to the blade will be Combining the normal component F.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 109 to the horizontal at an angle a. tan 6..2.. as shown in Fig.. is expressed by F.
Both boundaries of the wedgeshaped soil body. of curve C. the friction angle between the blade and the soil will be equal to the angle of internal shearing resistance of the soil.in Fig. As the track sinks. and the adhesion between the blade and the soil will be the same as the cohesion of the soil. which is usually the case. 2.. As mentioned previously. = 180" problem of determining the bearing capacity of the soil for supporting strip loads can then be solved using the passive earth pressure theory discussed previously [2.17(b). 2.4. and the sinkage of the track will increase abruptly. AD and A.110 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS soil beneath the track will pass into a state of plastic flow. as the base angle of the wedgeFrom Eq. This may be illustrated by the loadsinkage curve C . The failure of the soil beneath the track may be identified by the transition of the curve into a steep tangent. AD and AIDtherefore must be sloped to the horizontal at an angle of 4.17(a) is a radial shear zone.16. both boundaries AD and AIDof the wedgeshaped soil body The can be considered as inclined blades with an angle a.D is +. acting along AD and AIDis The weight per unit length of the soil in zone AA. F. The adhesion force F. as shown in Fig. which acts at an angle 4 to the normal on AD and AID. shown in Fig. This requires that the slip line DB at point D have a vertical tangent. = 180 shaped body M I Dis equal to 6 = 4. the wedgeshaped soil body M I Dmoves vertically downward. 2. the existence of friction and adhesion limits the lateral movement of the soil immediately beneath the track.D may therefore be identified with the inclined blades discussed previously. When the base of the track is relatively rough. potential slip lines in the soil mass intersect each other at an angle of 90" . At the point of failure.will be vertical. ABD in Fig.8].17(a). shown in Fig. 2. is expressed by +. The initial part of the curve represents the elastic deformation and compression of the soil. such as at W.17(b). in this case. The soil in zone M I Dis in a state of elastic equilibrium and behaves as if it were rigidly attached to the track. = b tan 4. . The load per unit contact area that causes failure is usually called the bearing capacity of the soil. whereas ABC is the Rankine passive zone. the soil beneath the track can be divided into three different zones. The reaction F.22 and with a. +. and h. 2. as shown in Fig. In other words.16. However. 2. 2.
25.24.  2F.17 (a) Failure patterns under a strip load and (b) forces acting on a footing. + w.G. the expression for W.. Bekker. 2..2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 111 LOAD.26) The equilibrium of the soil mass in zone AA.  2Fc. Y z Fig. copyright O by the University of Michigan. becomes [2. reproduced with permission of the University of Michigan Press. 2.26 into Eq.2. sin 4 = 0 (2. b 2 tan 4 (2.) . (From Theory of Land Locomotion by M. 2. = y. w.8] Fig. is the critical load per unit length of the track.27) where W. Substituting Eqs.D requires that the sum of the vertical forces be equal to zero. 1956. 2. W. and 2.27. which causes failure of the soil beneath it. 2.16 Loadsinkage relationships of a footing under different soil conditions.
2.b2 tan 4 ( + tan 4 tan 4 (L . c0s2 4 = N.. K..8].. the critical load W: per unit length for local shear . This type of failure is usually referred to as local shear failure [2.. 2. the critical load that causes failure of the soil is identified. There is no noticeable sinkage of the track until a state of plastic equilibrium is reached..8].. 2. somewhat arbitrarily. and the angle of internal shearing resistance 4.29 and the values of N.16.. 2.112 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS + 2bc tan 4  y.. and N. the bearing capacity factors N. and Nc given in Fig. failure is preceded by considerable deformation. This kind of failure is called general shear failure [2.18 are only applicable to dense soils of which the deformation preceding failure is very small... and K. which are usually referred to as Terzaghi's bearing capacity factors.. K.. are dependent on 4. in Fig. The variations of the bearing capacity factors with 4 are shown in Fig. Because of the compressibility of the loose soil. and the relationship between the sinkage and the load is shown by curve C2 in Fig. and N.1) cos2 4 = N. N. 2.. K/.. For loose soils. In this case. N.28)  c0s2 4 If it is denoted that 1 2 and Kpc cos2 4 + tan 4 = N. Since K.8]. + 2bc (2. are functions of 4. then The parameters N. by the point where the curve passes into a steep and fairly straight tangent. N.16. as point W:.. It should be pointed out that Eq. can be determined from Kp... and K.18 [2.
7 VALUES OF N... as can be seen from Fig. of a tracked vehicle that may be supported by two tracks without causing failure of the soil can then be estimated by the following equations. are small than those of N.1 8. the critical load W. 1966. In the calculation of the critical load for local shear failure.) failure is different from that for general shear failure. and N... the shear strength parameters c' and 4' of the soil are assumed to be smaller than those for general shear failure [2. VALUES OF Nr ' Fig...18 Variation of the Terzaghi bearing capacity factors with the angle of internal shearing resistance of soil.. 2. from Theoretical Soil Mechanics by K.2. 2. AND N. Terzaghi. and N. Inc. N. (Reproduced with permission of John Wiley and Sons.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 113 20 10  + 5. the critical load WA per unit length of the track for local shear failure is given by The values of N. For general shear failure . Based on the theory of bearing capacity.8]: and tan 4' 2 tan 4 3 =  Accordingly.N.
To increase the maximum load that the vehicle can carry without causing soil failure. the contact length of the vehicle with the wider track will be half of that of the other. Then in a dry sand (cohesion c = O).. According to Eq.. Consider two tracked vehicles having the same ground contact area. = 2b. of the vehicle is given by This indicates that the load carrying capacity of a track in a frictional soil increases with the square of the track width. and assume that there is no surcharge q. This concept may be illustrated by the following example. the critical load merely depends on the contact area of the track. that is. that is. it is. is given by This indicates that under these circumstances. Equations 2.32 may shed light on the selection of track configurations from a bearing capacity point of view.51. such as saturated clay (+ = O).31 and 2. Consider the case of general shear failure.. Consequently. preferable to increase the track width than to increase the track length.. = 0. although both vehicles have the same ground contact area. the ratio of the critical loads that the two vehicles can carry is given by That indicates that the critical load that the vehicle with the wider track can support is higher than that of the other. therefore. but the track width of one vehicle is twice that of the other.33. the critical load W. It should be emphasized that the use of the bearing capacity theory to predict the critical load that a tracked vehicle can carry without excessive .114 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS and for local shear failure where 1 is the length of the track in contact with the terrain. In cohesive soils. b. the critical load W. 2.. I .
the soil flows forward. The characteristics of the trajectories further confirm the existence of two flow zones beneath a rolling wheel. whereas under a driven wheel.192. at best. and that the interaction is influenced by a variety of design and operational parameters. such as the process of wheelsoil interaction described above [2. Figure 2.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 115 sinkage produces.2. These two zones degenerate into a single backward zone at 100% slip (Fig.23(a)].   EXPERIMENTAL RESULTS A6 LOGARITHMIC SPIRAL 8 STRAIGHT LINE AC LOGARITHMIC SPIRAL I INSTANTANEOUS CENTER Fig. 2. 2. the soil beneath it is driven backward. and in the other. 2. In one zone. 2.23(b) and (c)].22). The characteristics of the trajectories indicate that the soil is at first in the Rankine passive state when it is in front of an oncoming wheel.23 shows the trajectories of clay particles beneath a wide rigid wheel under various operating conditions. Attempts have been made to apply the theory of plastic equilibrium to the examination of the complex processes of vehicleterrain interaction. towed wheel. the track is simplified as a rigid footing with uniform pressure distribution. 2. For instance. The problem of wheelsoil interaction is complex in that the wheel rim represents a curved boundary. Figure 2. only approximate results.21) and a single forward zone for a locked wheel (Fig. This is because a number of simplifying assumptions have been made. and that it behaves like a bulldozing blade. There are normally two zones of soil flow beneath a rolling wheel. the interaction between the running gear of an offroad vehicle and the terrain is much more complex than the earth pressure theory or the bearing capacity theory assumes. Under a freerolling. It is interesting to note that a wedgeshaped soil body is formed in front of a locked wheel.4.131. its final position is behind its initial position [Fig. . It can be seen that the flow patterns beneath a rigid wheel in the longitudinal plane depend on a number of factors. the final position of a soil particle is in front of its initial position [Fig. In the analysis.10].12. In practice. it flows backward. 2. As the wheel is advancing. including wheel slip.22 show the flow patterns of sand beneath a wide rigid wheel under various operating conditions [2.19 Flow patterns and bow wave under the action of a driven roller in sand. including wheel slip. 2.
are then assumed or specified as input. a set of equations that combine the differential equations of equilibrium for the soil mass with the MohrCoulomb failure criterion is first established.19 and 2. The boundary conditions. as well as terrain conditions. I INSTANTANEOUS CENTER . It should be pointed out that in practice.21 Flow patterns beneath a driven roller at 100% slip in sand. as well as the contact angles and the separation angle of the front and rear flow zones shown in Figs.116 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS EXPERIMENTAL RESULTS LOGARITHMIC SPIRAL 8 STRAIGHT LINE LOGARITHMIC SPIRAL I INSTANTANEOUS CENTER . 2. Based on the predicted normal and shear stresses on the wheelsoil interface. more generally.14].20 Flow patterns and bow wave under the action of a towed roller in sand. the motion resistance and the tractive effort developed by the wheel can be predicted.24(a) and (b) show the slip line fields in the soil beneath a driven and a towed rigid wheel. As an example. 2. such as the friction angle or. The solution to the set of differential equations with the specified boundary conditions yields the geometry of the slip line field and associated stresses on the wheelsoil interface. 2. the direction of the major principal stress on the wheelsoil interface. to assume or specify realistic boundary conditions Fig. the boundary conditions on the wheelsoil interface are complex and vary with the design and operational parameters of the wheel. respectively [2. 2.A6 AC Fig.20. if not impossible. This makes it very difficult. Fig.
(a) Towed. Because of the complexity of the problem. This indicates that the elaborate solution procedures based on the theory of plastic equilibrium for predicting the performance of vehicle running gear heavily rely on either empirical inputs or assumed boundary conditions [2.Fig.10]. 2. and (c) driven at 63% slip. . Furthermore. This means that the terrain does not deform significantly until the stresses within certain boundaries reach the level at which failure occurs. perfectly plastic material). FINAL POSITION POSjTlON *P .22 Flow patterns and soil wedge formed in front of a locked wheel with 100% skid in sand. (b) driven at 37% slip. a wide range of natural terrains encountered in offroad operations.4]. the approach developed so far for specifying the required boundary conditions is primarily empirical in nature [2. at the outset. the theory of plastic equilibrium is based on the assumption that the terrain behaves like an ideal elastoplastic medium (or a rigid. Although dense sand and the like may exhibit behavior similar to that of an ideal elastoplastic medium. Beyond this point.. while the stress remains essentially constant. and their behavior does not conform to that of an idealized material. have a high degree of compressibility.23 Trajectories of clay particles under the action of a roller. Failure zones in 8 DIRECTION OF TRAVEL  INITIAL SOIL SURFACE INITIZJ ' . such as snow and organic terrain.g Fig. 2. the strain increases rapidly.
(Reproduced with permission from reference 2.162. In the analysis.14. is required. 2. In recent years. but does not deal with the deformation of the terrain under load. in practice there are severe limitations to the applications of the theory of plastic equilibrium to the evaluation and prediction of offroad vehicle performance in the field [2. It should also be mentioned that the theory of plastic equilibrium is mainly concerned with the prediction of the maximum load that causes failure of the soil mass. Because of the problems described above. the triangular element is the most commonly used. such as vehicle sinkage and slip.151. attempts have also been made to apply the finite element method to the analysis of vehicleterrain interaction [2. In many problems in offroad operations.4.24 Slip line fields in soil beneath (a) a driven rigid wheel and (b) a towed rigid wheel predicted using the theory of plastic equilibrium. . Among the various types of element. the terrain is represented by a system of elements with specified constitutive relationships and interconnected at nodes to form a mesh.118 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS (b) Fig. and the sinkage of the vehicle running gear is primarily due to compression and not plastic flow of the terrain material.181. therefore. 2. do not develop in a manner similar to that assumed in the theory of plastic equilibrium.) these natural terrains under vehicular loads. the prediction of terrain deformation under vehicular load.
and velocity fields in the terrain.2 APPLICATIONS OF THE THEORY OF PLASTIC EQUILIBRIUM 119 Figure 2. In an earlier study. To initiate the solution process. are required as input. This approach. the performance of the tire is completely defined. therefore. Under tire load. 2. such as in the study of soil compaction caused by vehicular traffic. Furthermore. together with improved finite element techniques. STRESS TRAVEL FACE FPL 10 FPL 1. and modified by Poritsky in 1950 for the study of the contact problems of gears and locomotive wheels.STATIONARY WHEEL P FIRST FORWARD MOVEMENT 3SECOND FORWARD MOVEMENT Fig.18]. Consequently.18]. as far as the prediction of tire performance is concerned. To overcome these problems. To predict the length of the contact patch between the tire and the terrain.25 Idealization of tiresoil system using the finite element method. 2.20. it appears unnecessary to use the finite element method to determine the stress. when the normal and shear stresses on the tiresoil interface are specified.) . natural terrain usually undergoes large yielding and plastic deformation and does not behave elastically. and the terrain as a piecewise linear elastic material [2. The output of the analysis is given in terms of stress.191.2. (Reproduced with permission from reference 2. to the study of tiresoil interaction [2. the distributions of the normal and shear stresses on the contact patch. strain rate. It should be pointed out that in many cases. when the stress distributions on the vehicle running gearterrain interface are known or can be realistically defined [2. appears to be suitable only for predicting the response of the terrain to vehicular loading. the tire is considered as an elastic system. and velocity fields in the terrain.18.25 shows a mesh of triangular elements developed for an analysis of tireterrain interaction.211. a method originated from the Hertz theory of contact between two elastic bodies. attempts have been made to apply the critical state soil mechanics. strain rate. is used [2. 2.4. it is unrealistic to assume that the terrain is a linear elastic material. as well as the loadunload stressstrain relations for the terrain.
200 sieve). Finegrained soils are silt or clayey soils for which 50% or more by weight of the grains being smaller than 0. 2. or soils containing 7% or more of the grains smaller than 0. Representative empirical methods for predicting offroad vehicle performance are outlined below. Army Waterways Experiment Station (WES) to provide military intelligence and reconnaissance personnel with a simple means to assess vehicle mobility on a "golno go" basis in fine. The terrain is identified (or classified) by simple measurements or field observations. The results of vehicle performance testing and the terrain characteristics identified are then empirically correlated. The commonly used cone penetrometer consists of a 30" circular cone with a 0. The recommended rate of penetration is approximately 1.and coarsegrained soils. Coarsegrained soils are beach and desert soils. 1 ~(3 cmls). With recent advances in electronics and computer technology. the interaction between an offroad vehicle and the terrain is complex and difficult to model accurately. They form the basis for the subsequent developments of the NATO Reference Mobility Model (NRMM). a proving ring.3. usually containing less than 7% of the grains smaller than 0. the penetration force in pounds divided by the area of the cone base in square inches. The general approach to the development of empirical methods for predicting offroad vehicle performance is to conduct tests of a select group of vehicles considered to be representative over a range of terrains of interest.074 mm in diameter.3 EMPIRICAL METHODS FOR PREDICTING OFFROAD VEHICLE PERFORMANCE As can be seen from the discussions presented in previous sections. Although the CI is commonly used as a parameter with no dimensions. To circumvent this difficulty.23 cm2) base area.S. they are nonremoldable. Vehicle performance is then empirically correlated with the cone index or its derivatives.074 mm in diameter (or passing through a No. For these empirical methods. a variety of cone penetrometers using electronic . This can lead to the development of empirical relationships for evaluating terrain trafficability on the one hand.120 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS 2.1 Empirical Methods Based on the Cone Index These methods were originally developed during World War I1 by the U.26). obtained using a cone penetrometer. that is.074 mm in diameter but not in a wet condition. and vehicle mobility on the other. and a dial gauge for indicating the force required to push the cone into the terrains (Fig. The force per unit cone base area is called the cone index (CI). and thus it has the unit of pressure [2. it is.2 i n .5 in. in fact. empirical methods for predicting vehicle mobility have been developed. terrain characteristics are identified by a parameter referred to as the cone index.22]. 2.2 (3.
The RI is the ratio of the cone index of a soil after remolding to that before remolding.23]. 2. in addition to the cone index. An Empirical Method for Predicting Tracked Vehicle Performance In the method developed by WES for predicting tracked vehicle performance.2. The mobility index is expressed by . a remolding index (RI) can be obtained to evaluate the change in terrain strength that may occur under repeated vehicular traffic. an empirical equation is first used to calculate the mobility index (MI) of a given vehicle [2.3 EMPIRICAL METHODS FOR PREDICTING OFFROAD VEHICLE PERFORMANCE 121 Fig. For instance. For coarsegrained soils. In addition to the cone index. such as sand. other indices can be obtained using the cone penetrometer. the cone penetration resistance gradient with respect to penetration depth is also used for characterizing their strength. have been developed [2. Remolding may cause an increase or decrease in the strength of the terrain. The rating cone index (RCI).26 The basic component of a cone pene trometer. (or electrical) sensors for monitoring the force and penetration depth. is used to represent terrain strength under repeated vehicular traffic. which is the product of the remolding index (RI) and the cone index (CI) measured before remolding. as well as computer technology for storing and processing measured data. in finegrained soils or in poorly drained wet sands. depending upon the type and condition of the terrain.4].
a parameter called the vehicle cone index (VCI) is calculated.. lb area of tracks in contact with ground.8 kN) or greater = 1. usually one pass or 50 passes.4 kN) = 1.1 Bogie factor = gross weight.8 kN) = 1.2 less than 50. (3.000 lb (444. 10 10 hplton of vehicle weight 10 hplton of vehicle weight = = 1.4444.8 Weight factor: Track factor = track width in..2 70.000 Ib (222.. and VCI.5 in.00069.35) where Contact pressure factor = gross weight.0 50. (3.0 Grousers more than 1.43 11. VCI.00099.O: manual = 1. The VCI represents the minimum strength of a soil in the critical layer that permits a given vehicle to successfully make a specific number of passes.05 1. the values of VCI for one pass and 50 passes.05 Transmission factor: Automatic = Based on the mobility index (MI). 100 Grouser factor: Grousers less than 1.0 1.8 cm) high = 1.4 kK) = 1.999 lb (311.999 lb (222.8 cm) high = 1. For instance.factor engine transmission X factor factor (2. in. lb.4 100. in.122 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Mobility Index pressure x weight factor factor track grouser factor factor = X bogie clearance + factor . divided by 10 total number of bogies area of one track on tracks in contact shoe.5 in. i n 2 with ground Clearance factor Engine factor: 1 5 = clearance. for finegrained soils may .
and the excess of RCI over VCI (i. The critical layer referred to above varies with the type and weight of the vehicle and soil strength profile. maximum slope negotiable.8 crn W Z RATING CONE INDEXVEHICLE CONE INDEX Fig.6)  (Mi :'. (Reproduced from reference 2.) .27  + 0.e.2MI = 7. Figure 2. (015 cm) layer.3 EMPIRICAL METHODS FOR PREDICTING OFFROAD VEHICLE PERFORMANCE 123 be calculated from the mobility index (MI) using the following empirical equations: VCI. it is usually the 06 in.2. VCI.43MI (M:25. and towed motion resistance coefficient (the ratio of towed motion resistance to vehicle weight).8 cm WHEELED VEHICLES JSERS <3. are then empirically determined as functions of vehicle type. For finegrained soils and poorly drained sands with fines.27 shows the empirical relations between the net maximum drawbar pull coefficient (or maximum slope negotiable) and the excess of !+ FOR 50 PASSES '*r TRACKED VEHICLES WITH GROUSERS '3.23. the values of the performance parameters of a tracked vehicle. (015 cm) layer for one pass. it is usually the 06 in. + 0. For freely draining or clean sands. and the 612 in. finegrained soil. 2. After the VCI and soil strength have been determined.?08) The soil strength is described in terms of either the rating cone index (RCI) for finegrained soils or the cone index (CI) for coarsegrained soils..27 Variation of net maximum drawbar pull coefficients with the excess of RCI over VCI on level.. (1530 cm) layer for 50 passes. such as the net maximum drawbar pull coefficient (the ratio of drawbar pull to vehicle weight).0 = 19. RCIVCI) for finegrained soils or CI for coarsegrained soils. number of passes to be completed.
6 kPa WHEELED VEHICLES WlTH GROUND CONTACT PRESSURE < 27. an empirical equation is used to calculate the mobility index of an offroad wheeled vehicle.28 [2. The empirical relations between the firstpass towed motion resistance coefficient and the excess of RCI over VCI for tracked and wheeled vehicles operating on finegrained soils are shown in Fig.28 Variation of the firstpass towed motion resistance with the excess of RCI over VCI on level.124 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS li ALL TRACKED VEHICLES AND WHEELED VEHICLES WlTH GROUND CONTACT PRESSURE 2 27. finegrained soil.23]. 2. (Reproduced from reference 2. Empirical Methods for Predicting Wheeled Vehicle Performance Sim ilar to the empirical method for predicting tracked vehicle performance described above. in this method developed by WES.231 Mobility Index = tire X + load factor engine transmission X factor factor  clearance factor I . The mobility index for a wheeled vehicle is given by [2. 2.23.6 kPa I a O W % ? 0 0 20 40 60 80 100 RATING CONE INDEX.VEHICLE CONE INDEX Fig.) RCI over VCI for tracked vehicles with different grouser heights over finegrained soils.
in.1 .3.05 Transmission factor: automatic = 1. the mobility index of a wheeled vehicle is used to determine a vehicle cone index (VCI). 100 Grouser factor: with chains = without chains Wheel load factor = Clearance factor 1.3 EMPIRICAL METHODS FOR PREDICTING OFFROAD VEHICLE PERFORMANCE 125 where Contact pressure factor = gross nominal x tire width.033X + 1. 10 Engine factor: 2 1 0 hplton of vehicle weight = 1.960 kN) 13.9 kN) Y Y >20. in. wheeled vehicle.00. in.420 0.OO gross weight. weight. = 4.0 < 10 hplton of vehicle weight = 1. in. For instance.553X 0. kips no. tires Weight factor: weight range.142: . manual = 1. For one pass.50120. of axles 10 + tire width.9 kN) where Y = weight factor. the vehicle cone index for finegrained soils is related to the mobility index by the following empirical equations. of axles x 2 = clearance.48 + 02MI  and if MI > 115 VCI.050 0. kips no.000 (88. X Tire factor = = = = = = 0.2. = 11. for a selfpropelled.278: .1 15 gross weight. lb outside no.05 = 1.500 (8.0. radius of x of tire.000 (6088.9 kN) Y Y 200013.05 Similar to the empirical method for predicting tracked vehicle performance described previously. if MI 5 115 VCI. Ib weight factor equation  <2000 (8.
43MI  MI + 3.24. After the VCI of a vehicle and the strength of the soil to be traversed (such as the rating cone index (RCI) for a finegrained soil) have been determined. where 6 is the deflection and h is the unloaded section height of the tire. d is the tire diameter. For the performance of a single tire. The performance parameters are related to the excess of RCI over VCI on finegrained soils. and is defined as [2. It is expressed by 4 d0. was proposed by Wismer and Luth. The corrected value of VCI is obtained by multiplying Eq. the performance parameters of a wheeled vehicle.26] N = Cbd W = Based on test results obtained primarily in laboratory soil bins.23 + 0. W is the tire load. a correction factor taking into account the effect of tire deflection has been introduced into the calculations of VCI. These two numerics are defined as Nc Cbd = x w (. For tires operating in soils with both cohesive and frictional properties. such as the net maximum drawbar pull coefficient and the towed motion resistance coefficient. a soiltire numeric N . while the sandtire numeric N. and the drawbar efficiency 77 at 20% slip.126 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS and for 50 passes. h is the unloaded tire section height. The claytire numeric N. VCI. . = 28.. is for tires operating in purely frictional soil (airdry sand). was developed at WES [2. an empirical model based on two dimensionless prediction terms. 2. these soiltire numerics have been empirically correlated with two tire performance parameters: the drawbar coefficient p.27 and 2.) 112 x 1 + 1 (b124 and where b is the tire section width. 2. The drawbar coefficient is defined as the ratio of drawbar pull to the .67 Lately.28.39 or Eq. 2. and 6 is the tire deflection. 2.40 by the correction factor. G is the sand penetration resistance gradient. can then be predicted using empirical relations such as those shown in Figs.251.15/(6/h). C is the cone index. or soiltire numerics. is for tires operating in purely cohesive soil (nearsaturated clay).
15 to 0. with tires similar to those for Fig.29 Empirical relations between drawbar coefficient and drawbar efficiency at 20% slip and claytire numeric N ..08 to 0.). and loads from 2.e>0  P20  LL W 0.35.25].2 3 Q u 1 0 2 6 8 Cbd N. the product of drawbar pull and forward speed of the tire) to the power input to the tire. The values of the penetration resistance gradient for the desert Yuma sand ranged from 0.30 shows the relations between the two tire performance parameters at 20% slip and the sandtire numeric N. with loads from 0. = (6/h)'/2 W 4 1 0 1 2 1 4 1 6 1 1+(b/2d) Fig.. with loads from 0.4 MPafm (3. Figure 2.. while the drawbar efficiency is defined as the ratio of the drawbar power (i. (Reproduced with permission from reference 2.5013. 0 2 +1.25. 2.23 to 20 kN (524500 lb).2.. These empirical relations were based on test results obtained on a particular type of sand known as desert Yuma sand.007 to 31 x 15. The empirical relations for predicting tire performance based on soiltire numerics.) . and with ratios of tire deflection to section height from 0.3 EMPIRICAL METHODS FOR PREDICTING OFFROAD VEHICLE PERFORMANCE 127 normal load on the tire. . have undergone a number of revisions since they were first proposed as new experimental data emerged [2.9 to 5.8 psifin.319. The cone index values of these clays in the top 15 cm (6 in. 2.29.9 kN (4956500 lb).4 a m 0.31 shows the empirical relations between p and 7 at 20% slip and the soiltire numeric N..29 shows the empirical relations between p and 7 at 20% slip and the claytire numeric N. with tires ranging from 36 to 84 cm (1433 in.271.19 to 20 kN (424500 lb).2 to 28. and with ratios of tire deflection to section height from 0. particularly the sandtire numeric.. Figure 2.4. These relations were obtained on cohesive clays with tires ranging from 4.0 z w 0.) ranged from 55 to 390 kPa (856 psi). These relations were obtained on cohesivefrictional soils.e.6 0 L 0 CT . 2. Figure 2.8 Itj 0.) in width and from 84 to 165 cm (3365 in. These soils ranged from a tilled soil with an average beforetraffic cone index value of 130 kPa (19 psi) in a layer of 15 cm (6 in.) deep to an untilled soil with an average cone index value of 3450 kPa (500 psi) [2.35.) in diameter.
291.) . for cohesivefrictional soils.3.30 Empirical relations between drawbar coefficient and drawbar efficiency at 20% slip and the sandtire numeric N. 2..25.. (Reproduced with permission from reference 2.2 Empirical Methods Based on the Mean Maximum Pressure Another empirical method for evaluating the mobility of offroad vehicles is based on the concept of mean maximum pressure (MMP) proposed by Rowland.) 2.MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Fig. Empirical equations for predicting the values of MMP of track systems with different design features are given below.31 Empirical relations between drawbar coefficient and drawbar efficiency at 20% slip and the numeric N. Fig.28. which is defined as the mean value of the maxima occurring under all of the roadwheel stations [2. 2.25. (Reproduced with permission from reference 2. 2.
~b. It should be pointed out that in the empirical equations 2.29.29]. terrain characteristics are not explicitly taken into account in the calculation of MMP. and f. the values of MMP calculated are independent of terrain conditions. is the track pitch in m. MMP = 1.3 EMPIRICAL METHODS FOR PREDICTING OFFROAD VEHICLE PERFORMANCE 129 For link and belt tracks on rigid roadwheels. a set of desired values of the mean maximum pressure for different conditions is proposed as shown in Table 2. A. b is the track or pneumatic tire width in m.29]. Thus. t.44 and 2. MMP = OSW kPa 2n. is the rigid area of link (or belt track cleat) as a proportion of b x t.1 shows the values of MMP for various types of tracked vehicle calculated using the empirical formulae described above [2.5 108 59 131 370 393 514 5 10545 370 370 42 Mean Maximum Pressure (kPa) 27 119 82 80 249 198 20 1 22 1236 242 267 33 .26W 2 n . is the radial deflection of the pneumatic tire under load in m.bm where W is the vehicle weight in kN. a and for belt tracks on pneumatic tired roadwheels. pneumatic tire Weight (kN) 26.45.1 Values of the Mean Maximum Pressure of Some Tracked Vehicles   Vehicle Amphibious Carrier M29C Weasel Armoured Personnel Carrier M113 Caterpillar D4 Tractor Caterpillar D7 Tractor Main Battle Tank AMX 30 Main Battle Tank Leopard I Main Battle Tank Leopard I1 Main Battle Tank M60 Main Battle Tank T62 Swedish STank Volvo BV202 AllTerrain Carrier Source: Reference 2. the pressure distribution under a track. Table 2..2 [2.2. is the number of wheel stations in one track. In reality. n. D is the outer diameter of the roadwheel or pneumatic tire in m. To evaluate whether a particular vehicle with a specific value of MMP will have adequate mobility over a specific terrain. Track Configuration Link track Link track Link track Link track Link track Link track Link track Link track Link track Link track Belt track. and hence the TABLE 2.
For instance. together with Table 2.44 and 2. Consequently.4]. that empirical relations cannot normally be extrapolated beyond the conditions upon which they were derived. then an empirical approach may not necessarily be costeffective. as well as the empirical methods described above. and tractive efficiency under a given operating condition. 2. empirical methods have inherent limitations. If a large number of parameters are required to define the problem. actual value of MMP. Furthermore. it is uncertain that they could play a useful role in the evaluation of new vehicle design concepts or in the prediction of vehicle performance in new operating environments.130 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS TABLE 2. an entirely empirical approach is only feasible where the number of variables involved in the problem is relatively small. It has been shown that the values of MMP calculated using Rowland's empirical formulae are significantly different from those measured. methods for parametric .30]. and that the effects of vehicle design parameters on the values of MMP are not necessarily accurately represented by the empirical formulae on many types of terrain [2. such as the motion resistance. Empirical methods are simple to use. is strongly influenced by terrain characteristics [2.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE Owing to the limitations of the theories of elasticity and plastic equilibrium. finegrained Temperate Tropical Muskeg Muskeg floating mat and European bogs Snow Ideal (Multipass Operation or Good Gradability) Satisfactory Maximum Acceptable (Mostly Trafficable at Singlepass Level) 150 90 30 5 200 140 50 10 300 240 60 15 10 2530 40 Source: Reference 2.29. Furthermore.45. and would be useful in estimating the performance of vehicles with design features similar to those that have been tested under similar operating conditions. and cannot be used to quantitatively predict the performance of a vehicle. can only be employed to evaluate the soft ground performance of tracked vehicles on a "golno go" basis. thrust. Eqs.2. It should be pointed out. however. drawbar pull. 2.2 Desired Values of the Mean Maximum Pressure Mean Maximum Pressure (kPa) Terrain Wet.
It comprises two basic sets of tests: one is a set of plate penetration tests.331. therefore.321.31.2.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 131 analysis of offroad vehicle performance based on the measurement of terrain response under loading conditions similar to those exerted by an offroad vehicle and on a detailed analysis of the mechanics of vehicleterrain interaction have been developed [2. 2. and the pressuresinkage relationship of the terrain is measured. the response of the terrain to repetitive loading should also be measured [2.41. Also. while the mechanics of vehicleterrain interaction and methods for the parametric analysis of offroad vehicle performance will be described in subsequent sections. In the penetration test. a plate of suitable size is used to simulate the contact area of the vehicle running gear. which results in sinkage giving rise to motion resistance. To realistically predict the performance of an offroad vehicle. A ground vehicle.2. applies normal load to the terrain surface. is of prime importance in the prediction and evaluation of offroad vehicle performance.32. through its running gear. It is used to Fig.32 A simplified model for predicting tracked vehicle performance . which results in the development of thrust and associated slip. and the other is a set of shear tests. This technique has now become known as the bevameter technique.3. when an offroad vehicle is in a straight line motion. an element of the terrain under the vehicle is subject to the repetitive loading of the consecutive wheels in a multiaxle wheeled vehicle (or the roadwheels in a tracked vehicle). the torque applied to the sprocket of a track or to the tire initiates shearing action between the running gear and the terrain. The measurement and characterization of terrain response are discussed in this section. as shown in Fig.3. The measurement of both the normal pressuresinkage and shear stressshear displacement relationships. 2. 2. 2. 2. Furthermore.4. One of the wellknown techniques for measuring the response of terrain to loading pertinent to vehicle mobility studies is that proposed by Bekker [2. 2. 2.
2. (From Introduction to TerrainVehicle Systems by M. This provides the necessary data for predicting the shear stress distribution on the vehicleterrain interface and the tractive effortslip relationship of the vehicle. a shear ring is usually employed to apply shear loading to the terrain surface under various normal pressures.LOADING CYLINDERS AMPLIFIER AMPLIFIER N l a 4 It I 4 2 4 b.4. 2. The torque applied and the resulting angular displacement of the shear ring are recorded.321. copyright O by the University of Michigan. as shown in Fig. To minimize the uncertainty in applying the measured data to the prediction of the performance of fullsize vehicles. is used to simulate the shearing action of the vehicle running gear.33. These can be obtained using a shear ring covered with a layer of rubber of the same composition as that for the tire tread or the track. 1969. from which the shear stressshear displacement relationship and the shear strength parameters of the terrain can be derived. shown in Fig. as well as vehicle sinkage. To predict the traction developed by a rubber tire or by a rubber track. 2.) . The applied pressure and the resulting sinkage of the plate are recorded as shown in Fig.132 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS predict the normal pressure distribution on the vehicleterrain interface. 2. In the shear test. The basic features of a bevameter designed to carry out the tests described above are illustrated in Fig.G.33. PENETRATION PLATES Fig. Figure 2. Plates of circular shape are commonly used. it is preferable that the size of the plate used in the tests should be comparable to that of the contact area of a track link or a tire [2. A hydraulic ram is usually used to apply normal load to the sinkage plate in the pressuresinkage test. the characteristics of rubberterrain shearing should be measured. The shear stressshear displacement relationship and the shear strength of the terrain are measured. reproduced with permission of the University of Michigan Press.33 Schematic view of a bevameter for measuring terrain properties. 2.33.12. a shear ring or a shear plate.34 shows a bevameter mounted in front of a vehicle for measuring terrain properties in the field. . 2. In shear tests. Bekker.
they should be properly characterized so that they may be integrated into a select framework for predicting the performance of offroad vehicles.bevameter in field operation 2. It has been shown by Bekker that kc and k.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 133 Fig.2. and conditions of the terrain.34 A vehiclemounted. Homogeneous Terrain If a terrain is considered to be homogeneous within the depth of interest. its pressuresinkage relationship may take one of the forms shown in Fig. and preferably not less than 10 cm (4 in. the width of the plate designed for field use should not be less than 5 cm (2 in. kc. are pressuresinkage parameters. 2.). structure.) zfl where p is pressure. that is. and it may be characterized by the following equation proposed by Bekker [2. the width of a rectangular contact area. b is the smaller dimension of the contact patch.). Dependent upon the type. z is sinkage. and n.35. are insensitive to the width of rectangular plates with large aspect ratios (larger than 57) in homogeneous terrain.3]: p = (i+ k. In view of the possible localized nonhomogeneity in the field. 2.and k. however.1 Characterization of PressureSinkage Relationship After the pressuresinkage data have been collected. A number of tests have been performed . different mathematical functions are used to characterize the pressuresinkage relationship. or the radius of a circular contact area.4.
.134 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS PRESSURE 20 0 40 60 kPa m 2 4 6 8 10 psi Fig. 1969. the above equations can be rewritten as follows: logp. The values of kc. copyright 0 by the University of Michigan. and n obtained with a set of rectangular plates of high aspect ratios (larger than 57) and those obtained with a set of circular plates having radii equal to the widths of the rectangular plates. k. The tests produce two curves: p. 2. and n can be derived from the results of a minimum of two tests with two sizes of plates having different widths (or radii). Because of this. reproduced with permission of the University of Michigan Press.. k.G.) to determine the degree of dependence of the values of kc. = log :(  1 + k+ + n log z They represent two parallel straight lines of the same slope on the loglog . circular plates are commonly used since they require less total load than the corresponding rectangular plates to produce the same ground pressure.. = p2 = (5 + k. (From Introduction to TerrainVehicle Systems by M. k. and n on the shape of the test plate.35 Pressuresinkage relationships for various homogeneous soils. Experimental results obtained so far indicate that there is little difference between the values of kc. Bekker.) z n (2 + k.) zn On the logarithmic scale.
and the only unknowns are kc. are measured values. 2. 2. .35. 2. Thus. and (p.. Furthermore. the pressuresinkage lines may not be quite parallel on the loglog scale in some cases. = n (Fig. two values of the exponent of deformation may be produced.361.36. The values of kc.. It is evident that tan a. ( p . . from measured pressuresinkage data. .4. the values of kc and k4 are determined using only the pressures measured at sinkage z = 1.341.4. Under these circumstances. it is liable to error for inexperienced personnel. It should be mentioned that the abovenoted procedure relies on the skill of the investigator to plot the appropriate straight lines to represent the pressuresinkage data on the loglog scale. the exponent of deformation n can be determined from the slope of the straight lines. the value of n is usually taken as the mean of the two values obtained. Fig.3 [2. To provide a more rational approach for deriving the values of n. kc.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 135 scale as shown in Fig. Thus.36 Method for determining sinkage moduli and exponent. Thus. Consequently. 2. the values of the normal pressure for the two sizes of plates are In the above equations.2. kc and k . and k. ) .36).. 2.. can be determined by the following equations: Owing to the nonhomogeneity of the terrain in the field and possible experimental errors. and n for a sample of terrains are given in Table 2. k. 2. At sinkage z = 1.). a computerized procedure based on the weighted least squares method has been developed and successfully used to process field data [2. 2. and k .3.
) (Harrison) Snow (Sweden)  Source: Reference 2.36.TABLE 2. WES) Lean clay (WES) LETE sand (Wong) Upland sandy loam (Wong) Rubicon sandy loam (Wong) North Gower clayey loam (Wong) Grenville loam (Wong) Snow (U.. 2. Buchele) Sandy loam (Hanamoto) Clayey soil (Thailand) Heavy clay (Waterways Experiment Stn..4.S. LLL) Sandy loam (LLL) Sandy loam Michigan (Strong. c Terrain Dry sand (Land Locomotion Lab.   4  .3 Terrain Values  Moisture Content 4 % kc k.3. 2.35. and 2.
and k . k:.37 Pressuresinkage curves obtained using various sizes of rectangular plates in different soils. the parameters k. have variable dimensions.WIDTH RATIO CLAY c=6.37. 1. The test results are shown in Fig.. and c is cohesion.0psi.) . 2. y. ' O r SINKAGE . A series of penetration tests were carried out to verify the validity of the principal features of the above equation. Reece proposed a new equation for the pressuresinkage relationship [2. For a frictionless clay. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. depending on the value of the exponent n. 4 in.@=0~ Fig.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 137 It should be emphasized that Eq.5 were used. Furthermore. the term k i should I 102 mm.46 is essentially an empirical equation. is the weight density of the terrain.37.37]: where n. Influenced by the work of a more fundamental nature in soil mechanics and by experimental evidence. 2.2. 2. Plates with various widths and with an aspect ratio of at least 4.89kPa. and k i are pressuresinkage parameters.
46 in the effect of the width. It should be noted. Since the saturated peat beneath the mat is often weaker than the mat and offers lower resistance. The surface mat is idealized as a membranelike structure. Furthermore.4. For nonhomogeneous terrain or layered terrain. a mathematical model for the failure of the surface mat has been developed [2. the pressuresinkage relationship obtained using a smallersize plate may not be extrapolated to that for a largersize contact area.31. 2.51. the pressure increases with an increase in sinkage. both equations show that increasing width can cause a linear increase in pressure for the same value of zlb.. in frictionless clay.51 seems to allow itself to fit in with the conceivable theoretical approach. The equation thus suggests that pressure increases linearly with the width of the plate for a given value of zlb. cohesionless sand. 2. The soil values kf and ki in Eq.138 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS be negligible. Organic Terrain (Muskeg) For a commonly encountered organic terrain (muskeg) in North America. In dry. 2. This is because for the same ratio of zlb. A representative pressuresinkage curve for the organic terrain obtained in the field is shown in Fig. However.51 and Terzaghi's bearing capacity equation (Eq.4. that Eq.29) have a similar form. This again seems to be well borne out by test results. Based on experimental observations. It can be seen that. and the other is the peat.4. there is a mat of living vegetation on the surface with a layer of saturated peat beneath it. 2.51 only differs from Eq. 2. when the applied pressure (or load) reaches a certain level. 2. In formulating the model. This would add a pressure term independent of width represented by the first term in Eq. as shown in Fig. Wetting the sand would not alter its value of 4. For instance. a plate with a larger dimension b has to penetrate to a deeper layer of the terrain. is given by r2. The underlying peat is assumed to be a medium that offers a resistance proportional to its deformation in the vertical direction.37 indicate that this is the case.51 applies only to homogeneous terrain.51 are dimensionless. 2. Based on this model. Reece pointed out that although Eq. For dry. Eq.38. 2.46 have dimensions dependent upon n.381. it is assumed that the organic terrain consists of two layers: one is the surface mat. the term kf should be negligible. 2. this is sufficient to mark a radical improvement. initially. the surface mat is broken. 2. 2. however. 2. 2. cohesionless sand. but would add a cohesive component. The results shown in Fig. 2. where the breaking of the surface mat is initiated. 2. the pressure decreases with an increase of sinkage after the surface mat is broken. the pressuresinkage relationship for an organic terrain up to the critical sinkage z.381 . which means that it can only sustain a force of tension directed along the tangent to the surface and cannot offer any resistance to bending. the curves for clay collapsing to almost a single line for all plates regardless of their width when plotted against zlb.381. both equations show that the increase of width has no effect on pressure for the same ratio of zlb.. Eq. which may have different mechanical properties from those of a shallower layer.31. whereas kc and kg in Eq. On the other hand. 2.38 [2. 2.
m.4 Values of k.. increasing the penetration rate from 2.4 shows the values of k.5 10 1 4 407 47 1 97 112 1 4 1243 0.3).41 0. Note: Data obtained using a circular plate of 10 cm (4 in.. from measured data [2. It should be noted that the value of k.4 and 2.7 lb/ in.') and from 954 to 1243 kN/m3 (3. and z..5 to 10 cm/ s (14 in. respectively.54.4.6 7. respectively. z is the sinkage. 2. for Organic Terrains (Muskeg) Terrain TY~e Petawawa Muskeg A Petawawa Muskeg B Penetration Rate mm k~ z<r cmls in. m. 2.5 1..38 Pressuresinkage relationship for an organic terrain (muskeg).5 10 1. Table 2. is a stiffness parameter for the peat. and D.4.6 lb/in. The increase TABLE 2. 2.36 0. 21 22 .381.7 3.31./s).. A computerized procedure based on the least squares method has been developed to derive the values of k.7 8.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE I RADIUS: 10 cm 1 .139 2. and m.3 8. is the hydraulic diameter of the contact area (or sinkage plate).. m. increases from 407 to 471 kN/m3 (1. k. for two types of organic terrain found in the Petawawa area in Ontario..51.. the value of k.7 954 99 99 Source: References 2.) in diameter.9 6. is a strength parameter for the surface mat. /  MEASURED FITTED GOODNESS OF FIT: 95.3 cm in.31. 2. where A and L are the area and the perimeter of the contact patch. For Petawawa Muskeg A and B shown in Table 2.5 4./s kN/m3 1b/im3 kN/m3 lb/in. Canada.. cm Fig.36 20 17 2.36 0. where p is the pressure. which is equal to 4AIL. varies with the penetration rate.8% SINKAGE. and z.
which creates an additional hydrodynamic resistance related to the penetration rate.PREDICTED 10 1 ++I 20 4=7. c m (4 m %  W LG mol 0 t+t+ +I MEASURED . 2.1% LPcl 4 A tcr*:GOODNESS OF FIT 9 3 tJ 0 10 20 30 SINKAGE. . snow covers containing ice layers are formed. crusts (ice layers) of significant strength form at the surface of snow covers in open areas.5 cm 30 SINKAGE. Figure 2. cm Fig.39 shows MEASURED PREDICTED @ =5cm I I ++++ 200 I W +/ (r 3 J (I) : 100a (I) f GOODNESS OF FIT 86. With subsequent snow fall on top of the crusts. Consequently.39 Pressuresinkage relationships for a snow measured using different sizes of circular plates. the snow on the ground is often subject to the "meltfreeze" cycle during the winter season.140 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS in the apparent stiffness is probably due to the movement of water within the saturated peat. Snow Covers with Ice Layers In the northern temperate zone.
) from the surface and with a frozen ground at the base [2. the ice layer is broken.5 psi).401.4 in. The pressures p.39(a) and (b) may be predicted using a method based on the theory of plasticity [2. (8. the load on the terrain element is reduced.4.). may be described by an exponential function of the following form [2. Canada. It contains a significant ice layer at a depth of approximately 10 cm (4 in. is equal to 19. and the pressuresinkage curve approaches an asymptote. When the applied pressure exceeds a certain level. p. the pressure again increases rapidly.) shown in Fig.8 kPa (8. and in a first approximation may be taken as the depth of the ice layer or that of the frozen ground. When the leading wheel has passed. an element of the terrain under the running gear is first subject to the load applied by the leading wheel (or roadwheel in a track system). for defining the pressuresinkage relationship in the range between 0 and 10 cm (04 in.4. further penetration of the plate produces increasing deformation of the snow beneath the ice layer. Ontario.4. and p.401: where p is the pressure.39 that the pressure first increases gradually with sinkage as the snow within a certain boundary under the plate is deformed. the pressure increases rapidly with an increase of sinkage. A computerized procedure based on the least squares principle has been developed for deriving the values of z.) is approximately 58.. After the ice layer is fractured. 2.2.8 psi). When the lower boundary of the deformation zone of the snow under the plate reaches the ice layer. For instance. z . 2. Load is reapplied as the succeeding . resulting in a sudden drop in pressure. 2.39(a) is approximately 9 cm (3.5 in. z is the sinkage. 2. As the plate approaches the frozen ground at the base of the snow cover. is an empirical parameter which may be taken as 113 of the pressure where the sinkage z is 95% of the value of z. and p. from measured data [2. The pressure p at 95% of z. Based on the results shown in Fig.6 kPa (2.4.. It can be seen from Fig. the pressuresinkage relationship. and p. 2. Therefore.39. 2. the value of z.391. before as well as after the failure of the ice layer.. 2. 2. 2.2 Characterization of the Response to Repetitive Loading When an offroad vehicle is in a straight line motion. 2.6 cm or 3. 2.39.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 141 the pressuresinkage data obtained in a snow cover in the Petawawa area. defines the asymptote of the pressuresinkage curve.4. that cause the failure of the ice layer shown in Fig.39.391.
as shown in Fig. 2.40 and 2.4. 2. SINKAGE. 2. the pressuresinkage relation appears to follow the continuous loading path as AC shown in the figures. for the three types of terrain described above. additional sinkage results. cm . respectively [2.31. the pressuresinkage relationship during unloading follows line AB.41.142 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS wheel rolls over it. 2. respectively. respectively. To predict the normal pressure distribution under a moving offroad vehicle and hence its sinkage and motion resistance. Based on experimental observations. However. When the reapplied load exceeds that at which the preceding unloading begins (point A in the figures). the response of the terrain to repetitive nonnal load must be measured. when the load applies to the terrain is reduced at A. The loadingunloadingreloading cycle continues until the rear wheel of the vehicle has passed over it. however. and a snowcovered terrain. as shown in Figs.40. the pressuresinkage relationship during both unloading and reloading. A terrain element is thus subject to the repetitive loading of the consecutive wheels of a multiaxle wheeled vehicle or the roadwheels of a tracked vehicle.40 Response to repetitive normal load of a mineral terrain.41. Figures 2. With the further increase of pressure. an organic terrain. more or less. 2. may be approximated by a linear function which represents the average response of the terrain [2. the pressuresinkage relationship follows a different path from that during unloading. 2. This indicates that a significant amount of hysteresis exists during the unloadingreloading cycle. in addition to the pressuresinkage relationship described above. during unloading or Fig. 2. For the organic terrain. when the load is reapplied at B.42 show the response to repetitive normal load of a sandy terrain. the same path as that during unloading for the sandy terrain and the snowcovered terrain.42. It can be seen that the pressure initially increases with sinkage along curve OA. such as AB and BA shown in the figures.4. the pressuresinkage relationship follows.321. The characteristics of the second unloadingreloading cycle which begins at point C are similar to those of the first one.321: where p and z are the pressure and sinkage. and 2. When the load is reapplied at B.
41 Response to repetitive normal load of an organic terrain (muskeg).321 SINKAGE. where unloading begins. . and k. cm Fig.2. It should be noted that the slope of the unloadingreloading line AB (i. and z.e. As a first approximation. cm Fig.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 143 SINKAGE. there is no elastic rebound. their relationship may be expressed by [2. respectively. 2. when unloading begins.. is the pressuresinkage parameter representing the average slope of the unloadingreloading line AB. are the pressure and sinkage.4. then during unloading. 2. and the terrain deformation is entirely plastic. If line AB is vertical. p. reloading. From measured data. 2. it is found that the parameter k.) represents the degree of elastic rebound during unloading. is a function of the sinkage z. k.42 Response to repetitive normal load of a snow.
The results shown in Fig.23 . saturated clay. For loose sand.41]. and the intercept of the straight line with the shear stress axis determines the apparent cohesion c of the terrain. and most of the distributed soils. for different types of terrain are given in Table 2.45 indicate that the shear strength determined by various shearing devices. and A.32. is comparable. shear ring. and A.46.54 0 0 503. A.700 109. If the maximum shear stress of the terrain is plotted against the corresponding normal pressure.20 2.4. as shown in Fig. are parameters characterizing the response of the terrain to repetitive loading and z.26 8. as discussed previously.44 shows the shear stressshear displacement relationships for a sand under various normal pressures obtained using different shear devices [2. and A.46 0. Figure 2.985 47. shearing action is initiated on the vehicle running gearterrain interface." kN/m4 1b/h4 0 123 147 0 0 0 0. a straight line may be obtained. the shear stressshear displacement relationship of the terrain is required. The shear stress initially increases rapidly with an increase in shear displacement.4 and 2.5 Values of k. The slope of the straight line determines the angle of internal shearing resistance 4. To predict vehicle thrust and associated slip.600 87. including translational shear box.43. 2. dry fresh snow. kN/m" lblin. 2. is the sinkage where unloading begins. 2.144 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS where k. it is found that there are three types of shear stressshear displacement relationship commonly observed. This type of shear stressshear dis TABLE 2. and then approaches a constant value with a further increase in shear displacement.07 2. as shown in Fig. A.3 Characterization of the Shear StressShear Displacement Relationship When a torque is applied to the tire or the sprocket of a track. the shear stressshear displacement relationship exhibits characteristics shown in Fig. rectangular shear plate. The values of k. and this can be measured using the bevameter technique described previously. Based on a considerable amount of field data. and rigid track.540 29.78 10. 2. for Various Q p e s of Terrain k0 Terrain Type LETE Sand Petawawa Muskeg A Petawawa Muskeg B Petawawa Snow A Snow (Sweden) Source: References 2. 2.5.45.000 23.
34. The slope of the shear curve at the origin can be obtained by differentiating 7 with respect to j in Eq. 2. particularly those for natural terrains obtained in the field. respectively.. are not smooth.56 to the measured curve may be obtained from the following equation. 2. The optimum value of K that minimizes the overall error in fitting Eq. is the measured maximum shear stress. 2.4. based on the weighted least squares principle [2. respectively. In practice. as shown in Fig.4.2. j is the shear displacement.. placement relationship may be described by an exponential function of the following form proposed by Janosi and Hanamoto [2.. 2.56) where 7 is the shear stress..421: = (C + u tan +)(I  ejJK) (2. shear curves...43 Shearing action of a track and a wheel. c and 4 are the cohesion and the angle of internal shearing resistance of the terrain. 2. The value of K determines the shape of the shear curve. 2.3. 2.56: Thus.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 145 SHEARI~G SURFACE Fig. K may be considered as a measure of the magnitude of the shear displacement required to develop the maximum shear stress. and K is referred to as the shear deformation modulus. The value of K may also be taken as 113 of the shear displacement where the shear stress 7 is 95% of the maximum shear stress r.. the value of K can be determined from the slope of the shear curve at the origin and r.. 2. Its value may be represented by the distance between the vertical axis and the point of intersection of the straight line tangent to the shear curve at the origin and the horizontal line representing the maximum shear stress r..46.421: where r. .. and 7 and j are the measured shear stress and the corresponding shear displacement.
18 x 28 in.2 x 71.1 cm (5.146 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS NORMAL PRESSURE kPa psi 8 Ii:~ 0 2 0 0 I I I 4 6 8 100 26.9 6.27 5.2 4.2 kPa 43.0 20.2 psi 6.).0 15.16 3. 200 mm (a) kPa psi psi 9.).75 in.6 57.2 cm (8.4 3. (Reproduced with permission of the Journal of Agricdtural Engineering Research from reference 2.16 EfF35.) in sand.9 5.06 2. 2.3 I 7 i (r 4I 4. (b) a shear ring with outside diameter of 29.5 0.5 10.795 in.24 3 1 Oo 0 psi I 2 I 50 I 4 I 100 I 6 I 150 24.9 37.9 8.2 47.48 2.4 10 in. and (c) a rigid track of 13.41.0 19.75 in.56 1.6 28.44 Shear stressshear displacement relationships obtained using (a) a shear ring with outside diameter of 22. rnrn SHEAR DISPLACEMENT (C) Fig.9 I I 2 0 kPa 68.) .86 5.7 2.8 cm (1 1.94 10 1 ( " 0 0 0 100 4 8 200 12 in. 300 rnrn ::EF (b) kPa psi 20 5 O kPa 29.
0 W OC ti  a' 4I MEASURED FllTED v. 0 5 10 t I I 0 Fig. RIGID TRACK .75 in.) psi 2  kPa NORMAL PRESSURE: 17.2. 11 64mm 2.45 Shear strength of sand determined by various methods. 178mm. 8. 132mm.5 In.191n.4 1. 2.75 in.46 2 4 DISPLACEMENT 15 I 6 20 cm I 8 in.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE kPa 147 SAND PSI TRANSLATIONAL SHEAR BOX 4 A + I 40 9 I 222 mm. .ll.6psi) v. 5. T o m r J' 11 (I I I 0 20 40 NORMAL PRESSURE kPa 60 Fig. 2. A shear curve of a simple exponential form. (Reproduced with permission of the Journal of Agricultural Engineering Research from reference 2.8 kPa (2. ANNULUS 298mm. 1 0 .
However.31.4.38. their precise relationship is yet to be determined.) exp (1  (2.) where K. the value of K varies in the range from 2. in some cases. the shear stress continually decreases. 2. and reaches a "hump" of maximum shear stress where the "shearoff" of the surface mat is initiated. 2. 2.371.35].4 in.5 cm (1 in. However.59) jlK. as the peat beneath the mat offers a lower shearing resistance than the surface mat.6 cm (114 in. the shear stressshear displacement relationship exhibits characteristics shown in Fig.47.. 2. occurs. B. Under these circumstances. and K.47 A shear curve exhibiting a peak and decreasing residual shear stress.148 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Based on the experimental data collected. the values of T.. It can be seen that the shear stress initially increases rapidly with the increase of shear displacement. With a further increase of shear displacement. Available experimental results also suggest that the value of K may be a function of normal pressure. 2. o 10  20 DISPLACEMENT.5 to 5 cm (12 in. 2. fresh snow.4. the value of K varies from 1 cm (0. 2. crn 30 . the optimum value of K.2 kPa MEASURED FITTED Fig.421: T = T.) for clay at maximum compaction [2. For organic terrain (muskeg) with a mat of living vegetation on the surface and saturated peat beneath it. and is approximately 0. 2. (jlK. may be directly identified from the measured shear curve. 2. may not be distinct or easy to identify. It should be mentioned that in many cases.) for loose sand.38. the value of K.) [2.59 to the measured curve may be obtained by solving the following equation which is derived from the weighted least squares principle [2.421: I NORMAL PRESSURE: 11. 2. is the shear displacement where the maxinium shear stress T.31. For undisturbed. This type of shearing behavior may be characterized by the following equation [2.4. that minimizes the overall error in fitting Eq.) for firm sandy terrain to 2.
the values of K..38 and 0. and the other is due to the slip of the running gear.4.W shown in Fig. It is interesting to note that the tractive (braking) effortlongitudinal slip (skid) relationships for pneumatic tires on road surfaces described in Chapter 1 exhibit characteristics similar to those of the shear stressshear displacement relationship shown in Fig. as a shear ring is being rotated or a rectangular shear plate is being moved horizontally..2 cm (0. in some cases.) for various types of organic terrain tested in the Petawawa area.72..49 . 2. 2. the values of K. Figure 2.9 in. 2.. 2. the value of K.4. respectively. A computerized procedure for determining the optimum values of Kr. mineral terrain. shown in Fig. the shear stress decreases and approaches a more or less constant residual value.48. and K. However.12.3 1.4 to 16.38.. and K. K.16 are analogous to T. respectively.76. for a given measured shear curve has been developed. from measured data [2. the total sinkage of a vehicle consists of two parts: one is due to the static normal load.48..421.. K. 2. However. silt and loam..)} where K. It can be seen that the shear stress initially increases rapidly and reaches a "hump" of maximum shear stress at a particular shear displacement.4 MEASUREMENT AND CHARACTERIZATION OF TERRAIN RESPONSE 149 A computerized procedure has been developed to derive the optimum value of K. 2.31. additional sinkage results. 2. respectively.4.421. and T. For a firm snow. { I + [l/(Kr(l  Ile))  11 exp (1  jlK. may be directly identified from the measured shear curve.5 in.1 cm (1. and r.. which is based on the least squares principle [2. For compact sand. The peak value of tractive effort p. 2.38. This additional sinkage due to shear loading (or shear displacement) is usually referred to as slip sinkage. and Kr are approximately 2. 2. they may exhibit shearing characteristics shown in Fig. is the ratio of the residual shear stress T. Ontario...) and from 0.2. Based on the field data collected for various types of firm. 2. Canada [2.4 cm (5. occurs. It should be mentioned that during shear tests. This type of shearing behavior may be characterized by the following function proposed by Wong [2.. vary from 2. is the shear displacement where the maximum shear stress r. and T.66. the values of K.8 in.. with a further increase in shear displacement.7 to 7. K. This means that in operation. and frozen snow. 2. their values are not distinct or easy to identify.48. varies from 14. C. It should be noted that in many cases.4. Based on the experimental data collected.421: r = r.W and the sliding value p..421. 1. to the maximum shear stress T.) and 0.
the response of the terrain to repetitive shear loading should be measured. the shear stressshear displacement relationship during reshearing. the sinkage of the shear plate increases continually with the increase of shear displacement. such as OAB. To accurately predict the total sinkage of a vehicle in operation. similar to that when the terrain is being sheared in its virgin state. a certain amount of additional shear displacement must take place before the maximum shear stress can be developed.4.37].50 shows the response of a frictional terrain (a dry sand) to repetitive shearing under a constant normal load [2. 2. Figure 2. 2. It is shown that when the shear load is reduced from R to zero and is then reapplied at C. To realistically predict the shear stress distribution on the vehicle running gearterrain interface and the thrust developed by the vehicle.321. the phenomenon of slip sinkage should be taken into account.6psi) MEASURED . Rather.48 A shear curve exhibiting a peak and constant residual shear stress. FllTED WITH WONG'S EQUATION ! 1 0 4 I 8 DISPLACEMENT I 12 J 16in Fig. the shear stress does not instantaneously reach its maximum value for a given normal pressure.l kPa (1.psi kPa NORMAL PRESSURE: 11. It should also be noted that when an allwheeldrive vehicle is in a straight line motion. an element of the terrain under the vehicle is subject to the repetitive shearing of consecutive tires. is similar to that when the terrain is being sheared in its virgin state. such as CDE. It can be seen that under a given normal pressure. . This means that when reshearing takes place after the completion of a loadingunloading cycle. shows the relationships between sinkage and shear displacement under various normal pressures on different types of terrain [2.
65 22.69 kPa (0.2 2.650. 2.67 17.50 A r 22.0 psi). (c) wet sand.4 1. c = 0. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. c = 0.) #J .33 28.16 34. (a) Clay.9 kPa (1. (b) dry sand.d 4 kPa psi 11. c = 6.49 Slipsinkage phenomenon in three types of soil.7 3. 0 100 200 HORIZONTAL MOVEMENT mm (c) Fig.37. #J = 32".7 4.00 W 0 a Y d kPa V) psi d kPa psi A 3.9 3.30 in.5 1.1 psi). = 32. #J = 0.5 5.53 11.
the shearing force decreases in proportion to the instantaneous value of the normal load. The response of the terrain under repetitive shear loading and its shearing behavior under cyclic normal loads described above have a significant effect on the development of the shear stress on the vehicle running gearterrain FREQUENCY: 1O.3 Hz.43] on the shearing force developed beneath a rectangular shear plate under a cyclic normal load lead to a similar conclusion..50 Response to repetitive shear loading of a dry sand.152 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Fig.3 0.43. This is demonstrated by the fact that the slope of the normal load curve is steeper than that of the shearing force curve.4 0. however. the shear force does not reach its maximum value instantaneously (S. It indicates that during the loading portion of each cycle. During the unloading portion of the cycle.51 shows the variation of the shearing force beneath a rectangular shear plate on a dry sand subject to a vertical harmonic load at a frequency of 10. where P is the instantaneous value of the normal load and 4 is the angle of shearing resistance). (Reproduced from reference 2. = P tan 4.1 0 Fig. 2.3Hz SHEAR RATE: 2cmIs 0. 2. s 0.2 TIME.51 Development of shear force under a rectangular shear plate subject to cyclic normal load on a dry sand.. Figure 2. Results of an investigation by Keira [2.5 0.) .
In this method.5 A SIMPLIFIED METHOD FOR ANALYSIS OF TRACKED VEHICLE PERFORMANCE The track and the wheel constitute two basic forms of running gear for offroad vehicles. it can be seen that when the repetitive shearing characteristics of the terrain are taken into consideration. One of the earlier methods for parametric analysis of track system performance was developed by Bekker [2. which will be discussed later in this chapter.52(a). The response of the terrain to repetitive normal and shear loading has been taken into consideration in the development of the computeraided methods for performance and design evaluation of offroad vehicles. The study of the mechanics of the track and of the wheel over unprepared terrain is.52(b) illustrates the development of the shear stress under a track when the response of the terrain to repetitive shear loading is taken into account for an idealized case.12. It will be shown that predictions based on the computeraided methods are in closer agreement with vehicle test data obtained in the field than other methods previously developed. shown in Fig. the predicted total tractive effort of the vehicle at a given slip may be considerably lower than that when they are not taken into account. taking into account the response of terrain to repetitive shear loading. Since the tractive effort developed by a track is the summation of the shear stress over the entire contact area. 2. of fundamental importance.321.31. 2. 2. Figure 2. The objective is to establish reliable methods for predicting their performance in relation to their design parameters and terrain characteristics. it is assumed n u 4lAuL (b) 0 I Fig. as compared with that when it is not taken into account.52 Development of shear stress under a track on a frictional terrain predicted by (a) the conventional method and (b) the improved method. . therefore.2.5 A SIMPLIFIED METHOD FOR ANALYSIS OF TRACKED VEHICLE PERFORMANCE 153 interface. particularly at low slips 12.
32. and b and I are the width and length of the track in contact with the terrain. If the center of gravity of the vehicle is located at the midpoint of the track contact area.'I) n + l z. The work done in compacting the terrain and making a rut of width b . the sinkage z . Making use of the pressuresinkage relationship of the terrain measured by the bevameter technique described in the previous section. from Eq. in the method developed by Bekker. if the center of gravity of the vehicle is located ahead of or behind the midpoint of the track contact area.lb + k. for a track with uniform contact pressure. as shown in Fig. Based on the shear stressshear displacement relationship and the shear strength of the terrain.) ( ". the work done . 2. and depth z.that the track in contact with the terrain is similar to a rigid footing.)'ln If the track is pulled a distance 1 in the horizontal direction.lb + k.1 Motion Resistance of a Track As mentioned above.46). The normal reaction exerted on the track by the terrain can then be equated to that beneath a sinkage plate at the same depth in a pressuresinkage test. ) ' I n = ( ) 'In where p is the normal pressure. is given by Work Substituting for 1.5. the thrustslip relationship and the maximum traction of a track system are determined. respectively.' = bl = bl ( k J b pdz + k. On the other hand. a sinkage distribution of trapezoidal form may be assumed. 2. P z 0 = ( k. the normal pressure distribution may be assumed to be uniform. 2. Using the pressuresinkage equation proposed by Bekker (Eq. track sinkage and motion resistance due to compacting the terrain are predicted. W is the normal load on the track.62 yields Work = bl (n + l)(k. the track is assumed to be similar to a rigid footing. is given by Wlbl k J b + k. length 1. 2.
. which is equal to the magnitude of the motion resistance due to terrain compaction R. it can only provide a preliminary assessment of the tractive performance of tracked vehicles. such as that used in Panther A. 2. . For instance. Figure 2. as expressed by Eq. As a result of using a relatively small number (typically five to seven) of largediameter roadwheels and short track pitch.. 2. based on Bekker's pressuresinkage relationship. it is necessary to have relatively short track pitch to minimize speed fluctuations and associated vibrations due to the polygon (or chordal) effect of sprocket toothtrack link engagement.4 may be derived in a similar way.2. With overlapping roadwheel arrangements. The bulldozing resistance may be calculated using the earth pressure theory described in Section 2. in addition to the compaction resistance R. such as military tracked vehicles.53 shows the normal pressure distributions measured at a depth of 0.. the normal pressure distribution under the track is nonuniform and significant pressure peaks are observed under the roadwheels. As the method described above is based on a number of simplifying assumptions. Bekker suggested that a bulldozing resistance acting in the front of the track should be taken into account. For military tracked vehicles to have adequate ability to ride over larger obstacles. On soft terrain where vehicle sinkage is significant. Expressions for motion resistance based on other pressuresinkage relationships described in Section 2.2.31. can be equated to the vertical work done in making a rut of length 1.) below the terrain surface under tracked vehicles with different design features [2.28]. to achieve high operating speeds. the idealization of a track as a rigid footing is not realistic for tracked vehicles designed for highspeed operations.2 r2. largediameter roadwheels with sufficient suspension travel are generally used.23 m (9 in. For these vehicles.64: and This is the equation for calculating the motion resistance due to terrain compaction of a track with uniform pressure distribution. the normal pressure varies greatly and the peak pressure is much higher than the average (nominal) ground pressure.5 A SIMPLIFIED METHOD FOR ANALYSIS OF TRACKED VEHICLE PERFORMANCE 155 by the towing force. It can be seen from the figure that under the tracks of Comet and Sherman V.
which has nine smalldiameter roadwheels. one for vehicles with rubber belt tracks or link tracks with relatively short track pitch.53 Measured normal pressure distributions at a depth of 23 cm (9 in. 2. and the contact area A: .) the fluctuations of normal pressure under the track are reduced. two computeraided methods have recently been developed. commonly used in military tracked vehicles. Similar situation is observed for Churchill V. such as those used in agriculture and construction industry.5.43.156 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS COMET PANTHER A SHERMAN P Fig.) below the soil surface under various tracked vehicles.. 2. and the other for vehicles with relatively long track pitch.2 Tractive Effort and Slip of a Track The tractive effort of a track is produced by the shearing of the terrain. The maximum tractive effort F. To improve the accuracy of predictions of the tractive performance of tracked vehicles..28. These two computeraided methods will be discussed later in this chapter. (Reproduced with permission from reference 2. that can be developed by a track is determined by the shear strength of the terrain T. 2.. as shown in Fig..
) . The shear displacement at various points beneath a track is shown schematically in Fig. In vehicle performance evaluation. The maximum tractive effort of a vehicle on dry sand can therefore be expected to be approximately 70% of the vehicle weight.54 [2. and 5 since they have been shearing the terrain for varying periods of time. the value of 4 is low. 4.2. (From Theory cf Land Locomotion by M. To predict the relationship between thrust and slip. the larger the contact area. the maximum tractive effort primarily depends on the contact area of the track. the angle of internal shearing resistance could be as high as 35". It should be noted that Eq. For dry sand. To SOlL I SOlL Fig. the higher the thrust the track can develop. the dimensions of the track are crucial in this case. and reaches its maximum value at the rear of the contact area. depends on the vehicle weight. and the weight has little effect. The heavier the vehicle. 2. however. it is. therefore. copyright O by the University of Michigan. the maximum tractive effort.1]. The amount of horizontal shear displacement j increases along the contact length. the higher the tractive effort it can develop. Thus. It can be seen that in frictional soil. and c and 4 are the apparent cohesion and the angle of internal shearing resistance of the terrain. 2. respectively. The dimensions of the track do not affect the maximum tractive effort. 1956. the grouser is just coming into contact with the terrain. 2.66 can only be used for predicting the maximum tractive effort of a tracked vehicle. At point 1.G. the cohesion c is negligible. such as saturated clay. it is necessary to examine the development of shear displacement beneath a track since shear stress is a function of shear displacement. such as dry sand.5 A SIMPLIFIED METHOD FOR ANALYSIS OF TRACKED VEHICLE PERFORMANCE = A(c 157 + p tan 4) where A is the contact area of the track. 3. Bekker. it cannot develop the same shear displacement as the other grousers 2. re produced with permission of the University of Michigan Press. W is the normal load. In cohesive soil. desirable to determine the variation of thrust with track slip over the full operating range.54 Development of shear displacement under a track.
will be in the direction opposite that of vehicle motion.. 1. when the vehicle is skidding.158 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS examine the development of shear displacement beneath a track quantitatively.67 is the same as that of a tire given by Eq. is the same for every point of the track in contact with the terrain.5. and V.55 Distribution of shear stress under a track. will be in the same direction as that of vehicle motion. 2. Rearranging Eq. .55) can be determined by where t is the contact time of the point in question with the terrain and is equal to xlV. When the vehicle is slipping. 2. V. the speed of slip V. V. It should be noted that the definition for the slip of a track given by Eq. is the theoretical speed which can be determined from the angular speed w and the radius r of the pitch circle of the sprocket. the slip of a track i has to be defined first: where V is the actual forward speed of the track. the expression for shear displacement j becomes SHEAR j DISPLACEMENT j I r Fig. On the other hand.68. is the speed of slip of the track with reference to the ground. 2. 2. Since the track cannot stretch. The shear displacement j at a point located at a distance x from the front of the contact area (Fig. V.
. if Eq.e. 2. To keep the .).46.56.56 is used to describe the shear stressshear displacement relationship.55. such as Eqs. 1. 2. the total tractive effort of a track can be calculated as follows: = b 1: (C +p tan 4 ) (1  e P j i K ) dx The above equation indicates that the tractive effort of a track depends on the normal pressure distribution over the contact area. Alternatively. the shear displacement at that point should first be calculated using Eq. = A. the shear stress at that point can then be determined. and 2. = 21.71 and 2. terrain values. such as those shown in Figs. 2. 2.66 are practically identical. and track slip.69. the contact length of the track deserves special attention. Since the development of shear stress is related to shear displacement as discussed previously.2. In this case.e. 2. = W. For instance. 2. 2. then Eqs.61.71) Equation 2. 2. Making use of the shear stressshear displacement relationships obtained from shear tests. the track length of one vehicle is twice that of the other (i.48.55. If the slip is 100%. and W. among other factors. the shear stress distribution beneath a track on a particular type of terrain at a given slip is shown in Fig. or from the semiempirical equations.55.. As an example.) operating over the same terrain.5 A SIMPLIFIED METHOD FOR ANALYSIS OF TRACKED VEHICLE PERFORMANCE 159 This indicates that the shear displacement beneath a flat track increases linearly from the front to the rear of the contact area.59. Consider two tracked vehicles with identical ground contact area and normal load (i. and 2. Among the vehicle design parameters. However. as shown in Fig. p is independent of x and equal to Wlhl. the shear stress distribution along the contact area can be found. The total tractive effort developed by a track at a particular slip is represented by the area beneath the shear stress curve in Fig. the total tractive effort of a track is determined by (2.47. A . 2. vehicle design parameters.7 1 expresses the functional relationship among tractive effort. For a uniform normal pressure distribution. to determine the shear stress developed at a point located at a distance x from the front of the contact area. 2.
2. = OSb. then from Eq. will be half that of the other with contact length I. that in general. of the track with length I . In practice. b.56 Various types of idealized normal pressure distribution under a track.160 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS total contact area the same.56. as mentioned previously.e. 2..4 1. among others [2. therefore. The above analysis is applicable to predicting the tractive effort of a track with uniform normal pressure distribution. It is. the normal pressure distribution is seldom uniform. of interest to assess the effect of normal pressure distribution on the tractive effort developed by a track.. therefore. a shorter track will slip more than a longer one.). is half that of the other (i. the slip of the vehicle with contact length 1. This problem has been investigated by Wills. (Reproduced with permission of the Journal of Agricultural Engineering Research from reference 2. if they are to develop the same tractive effort. If these two tracked vehicles are to develop the same tractive effort. In a frictional soil. the shear stress developed along the contact length can be expressed by and hence the tractive effort is given by Fig. 2. It may be concluded. Consider the case of the multipeak sinusoidal pressure distribution described by where n is the number of periods.7 1. the width b.) .41]. as shown in Fig.
the tractive effort in a frictional soil is determined by Figure 2. However.57 shows the variation of the tractive effort with slip of a track with various types of normal pressure distribution discussed above.x)ll].0 kPa (0. Both vehicles have the same ground contact area of 7.8 ft). 2.rr21i2l2) K(e"IK 1 + il (1 + 161  The tractive effort of a track with other types of normal pressure distribution can be evaluated in a similar way.6.72 kN/m3.56. and for vehicle B.e..37 kN/m2. the width b and contact length 1 of the tracks of the two vehicles are not the same.3.08 lb/in.6(0. p = 2(Wlbl)(xll) as shown in Fig.K = 5 cm (2 in. b = 0. = 196. Example 2.6(0.(e"IK [  1) 4n2K2. which is characterized by n = 1.28 ft) and 1 =3.07 lb/in. b = 1 m (3. the tractive effort of a track in a frictional soil is given by In the case of normal pressure increasing linearly from rear to front [i.. as shown in Fig.6 m (11. In the case of normal pressure increasing linearly from front to rear [i. the tractive effort in a frictional soil is calculated by In the case of sinusoidal distribution with maximum pressure at the center ) (mxl and zero pressure at the front and rear end [i. p = (Wlbl) ( ~ 1 2 sin l)].350 lb) travel over a terrain. particularly at low slips.2.5 A SIMPLIFIED METHOD FOR ANALYSIS OF TRACKED VEHICLE PERFORMANCE = W tan n 4 1 + . Two tracked vehicles with the same gross weight of 135 kN (30.6).e. c = 1.8 m (2.e.. as shown in Fig. kc = 4.7".15 psi).2. For vehicle A. p = 2(Wlbl)(l .56.46 ft2).).56. 2. It can be seen that the normal pressure distribution has a noticeable effect on the development of tractive effort.62 . 2. and 4 = 19.2 m2 (77.36).k.
lb = z. I=1.5 cm.1 kN 2950 Ib .28 kN (738 Ib) . Motion resistance of vehicle A Sinkage: = 0. 50 in.27m. Solution A.76 ft).57 Effect of normal pressure distribution on the tractive effortslip relationship of a track on sand.+' + k. W = 13. 0 500 1000 2000 Ib TRACTIVE EFFORT Fig.227 m ( 9 in. 1 in.5 m (14.162 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS % 60  40 a 1 0 20  @ = 33 K = 2.) ft) and 1 = 4. 2. (Reproduced with permission of the Journal of Agricultural Engineering Research from reference 2.41 . In the calculations. = 2b (k. uniform ground contact pressure may be assumed. Estimate the motion resistance due to terrain compaction and the thrustslip characteristics of these two vehicles.) n + l 3.) Compaction resistance: R.
The thrustslip relationship will.5 1 12. Thrustslip characteristics of vehicle A F F. = 0. Thrustslip characteristics of vehicle B The maximum thrust of vehicle B will be the same as vehicle A since the contact area and the weight of the two vehicles are identical. however. At 10% slip.750 49..62 12.2 I x 3.68 11.099 20 51.54 91 14 43.268 54.) Compaction resistance: R.6.254 80 54.60 kN (585 lb) C.054 54.618 52. = (2blc = 2 = 7.54 kN (12.140 60 54.46 11.6 x 1 X I + W tan 4) + 48.7% lower than that of vehicle A.6 ThrustSlip Relationships for Vehicles A and B Vehicle TYpe A B Slip i% ThrustkN lb Thrust kN lb 5 40. Motion resistance of vehicle B Sinkage: z.34 = + 135 x 0.2.358 55.25 12.196 54. It can be seen that the performance of vehicle B is somewhat better than that of vehicle A in the terrain specified. as the contact lengths of the two vehicles are not the same..794 40 53. the thrust of vehicle B is approximately 3.0 12.77 12. the compaction resistance of vehicle B is approximately 20.6.37 11.57 12.313 .5 A SIMPLIFIED METHOD FOR ANALYSIS OF TRACKED VEHICLE PERFORMANCE 163 B.2% higher than that of vehicle A. The thrust of vehicle B at various slips is given in Table 2. = 2.82 10. For instance.486 Ib) The thrust of vehicle A at various slips is given in Table 2. be different. TABLE 2. D.32 9739 10 47.226 m (9 in.
" and they can be idealized as a flexible belt in the analysis of trackterrain interaction. The rubber belt track and the shortpitch link track will be referred to here as the "flexible track. a ratio of roadwheel spacing to track pitch in the range of 4 to 7. This kind of shortpitch track system typically has a ratio of roadwheel diameter to track pitch in the range of 4 to 6. and the external motion resistance. Because the assumption that the track is equivalent to a rigid footing used in the simplified method described in Section 2. and the selection of vehicle candidates for a given mission and environment. All pertinent terrain characteristics.561.5 is unrealistic for the flexible track system. including mineral terrain. track dimensions and geometry. and tractive efficiency of the vehicle as functions of track slip.4. and vehicle hull (belly) shape (for the analysis of vehicle hullterrain interaction. location of the center of gravity. Europe. roadwheel spacing. a computeraided method (computer simulation model) known as NTVPM has been developed [2. idlers. The computeraided method can be used to predict the normal and shear stress distributions on the trackterrain interface.2. are taken into consideration.442. track longitudinal elasticity. the optimization of design parameters. .32. It is intended to provide the vehicle engineer with a comprehensive and realistic tool for design and performance evaluation of vehicles with rubber belt tracks or shortpitch link tracks.6 A COMPUTERAIDED METHOD FOR EVALUATING THE PERFORMANCE OF VEHICLES WITH FLEXIBLE TRACKS For highspeed tracked vehicles. organic terrain. The basic features of the method have been validated by means of fullscale vehicle tests on various types of terrain. The basic approach to the development of the computeraided method is outlined below. and Asia. The method is particularly suited for the evaluation of competing designs. and supporting rollers. number of roadwheels. suspension characteristics. It has been gaining increasingly wide acceptance by industry and governmental agencies in North America. rubber belt tracks or link tracks with relatively short track pitch are commonly used. arrangements for the sprockets. drawbar pull. when the hull is in contact with the terrain surface). such as the pressuresinkage and shearing characteristics and the response to repetitive loading. and snow. tractive effort (thrust). and a ratio of sprocket pitch diameter to track pitch usually on the order of 4. initial track tension. such as military fighting and logistics vehicles and offroad transport vehicles. 2. 2. including the track system configuration. It takes into account all major design parameters of the vehicle.
the track is treated as a flexible belt. 2. 2. The elongation of the track under tension is taken into consideration in the analysis.58. 2.58 Geometry o f a flexible track system in contact with a deformable terrain. when the vehicle travels over a deformable terrain.6 EVALUATING THE PERFORMANCE OF VEHICLES WITH FLEXIBLE TRACKS 165 2.58(b)]: one in contact with both the roadwheel and the terrain (such as segments A C and F H ) and the other in contact with the terrain only (such as segment CF). the normal load applied through the track system causes the terrain to deform.2. The shape of the track segment in contact with the Fig. When a tracked vehicle rests on a hard surface. in the development of the computeraided method. the track lies flat on the ground.1 Approach to the Prediction of Normal Pressure Distribution under a Track As noted previously. . This causes a reduction in the sag of the top run of the track and a change in track tension. A schematic of the trackroadwheel system on a deformable terrain under steadystate operating conditions is shown in Fig. The track segments between the roadwheels take up load and as a result they deflect and have the form of a curve. This idealization is considered to be reasonable for rubber belt tracks and for link tracks with relatively short track pitch. The actual length of the track in contact with the terrain between the front and rear roadwheels increases in comparison with that when the track rests on a firm ground.6. The deflected track in contact with the terrain may be divided into two sections [Fig. In contrast.
41. 2. is defined by the shape of the roadwheel. the pressure increases and the sinkage of the succeeding roadwheel will be greater than that of the preceeding roadwheel. 2. This causes the vehicle to assume a noseup attitude. Along segment AB. Along segment DE. the characteristics of the independent suspension of the roadwheels are fully taken into account as well. the track tension. From these. Furthermore.41. or 2. the contact of the hull with the terrain will give rise to an additional drag component (the belly drag). Torsion bar. This will reduce the load carried by the tracks and will adversely affect the traction of the vehicle. 2. Overly highly compressible terrain. the pressure increases again. To predict the shear stress distribution under a track. the pressure exerted on the terrain decreases again and another unloadingreloading cycle begins.166 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS roadwheel. which is at the same level as point B.2 Approach to the Prediction of Shear Stress Distribution under a Track The tractive performance of a tracked vehicle is closely related to both its normal pressure and shear stress distributions on the trackterrain interface. and taking into account the pressuresinkage relationship and the response to repetitive loading of the terrain.40. the inclination of the vehicle body. can be realistically simulated. such as deep snow. a set of equations for the equilibrium of forces and moments acting on trackroadwheel system.6. the hull (belly) of the vehicle will be in contact with the terrain surface and will support part of the vehicle weight. As a result. and the track shape in contact with the terrain. Beyond point E. the sinkage is higher than that at B. the normal pressure distribution under a moving tracked vehicle is predicted.42. or 2. or other types of independent suspension. such as AC. 2. whereas the shape of the track segment in contact with the terrain only. In the computeraided method. 2. and for the evaluation of the overall track length is derived. Beyond point G. track sinkage may be greater than the ground clearance of the vehicle. corresponding to the reloading portion of the repetitive loading cycle shown in Fig. hydropneumatic.42. The characteristics of vehicle hullterrain interaction have been taken into consideration. Based on the understanding of the physical nature of trackterrain interaction described above. The solution of this set of equations defines the sinkage of the roadwheels. is determined by the track tension and roadwheel spacing and the pressuresinkage relationship and response to repetitive loading of the terrain. If this occurs. From B to D the pressure decreases corresponding to the unloading portion of the repetitive loading cycle in Fig. the shear stressshear . such as CF.40. including the independently suspended roadwheels. with either linear or nonlinear loaddeflection relationship. They establish the relationship between the shape of the deflected track in contact with the terrain and vehicle design parameters and terrain characteristics. the pressure exerted on the terrain increases from A to B.
rw (1 = r o [l  (1  i ) cos a i) cos a] where r and w are the pitch radius and angular speed of the sprocket.59 Slip velocity of a point on a flexible track in contact with a deformable terrain. the shear strength and the response to repetitive shear loading of the terrain. V. measured from the point where shearing (or reshearing) begins. = r o ) . respectively. is the theoretical speed of the vehicle (i. 2. and V is the actual forward speed of the vehicle. 2. 2. = V. as discussed in Section 2. are used as input. The slip velocity V. z Fig. i is the slip of the track.6 EVALUATING THE PERFORMANCE OF VEHICLES WITH FLEXIBLE TRACKS 167 displacement relationship. of a point P on a flexible track relative to the terrain surface is the tangential component of the absolute velocity V. V. Over a given terrain.2.59. a is the angle between the tangent to the track at point P and the horizontal.e. shown in Fig. the shear stress at a given point on the trackterrain interface is a function of the shear displacement. similar to that described in Section 2.5.4.59. is expressed by V. shown in Fig.. . . The magnitude of the slip velocity V.V cos a = r o . may be determined from the analysis of the slip velocity V. and the normal pressure at that point. The shear displacement developed under a flexible track.
is given by R. In using Eq.80 to predict the shear stress distribution under a flexible track. and drawbar pull (the difference between the tractive effort and motion resistance) as functions of slip. of the track can be determined from the horizontal component of the normal pressure acting on the track in contact with the terrain. 2. is the contact length of the track. 2.168 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS The shear displacement j along the trackterrain interface is given by j = J: rw [I = rw 11 i ) cos a ] dr  (1  (1 . known as the belly drag R. rco  dl where 1 is the distance along the track between point P and the point where shearing (or reshearing) begins.exp [..i) cos a. which is a function of x. 1. 2. R . The external motion resistance R . the hull (belly) will be in contact with the terrain. the tractive performance of the vehicle can be predicted. and x is the corresponding horizontal distance between point P and the initial shearing (or reshearing) point. It can be determined from the horizontal components of the normal and shear stresses acting on the hullterrain interface.(  ) (2. p is the normal pressure.321. For a vehicle with two tracks. = 2b 1. The tractive performance of an offroad vehicle is usually characterized by its motion resistance. If the shear stressshear displacement relationship of the terrain is described by Eq.80) where p(x) is the normal pressure on the track. and is expressed by . p sina dl (2. If the track sinkage is greater than the ground clearance of the vehicle.4.3 Prediction of Motion Resistance and Drawbar Pull as Functions of Track Slip When the normal pressure and shear stress distributions under a tracked vehicle at a given slip have been determined. the response to repetitive shear loading of the terrain discussed in Section 2. 2. and a is the angle between a track element and the horizontal. giving rise to an additional drag.6. tractive effort..4 and the shearing characteristics of the terrain under varying normal pressure should be taken into consideration [2. then the shear stress distribution may be expressed by r(x) = [C + p(x) tan 41 { 1 .81) where b is the contact width of the track.56.
32. r cosa dl where r is shear stress on the trackterrain interface. and tractive effort F vary with slip. This additional thrust may be estimated using a method proposed by Reece [2.61 show a comparison between the predicted and measured normal pressure distribution under the track pad of a .60 and 2. = F  R. (if any).462. and the characteristics of rubberterrain shearing are taken into consideration.  R.4 Experimental Substantiation To validate the basic features of the computeraided method. 1. and is expressed by F. Figures 2. F is given by F = 26 1. is the difference between the total tractive effort (including the thrust developed by vertical shearing surfaces on both sides of the tracks) and the total external motion resistance of the vehicle (including the belly drag. For a vehicle with two tracks. the relationship between drawbar pull F.2. belly drag R. is the contact length of the hull. 2. the area of the rubber pads in contact with the terrain. and p. respectively. The drawbar pull F.84) From Eq. 2.83 is due to the shearing action of the track across the grouser tips.37]. 2.. 2. a. the portion of the vehicle weight supported by the rubber pads.481. It should be noted that the tractive effort F calculated by Eq.6. (2. 2. is the contact width of the hull.. The tractive effort of the vehicle can be calculated from the horizontal component of the shear stress acting on the track in contact with the terrain. the tractive performance of singleunit and twounit articulated tracked vehicles were measured over various types of terrain and compared with the predicted ones [2. are the normal pressure and shear stress on the hullterrain interface. part of the tractive effort is generated by rubberterrain shearing. is the angle between the hull and the horizontal.4. the track motion resistance R. For a track with rubber pads.84. if any).. Since both the normal pressure p and shear stress r are functions of track slip.6 EVALUATING THE PERFORMANCE OF VEHICLES WITH FLEXIBLE TRACKS 169 where b. and track slip i can be determined. additional thrust will be developed due to the shearing action on the vertical surfaces on either side of the track. To predict the tractive effort developed by the rubber pads. and 7. For a track with high grousers.
2. test vehicle on a sandy terrain and an organic terrain. PETAWAWA~MUSKEG A DRAWBAR  PREDICTED .60 Comparison of the measured normal pressure distribution under the track pad of an M113 and the predicted one using a computeraided method on sand.MEASURED Fig.170 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS 8 o DRAWBAR LETE SAND SLIP= 6. respectively. Figures 2. . Thus. the basic features of the computeraided method have been substantiated.62 and 2.1 % CI) Fig.61 Comparison of the measured normal pressure distribution under the track pad of an MI13 and the predicted one using a computeraided method on organic terrain (muskeg). respectively. It can be seen that there is a close agreement between the predicted and measured normal pressure distribution and drawbar performance.63 show a comparison between the predicted and measured drawbar performance of the test vehicle over the sandy terrain and the organic terrain. 2.
2.6 EVALUATING THE PERFORMANCE OF VEHICLES WITH FLEXIBLE TRACKS 50 171 LETE SAND +MEASURED NTVPM . predicted using the simulation model NTVPM [2. Figure 2. PETAWAWA MUSKEG B "I 6+ + MEASURED NTVPM 86 Fig.45]. it is particularly suited to the detailed parametric analysis of tracked vehicle design and to the evaluation of the effects on performance of changing operating environment.6. It can be seen that both the number of roadwheels and the initial track tension have significant effects on vehicle mobility .5 Applications to Parametric Analysis and Design Optimization Since the method takes into account all major design parameters of the vehicle as well as terrain characteristics.62 Comparison of the measured drawbar performance of an MI13 and the predicted one using a computeraided method on sand.2. 2.63 Comparison of the measured drawbar performance of an MI13 and the predicted one using a computeraided method on organic terrain (muskeg).64 shows the effects of the number of roadwheels and the initial track tension on the drawbar pulltoweight ratio (drawbar pulI coefficient) of a reference vehicle with design parameters similar to those of a widely used armored personnel carrier over a deep snow terrain.86 Fig. 2.
2.541.64 Effects of the number of roadwheels and initial track tension to weight ratio on the drawbar pull to weight ratio of a tracked vehicle on a snow predicted using the computeraided method NTVPM. Figure 2. including Austria. Over normal terrain.45. The central initial track tensionregulating system is analogous to the central tireinflation system for offroad wheeled vehicles. This leads to lower sinkage and motion resistance and higher tractive performance.65 shows the effects of suspension characteristics on the mobility over deep snow of the reference vehicle noted above. The standard configuration is similar to that of a widely used armored personnel carrier with the initial torsion arm angle . However. 0 INITIAL TRACK TENSION / WEIGHT Fig.) over soft ground..45.46].47. the driver can readily increase the initial track tension to an appropriate level to improve vehicle mobility.7 [2.172 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS .54]. its mobility over marginal terrain can usually be improved by increasing the initial track tension. Over soft terrain this caused the track segments between roadwheels to take up more load. The parameters of the three suspension configurations examined are given in Table 2. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. and Sweden [2. 2. when traversing marginal terrain is anticipated. the driver can set the track tension at the regular level to avoid excessive wear and tear of the tracksuspension system due to high initial track tension. Spain. This is because an increase in the initial track tension results in a tighter track. 2. For a given (or existing) vehicle. A central initial track tensionregulating system has been developed and installed on a new generation of highmobility armored vehicles currently in production in a number of countries.K'. This research finding obtained using NTVPM has led to the development of the central initial track tensionregulating system controlled by the driver [2.46. The basic difference between them is in the settings of the initial torsion arm angle under noload conditions. 2. 5 ROADWHEELS 6 ROADWHEELS 8 ROADWHEELS.
4" at the front (first) roadwheel TABLE 2. this causes the load supported by the vehicle belly and the associated belly drag to increase and vehicle performance to decrease. Degrees Roadwheel Station Suspension Configuration Standard S2 S3 .4" at the rear (fifth) roadwheel station. the initial torsion arm angle is set in an increasing order from 34. 2.6" at the front (first) roadwheel station to 34.46. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. For suspension configuration S2. 2.6 EVALUATING THE PERFORMANCE OF VEHICLES WITH FLEXIBLE TRACKS 173 APC g C ~ Or HOPE VALLEY SNOW .7. This setting results in a noseup attitude for the vehicle body.) set at 43" for all five roadwheel stations. as shown in Table 2.STANDARD / c I cc n 0 10 30 20 40 50 60 SLIP. while maintaining an angle of 43" for the torsion arm at the middle (third) roadwheel station. For suspension S3.65 Effects of suspension settings on the drawbar pull coefficient of a tracked vehicle on a deep snow. % Fig. the initial torsion arm angle is set in a decreasing order from 51. In deep snow.2. as shown in Fig.7 Torsion Arm Settings for the Standard Suspension and Suspensions S2 and S3 Initial Torsion Arm Angle under No Load (Below the Horizontal).65.
is assumed to be mounted on a precompressed spring. location of roadwheels.57. rigid link tracks with relatively long track pitch are commonly used. and drawbar hitch location. locations of sprocket and idlers.1 Basic Approach The model RTVPM treats the track as a system of rigid links connected with frictionless pins.7. as shown in Fig.6" at the rear (fifth) roadwheel station. therefore. As noted previously. 2. roadwheel dimensions and spacing.7 A COMPUTERAIDED METHOD FOR EVALUATING THE PERFORMANCE OF VEHICLES WITH LONGPITCH LINK TRACKS For lowspeed tracked vehicles.5. The center of the front idler. This type of track system has a ratio of roadwheel diameter to track pitch as low as 1. As the track links are considered to be rigid.65.591. this causes a reduction in the belly load and belly drag and hence an improvement in performance. 2. and elsewhere. The computeraided method NTVPM has been successfully employed in assisting a number of vehicle manufacturers in the development of new products and governmental agencies in the selection of vehicle candidates in North America. including vehicle weight. supporting rollers. location of the center of gravity. This model takes into account all major design parameters of the vehicle. initial track tension. Asia. supporting roller arrangements. while maintaining an angle of 43" for the middle (third) roadwheel station. the roadwheels. the track is assumed to be inextensible. in comparison with the standard configuration and configuration S2. number of roadwheels. and sprocket are assumed to be rigidly attached to the vehicle frame. For most lowspeed tracked vehicles. The use of longpitch track is intended to achieve more uniform pressure distribution under the track. Terrain parameters used in this model are the same as those used in NTVPM. however. 2. 2. such as those used in agriculture and construction industry. track dimensions and geometry. Europe. as shown in Fig. Consequently.174 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS station to 51. In deep snow. the computeraided method NTVPM described in the previous section is not suitable for this type of vehicle. . 2. This setting results in a nosedown attitude for the vehicle body. 2.2 and a ratio of roadwheel spacing to track pitch typically 1.58. the roadwheels are not sprung and hence are considered to be rigidly connected to the track frame. A computeraided method (computer simulation model) known as RTVPM has.66. been developed for performance and design evaluation of tracked vehicles with longpitch link tracks [2.
55 kPa (0.2 in.5 in. and tractive efficiency of the vehicle as functions of track slip. a set of equations can be formulated. the lower run of the track in contact with the roadwheels and the terrain.966 lb).) In the analysis.) on each of the two tracks. The solutions to this set of equations determined the sinkage and inclination of the track system.2 Experimental Substantiation The basic features of RTVPM have been validated with available field test data. The measured data shown in the figures are provided by Caterpillar. and the track motion resistance.66 A schematic of a track system with long pitch rigid links. The vehicle has a total weight of 329 kN (73. Inc.) and the track width is 50.S.A.08 psi).8 cm (20 in. 2. and the section in contact with the sprocket. and the average spacing between roadwheels is 34 cm (13.4 in.69 show a comparison of the measured and predicted drawbar pull coefficient (drawbar pulltoweight ratio) and tractive efficiency (the ratio of the product of drawbar pull and vehicle speed to the power input to the drive sprockets). Figures 2. Figure 2. Illinois. By considering the force equilibrium of various sections of the track system. The track pitch is 21.6 cm (8. U. the normal and shear stress distributions on the trackterrain interface.1" and a cohesion of 0..57. for a heavy tracked vehicle used in construction industry. 2.7. The terrain is a dry. . the section in contact with the idler. and the boundary conditions for various track sections. with an angle of shearing resistance of 40. the interaction between the lower run of the track and the terrain. the track system is divided into four sections: the upper run of the track supported by rollers.67 shows the predicted normal pressure and shear stress distributions under a tracked vehicle with eight roadwheels on a clayey soil. disked sandy loam. It has eight roadwheels of diameter 26 cm (10.7 EVALUATING THE PERFORMANCE OF VEHICLES WITH LONGPITCH LINK TRACKS 175 Fig.). drawbar pull.68 and 2. respectively. Peoria. thrust.). (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2.2.
67 The normal and shear stress distributions under a tracked vehicle predicted using the computeraided method RTVPM. 2.176 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS FORWARD psi kPa psi NORMAL PRESSURE kPa SHEAR STRESS Fig.0 4 K .57. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. 2. 1.$ 0. . disked sandy loam using the computeraided method RTVPM.68 Comparison of the measured and predicted drawbar pull coefficient of a tracked vehicle on a dry.) . Data Set 2 12 16 20 24 Slip (%) Fig.8 Predicted 0 0 0 0 0 0 4 8 Data Set 1 Measured.
149 m (5 718 in.70(a) and (b) show a comparison of the predicted and measured normal and shear stress distributions under a rigid link track system with four roadwheels on a loosely cultivated sand [2.+ Predicted Measured. track pitch is 0. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2.). This suggests that the model is capable of providing realistic predictions of the performance of vehicles with longpitch link tracks in the field.57.).69 Comparison of the measured and predicted tractive efficiency of a tracked vehicle on a dry. using the computeraided method RTVPM. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. track width is 0.  FORWARD NORMAL PRESSURE .59.254 m (10 in.2.) Fig. 2. Data Set 2 20 *+++ I n n n n 0 4 8 12 16 Slip (%) 20 24 Fig. Data Set 1 Measured.59]. 40 > . disked sandy loam using the computeraided method RTVPM. The track contact length is 1.7 EVALUATING THE PERFORMANCE OF VEHICLES WITH LONGPITCH LINK TRACKS 177 100 E e.12 kN (2450 lb). 2.).) Figures 2. and normal load is 13.70 Comparison of (a) the predicted and (b) the measured normal and shear stress distributions under a track system on a loosely cultivated sand.27 m (50 in. It can be seen that the drawbar performance and stress distributions on the trackterrain interface of the vehicles predicted using RTVPM are close to the measured data.
71 and with tracks of various pitches were predicted using the computeraided method RTVPM.72 and 2. It was found that for given overall dimensions of a track system.7.59.71 Three track systems with different number of roadwheels used in the study of the effects of the ratio of roadwheel spacing to track pitch on tractive performance.3 Applications to Parametric Analysis and Design Optimization The practical applications of the computeraided method RTVPM to design evaluation may be demonstrated through an example of the study of the optimum roadwheel spacing to track pitch for vehicles with longpitch link tracks.) . the tractive performances of the track systems with number of roadwheels Forward 0 Fig. and eight roadwheels shown in Fig.59]. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. the tractive performances of three track system configurations with five. 2. seven. Figures 2. To evaluate the effects of the ratio of roadwheel spacing to track pitch. the ratio of roadwheel spacing to track pitch is one of the design parameters that have significant effects on its tractive performance. respectively [2.73 show the variations of the drawbar pull coefficient and tractive efficiency at 20% slip with the ratio of roadwheel spacing to track pitch on a clayey soil. It is shown that as long as the ratio of roadwheel spacing to track pitch is similar. 2.178 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS 2.
respectively.74 and 2. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. the drawbar pull coefficient and tractive efficiency .5 I I I I 1.59.8 2 2.2.7 EVALUATING THE PERFORMANCE OF VEHICLES WITH LONGPITCHLINK TRACKS 179 CLAYEY SOIL INITIAL TRACK TENSION 1 WEIGHT = 6.04% 15. It can be seen that for similar ratios of roadwheel spacing to track pitch. the drawbar pull coefficient and tractive efficiency vary only slightly.72 Effects of the ratio of roadwheel spacing to track pitch on the drawbar pull coefficient of track systems with different number of roadwheels on a clayey soil. at various ratios of roadwheel spacing to track pitch on the clayey soil.8 I I I I 1 1. This indicates that if the ratio of roadwheel spacing to track pitch is lowered. It should also be pointed out that as the ratio decreases. the normal pressure under the track system is more uniformly distributed. This conclusion is further supported by the observation that the normal pressure distributions under the track systems with different number of roadwheels are similar for similar ratios of roadwheel spacing to track pitch (SIP).54 0. the normal pressure distributions under the track system with five roadwheels have similar characteristics to those under the track system with eight roadwheels.2 1.4 ROADWHEEL SPACING / TRACK PITCH Fig.75 show the normal pressure distributions under the track systems with five and eight roadwheels.5 I 12. 2. Figures 2. which leads to improvements in the tractive performance of the vehicle.4 1. For instance.2 2.) ranging from five to eight will be similar. It should also be noted that within a certain range of the ratio of roadwheel spacing to track pitch. the fluctuations of normal pressure under the track decrease.
73. This implies that the designer would have a certain flexibility in selecting the appropriate track pitch or roadwheel spacing that on the one hand can ensure good tractive performance and on the other hand can minimize the fluctuations of vehicle speed due to the polygon (or chordal) effect of the sprocket toothtrack link engagement.) at 20% slip change marginally if the ratio of roadwheel spacing to track pitch varies from 1.59. 2. 2.04% 70 * 5roadwheel ROADWHEEL SPACING 1 TRACK PITCH Fig.3 to 1 on the clayey soil.72 and 2. It can be shown that the speed variation due to the polygon effect is given by where 6.CLAYEY SOIL INITIAL TRACK TENSION 1 WEIGHT = 6. and D is the pitch diameter of the sprocket. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2. respectively. P is the track pitch. is vehicle speed variation. as shown in Figs. .73 Effects of the ratio of roadwheel spacing to track pitch on the tractive efficiency of track systems with different number of roadwheels on a clayey soil.
the ratio of the sprocket pitch diameter to track pitch varies approximately from 3. Consequently.59. Therefore.75% and the sprocket pitch diameter is 0.).216 m (1 1 to 8.928 m (36. vehicle forward speed fluctuations will be in the range of 3.3 to 1. If the speed variation is limited to 2.5 in.7 to 4.2. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2.5 in.74 Normal pressure distributions under a track system with five roadwheels at various ratios of roadwheel spacing to track pitch in a soft soil. . then the track pitch should be 0. the roadwheel spacing should be in the range of 0.).) For most agricultural and industrial tracked vehicles currently in use.7 EVALUATING THE PERFORMANCE OF VEHICLES WITH LONGPITCH LINK TRACKS 181  FORWARD 8 BAR psi kPa NORMAL PRESSURE Fig.3. The abovenoted example illustrates one of the practical applications of RTVPM to the selection of optimum design parameters of vehicles with longpitch link track.281 to 0. 2. to ensure good drawbar performance. the ratio of roadwheel spacing to track pitch should be in the range of 1.72 to 2.75%. The computeraided method RTVPM has been successfully employed in assisting vehicle manufacturers in the development of new products. On the clayey soil.216 m (8.).5 in.
Also.182 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS FORWARD BAR Fig. as a pneumatic tire may behave like a rigid rim in soft terrain.31. In developing the method.12.59.) 2.1 Motion Resistance of a Rigid Wheel While pneumatic tires have long replaced rigid wheels in most offroad wheeled vehicles. and is equal to the normal pressure beneath a horizontal plate . One of the earlier methods for predicting the motion resistance of a rigid wheel is that proposed by Bekker [2. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 2.75 Normal pressure distributions under a track system with eight roadwheels at various ratios of roadwheel spacing to track pitch in a soft soil. the mechanics of a rigid wheel over unprepared terrain is still of interest. rigid wheels are still used in special conditions. such as in the paddy field. 2.8. it is assumed that the terrain reaction at all points on the contact patch is purely radial.8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE 2.
respectively. = b o r sine do where R. Using the pressuresinkage relationship defined by Eq.) . reproduced with permission of the University of Michigan Press. calculated by Eq. 2. 1956.86 becomes The value of R. The equilibrium equations of a towed rigid wheel can be written as (Fig. a is the normal pressure..46. copyright O by the University of Michigan. W is the vertical load.76 Simplified wheelsoil interaction model. 2.2. and b and r are the width and radius of the wheel. Fig. 2. 2. is the motion resistance. Bekker. Since it is assumed that the normal pressure a acting on the wheel rim is equal to the normal pressure p beneath a plate at the same depth z. is referred to as the compaction resistance. The motion resistance R. or a r sin0 d0 = pdz and a r cose dB = pdx. (From Theory of Land Locomotion by M.76). Eq. 2..88 is cquivalent to the vertical work done per unit length in pressing a plate of width b into the ground to a depth of z. The assumption for the stress distribution made by Bekker implies that the motion resistance of a rigid wheel is due to the vertical work done in making a rut of depth z.G..8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE 183 at the same depth in a pressuresinkage test. R.
2.) 1 0 Let z.92 into Eq.).0 2 dz 2tdt and (2 + k.95. it becomes 3W zh2n+')'2= b(k.) fi IoG(zo  t2)ndt Expanding (z. 2. .3 ) ~ .88 to calculate the compaction resistance.) w n ) ..) zndx From the geometry shown in Fig. 2. 2.It2 + n(n .~ t ~ n(n / 2 . 2. .76.~ t 8 / 2+ 4 .V / 6 + n(n .nZ.2)(n .2 ) z . and 2xdx = Ddz  (2. For small sinkages.87. then dz W = b =  ZW'E i.89.  z = t2. the sinkage z . From Eq. where D is the wheel diameter. w = b = o. .92) Substituting Eq. ..lb + k.l ) ( n .t2)" and only talung the first two terms of the series (z. . .184 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Using Eq. 2. one obtains Rearranging Eq. .lb + k.l ) ( n .1) ~ . (%+ b k. one obtains W = b (k. expressed in terms of wheel parameters and terrain properties has to be determined first.
curve 2. According Fig. Eq. the error in predicting the compaction resistance R.97 that to reduce the compaction resistance. 3 ] . and curve 3. 5 D / 6 ) .88.611.96 in dry.60. 2. 2.77 Comparison of the measured normal pressure distribution on a rigid wheel with the predicted one using the simplified soilwheel interaction model. 2. increases. measured at 3. becomes It can be seen from Eq. This will greatly improve the accuracy in the prediction of the compaction resistance R. . As a result.77) [2. Beyond that. 2. as D enters the equation in higher power than b. and that predictions of sinkage based on Eq. sandy soil are not accurate if there is significant slip sinkage [2. the first five terms in the series should be taken to represent the function (2.3].3.3.97 is derived from Eq. predicted. . z. approaches infinityan obvious anomaly.. 2.1%.94 in the integration.2.e. R. For values of n greater than 1. It should be noted that Eq.t)" in Eq. which is obtained using only the first two terms of a series to represent (z.96 into Eq. 2. the compaction resistance R. and that the larger the wheel diameter and the smaller the sinkage.95. Bekker pointed out that acceptable predictions may be obtained using Eq.1 % slip. measured at 35.t2)" in Eq. 2..97 works well only for values of n up to about 1.8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE 185 Substituting Eq. and when the value of n approaches 3. 2.) in diameter becomes less accurate. 2. 2. Curve 1.13. it seems more effective to increase the wheel diameter D than the wheel width b. 2.He also mentioned that predictions based on Eq.94. Experimental evidence shows that the actual normal pressure distribution beneath a rigid wheel is different from that assumed in the theory described above (Fig.97 for moderate sinkages (i. 2.97 for wheels smaller than 50 cm (20 in. the more accurate the predictions are [ 2 . 2. 2. 2. .
to determine whether the pneumatic tire behaves like a rigid rim or an elastic wheel under a given operating condition. 2. as shown in Figs. 2. the tire will remain round like a rigid rim. as shown in Fig.77. first of all.611. This is referred to as the elastic mode of operation. using Bekker's pressuresinkage relationship.< P. 2. a portion of the circumference of the tire will be flattened. Bekker suggested that a bulldozing resistance acting in front of the wheel should be taken into consideration. It has been found that the maximum normal pressure occurs at the junction of the two flow zones.78. it is necessary. if the terrain is firm and the tire inflation pressure is low.78 Behavior of a pneumatic tire in different operating modes. is greater than the maximum pressure that the terrain can support at the lowest point of the tire circumference. When predicting the motion resistance of a tire. 2. and that its location varies with slip.2. as shown in Fig.. This is usually referred to as the rigid mode of operation. This indicates that the actual interaction between the wheel and the terrain is much more complicated than that assumed in the simplified method described above. On the other hand. and the pressure produced by the stiffness of the carcass p. In soft terrain where wheel sinkage is significant.13.97. Experimental results. show that the maximum normal pressure occurs in front of the bottomdeadcenter.19 and 2.186 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS to the theory. however.2 Motion Resistance of a Pneumatic Tire The motion resistance of a pneumatic tire depends on its mode of operation. If the ground is sufficiently soft and the sum of the inflation pressure p. in addition to the compaction resistance R. is SINKAGE p. The bulldozing resistance may be calculated using the earth pressure theory described in Section 2. the normal pressure at the lowest point of contact (bottomdeadcenter) p. 2. The variation of normal pressure distribution with slip implies that the motion resistance should be expected as a function of slip. 2.8. 2. Fig.+P.20 [2. the maximum normal pressure should occur at the lowest point of contact (bottomdeadcenter) where the sinkage is a maximum. .. given by Eq. If the tire behaves like a rigid rim.
2. is equal to the load carried by the tire divided by the corresponding ground contact area A shown in the figure.96 into the above equation. for a specific tire at a given normal load and inflation pressure can be derived from the socalled "generalized deflection chart. Fig. the motion resistance due to compacting the terrain can be predicted using Eq.8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE 187 Substituting Eq.99.. which may be called the critical pressure p. The average ground pressure of the tire p. if the sum of pi and p. Under this condition. is less than p. the pressure p. 2. calculated from Eq. 2.." normally available from tire manufacturers.80 shows the relationship between the average ground pressure p. As an alternative. and the contact pressure on the flat portion will be equal to p. exerted on the ground due to carcass stiffness is not a constant. It appears that for the particular tire shown. + p.. On the other hand.. = b(k.97.00R16XL tire at various normal loads.. exerted on the terrain due to carcass stiffness is difficult to determine. 2. 2. and p. the pressure p. the expression for the motion resistance of an elastic wheel due to compacting the terrain becomes R. as it varies with the inflation pressure and normal load of the tire. In this case. in practice. and the inflation pressure p.... The average ground pressure p. the sinkage of the tire z. Bekker proposed to use the average ground pressure p. of a tire on a hard ground to represent the sum of p. and that its value varies with inflation pressure and .2.100 into Eq. is greater than the pressure defined by Eq.. a portion of the circumference of the tire will be flattened. becomes If the sum of the inflation pressure pi and the pressure due to carcass stiffness p..lb + k. can be determined by the following equation if Bekker's pressuresinkage equation is used: Substituting Eq. 2.79. the expression for p. 2.88.62]. for a 11. 2..)  (niril) It should be mentioned that. the tire will remain round like a rigid wheel [2. As an example..99.. as shown in Fig.
2. 2.79 Generalized deflection chart for a tire. the average ground pressure p.188 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS LINE OF pi = CONST Fig. Eqs. 2.80 Variation of average ground pressure with inflation pressure and normal load for an offroad tire..100 and 2.80 that when the tire load and inflation pressure are within certain ranges. . and p. is lower than the inflation pressure pi.Using the average ground pressure pgr to represent the sum of p.101 can be rewritten as INFLATION PRESSURE. 2.. kPa Fig. It is interesting to note from Fig. load.
e. 2. then dz = 2tdt and By expanding (z. BC may be assumed to be a circular arc with radius r = 012. 2. In a first approximation.: The normal load W on the tire is supported by the ground pressure pKron the flat portion AB.. In a first approximation.  z = t2. as well as by the reaction on the curved portion BC shown in Fig..2. care must be taken in using Eqs. The vertical reaction W. 2. one obtains . shown in Fig. it may be assumed that the contact length 1. along BC may be determined following an approach similar to that for analyzing a rigid wheel described in the previous section: Denote z. 2.t2)" into a series and taking only the first two terms of the series. An approximate method for analyzing the performance of this type of tire is given below.78. shown in Fig.46) is not necessarily the width of the tire. This indicates that to predict the performance of this type of tire.102 and 2. . + 6. its value should be used as the denominator of kc in calculating the sinkage z. is less than the width of the tire.78: When 1. the contact length I. is a function of tire deflection 8.103 to predict the sinkage and compaction resistance.78 may well be the smaller dimension of the contact patch. Eq.8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE 189 For tires that are wide in comparison with the diameter. has to be determined by considering the vertical equilibrium of the tire. such as terra tires and rolligons.. + 6. 2. and the contact length 1. the denominator of kc in the pressure sinkage equation. For this type of tire. the smaller dimension of the loading area (i.
105. and that the relationships among l. Bekker and Semonin proposed the following equation for predicting the motion resistance due to tire deformation [2. In practice.104. The compaction resistance can then be determined by For a pneumatic tire in the elastic mode of operation. the tire deflection St. Then use is made of Eq. can be calculated using Eqs.e ( 0 . construction. is a correct one. is the average ground pressure. In principle. and sinkage z. in addition to the compaction resistance.. therefore. that satisfies Eq. and on operating conditions. 2. however. it is more convenient to follow an iterative procedure to determine the value of tire deflection. This indicates that for a given tire with known normal load. 2. 0 3 4 9 ~~sin 2 a ) ] I u ( D . and the whole process should be repeated until convergence is achieved.581bD2p..104 and 2. As a result.. and b. The resistance due to tire deformation depends on tire design..63]: R. 2.. . If not. are the tire width. 2. and 2... l. there is a particular value of tire deflection 6. the calculated normal reaction should be equal to the given normal load. is obtained. D.109) It can be seen that the normal reaction of a given tire is a function of St.109 simultaneously.. and 6. In the iteration process. 2.109 over a specific terrain. 2. are governed by Eqs. should be assumed.) (2.105. and z.. and material.26. (2. it deforms. can be determined by solving Eqs. known. a value of 6. With the values of St.105. energy is dissipated in the hysteresis of tire material and in other internal losses.108. a new value of 6.104 and 2..11 1 ) where p. 2. The value of this resistance is usually determined experimentally. z. is first assumed and is substituted into Eq.. the appropriate contact length 1. and 6. = [3. can be determined. the normal reaction of the tire for the assumed value of 6. l. which appears as a resisting force acting on the tire. 2.104 to calculate the contact length 1. After the correct value of 6.105 to calculate the sinkage z.190 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS The equilibrium equation for the vertical forces acting on the tire is W = bpgrlt+ W. and z. If the assumed value of 6.
To improve the prediction.). a threedimensional tiresoil model based on the finite element method has been developed [2.2 in. Bekker suggested that a bulldozing resistance also be taken into account in the calculation of the total motion resistance of a tire.5 cm (38.4.112) and E = 1  exp (k. Example 2. for the tire can be determined using Eq..).2.. = 680 kN/m3 (2. Two inflation pressures. To predict the overall tractive performance of a multiaxle wheeled vehicle.').5 kPa). and deflection. Solution. From Fig. are proposed. the average ground pressure p. It is to carry a load of 20 kN (4496 lb).99: = 200 kPa (29 psi).80. The tire has a diameter of 97. When the tire sinkage is significant. and the average ground pressure p. It should be mentioned that the methods described above are for the prediction of a single tire (wheel). The value of k. The vehicle is to operate on a soil with pressuresinkage parameters n = 1 and k. In practice. The method for predicting the contact geometry on the tiresoil interface presented above is based on simplifying assumptions. The relationships between the inflation pressure p.)/D] E 191 are calculated (2. A.). On the soil specified.4 cm (1 1. for the tire under various normal loads are shown in Fig..S. is 170 kPa . The parameters a and as follows: a = cosI [(D  2S. A pneumatic tire 11.5 and 29 psi).64].80 for a normal load of 20 kN (4496) at an inflation pressure pr = 100 kPa (14./h) (2.4 in. respectively. the response of the terrain to repetitive normal and shear loading should be taken into account. h is the tire section height and k.5 Iblin.8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE diameter. 2. the critical pressure p. 2. and a width of 28 cm (1 1 in.1 13) where a is the contact angle in degrees. is 15 for biasply tires and 7 for radialply tires. Compare the sinkage and compaction resistance of the tire at the two inflation pressures proposed.00R16XL is to be installed on an offroad wheeled vehicle. is a parameter related to tire construction.. a section height of 28. quite often the rear tires of a vehicle travel in the ruts formed by the front tires. 2. 100 and 200 kPa (14.
and the lower part of the tire in contact with the terrain is flattened.96. of a point on the rim defined by angle 8 (Fig..7 psi)..81) can be expressed by [2. the development of shear displacement along the wheelsoil interface has to be determined first. The magnitude of the slip velocity V. Since p.294 m (1 1. Using Eq.... The shear displacement developed along the contact area of a rigid wheel may be determined based on the analysis of the slip velocity V..95 kN (1338 lb) B.61] . is given by = 0. Using Eq. 2. the sinkage z. 2. the slip velocity V. Since p. 2. is given by zo = (E<)Ifn = 0.) and using Eq. the tire is operating in the elastic mode. the sinkage z.4 psi). For a rigid wheel. is 230 kPa (33. the average ground pressure pg. < p.6 in.88. is given by = 5.80.88. of a point on the rim relative to the terrain is the tangential component of the absolute velocity at the same point. 2. as illustrated in Fig. the compaction resistance R.) and using Eq. is given by = 8.8..5 psi)..23 kN (1850 lb) It can be seen that the compaction resistance of the tire at an inflation pressure of 200 kPa (29 psi) is approximately 38. From Fig.25 m (10 in. 2. for a normal load of 20 kN (4496 lb) at an inflation pressure pi = 200 kPa (29 psi).192 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS (24.102.81 [2.3% higher than that at an inflation pressure of 100 kPa (14..61]. > p. 2. 2. the tire behaves like a rigid wheel. 2.3 Tractive Effort and Slip of a Wheel To evaluate the relationship between the tractive effort and slip of a rigid wheel. the compaction resistance R.
114) It can be seen that the slip velocity for a rigid wheel varies with angle 8 and slip. = rw [I  (1  i ) cos 01 (2. By integrating the horizontal component of tangential stress over the entire contact area.1 15) where 0.82 shows a comparison of the measured shear stress distribution on the contact area of a rigid wheel at 22.81). The shear displacement j along the wheelsoil interface is given by = r[(0.sin 8)] (2. 2.56. the shear stress distribution may be described by The normal pressure distribution along a rigid wheel p(8) may be estimated by a variety of methods. 2. .81 Development of shear displacement under a wheel as compared with that under a track. the total tractive effort F can be determined: . 2.1% slip on a compact sand and the predicted one using the method described above.( 1  i) (sin 0. Based on the relationship between the shear stress and shear displacement discussed previously. including the simplified method proposed by Bekker described previously [2.61 1. The details of the prediction procedures followed are given in reference [2. 2. Figure 2.3.2. using Eq. For instance. is the entry angle that defines the angle where a point on the rim comes into contact with the terrain (Fig. the shear stress distribution along the contact area of a rigid wheel can be determined.0 ) . . V.8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE 193 Fig.6 I].
194 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS kPa . the effect of shear stress should be taken into consideration. 2.4. In a more complete analysis of wheelsoil interactions.76. towed rigid wheel.83. It is noted that the shear stress changes its direction . and the equations for predicting the tractive performance of a rigid wheel are given by the following [2. 2.82 Comparison of the measured and predicted normal and shear stress distribution on the contact area of a rigid wheel at 22.MEASURED PREDICTED psi 20  10  10 0 20 10 30 40 0" Fig. 2. It should be pointed out that Eq. the shear stress distribution has different characteristics. 2. This fact has been neglected in the simplified wheelsoil interaction model shown in Fig. 2.1% slip on compact sand. and is shown in Fig.611: For vertical load for drawbar pull.116 is for the prediction of shear stress distribution along the contact area of a driven rigid wheel. It should be mentioned that the vertical component of shear stress at the contact area supports part of the vertical load on the wheel. For a freerolling. and for wheel torque.
6% SKID ( TOWED 1 WHEEL WIDTH SLIP OIL .2 cm . defined by Eq. which is denoted as positive.2. while the rim rotates around the instantaneous center I. On the other hand. as shown in Fig. the shear stress acts in the direction of wheel rotation. 2.83 Measured normal and shear stress distribution on the contact area of a towed rigid wheel on compact sand.21.1 15. the shear displacement developed along BC in Fig. In this region. 2. and is expressed by . the tire will behave like a rigid wheel. The method for predicting the tractive effort of a pneumatic tire depends on its mode of operation. 2.84 can be determined in the same way as that described earlier for a rigid wheel. which may be called the transition point. which is denoted as negative. towed wheel is zero. therefore.. shear stress. 2.. It has been determined that this transition point corresponds to that where the two flow zones in the soil beneath a towed wheel meet each other. the resultant moment about the wheel center due to the shear force acting on the rim of a freerolling. The soil.1 17. respectively.. The increase in shear displacement Aj along section AB is proportional to the slip of the tire i and the distance x between the point in question and point B. 6 in. is less than p. 2. similar to that beneath a rigid track described in Section 2.15..99. and the shear displacement.. . 2.5cm .4 in .125. while the wheel rim moves forward relatively fast.5. as shown in Fig.2. Under these circumstances. and tractive effort can be predicted using Eqs.. Under the action of section AD of the rim. is greater than the critical pressure p. then a portion of the tire circumference will be flattened. As a result.. if p. at a particular point on the wheelsoil interface.20.49.8 METHODS FOR PARAMETRIC ANALYSIS OF WHEELED VEHICLE PERFORMANCE 195 WHEEL DIAMETER . the slip velocity is considered to be a constant. slides along AD in such a way as to produce shear stress in the direction opposite that of wheel rotation. Between A and E. the soil moves forward slowly.1 16.COMPACTED SAND Fig. and 2. If the average ground pressure p. For the flat portion AB. 2.84. the soil in the region ABD moves upward and forward.
the stress distribution is more uniform than that for a rigid wheel. 2. and the response of the terrain . which can be determined using Eq.84. the corresponding shear stress distribution can be defined using the appropriate shear stressshear displacement relationship for the terrain under consideration. which is due to the elastic rebound of the terrain upon unloading. For a pneumatic tire operating in the elastic mode.115. can again be determined in the same way as that for a rigid wheel.84 Development of shear displacement beneath a tire in the elastic operating mode. at a distance x from point B is then given by where j. Figure 2. A userfriendly computeraided method incorporating the procedures described above has been developed for predicting the tractive performance of tires. The development of shear displacement beneath a tire is illustrated in Fig. After the shear displacement along the tireterrain interface has been determined. is shear displacement at point B. The tractive effort can then be determined by integrating the horizontal component of the shear stress over the entire contact area.85 shows the measured normal and shear stress distributions on the contact patch of a tractor tire (1 1. 2.515) at 10% slip on a sandy loam [2.65].196 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS Fig. the suspension stiffness of the axles. The shear displacement along section AD. The cumulative shear displacement j. 2. Taking into account the longitudinal interaxle load transfer due to drawbar pull.
W. W. E. no. Wong. M I : University of Michigan Press.S. The Netherlands: Elsevier Science Publishers B. M. New York: Wiley. Sohne. Developments in Agricultural Engineering 7. Switzerland: Trans Tech Publications.V. Reece. Aedermannsdorf. "The Mechanics of Soil Cutting Blades.. McKyes. 1985. vol.Fig.G. 1978. 1969." Journal of Agricultural Engineering Research. Osman. 6.4]. 1974. 24. vol. Nowatzki. Soil Cutting and Tillage. REFERENCES M. The Netherlands: Elsevier Science Publishers B. Bekker.) to repetitive loading. M. 1956. 1960. Ann Arbor. 9. Ann Arbor. 4. no. Introduction to TerrainVehicle Systems.Y. L. M. 4. Ann Arbor. "Agricultural Engineering and Terramechanics. 1964. (Reproduced with permission from reference 2. a computeraided method for predicting the overall tractive performance of multiaxle wheeled vehicles has also been developed [2. "The Calculation of Passive Soil Resistance. OfftheRoad Locomotion. 2. Theoretical Soil Mechanics. 1989. Hettiaratchi and A. Terramechanics and OffRoad Vehicles.A. 1966. Terzaghi. Soil Mechanics for OfRoad Vehicle Engineering.G. Bekker. no.85 Measured normal and shear stress distribution on the contact patch of a tractor tire on sandy loam." Journal of Terramechanics. M I : University of Michigan Press. vol." Agricultural Engineering. D. Amsterdam. Sohne..R. "Fundamentals of Pressure Distribution and Soil Compaction Under Tractor Tires. . May 1958.R.P.L." Geotechnique. 1969. K. M I : University of Michigan Press. Amsterdam. 3. Karafiath and E.V. Theory qf'Land Locomotion. J.G. Bekker.65.
vol. vol. Turnage. no. C. Conj: of the International Society for Terrain Vehicle Systems. 12. no. "Soil Failure Beneath Rigid Wheels.Y.J. vol.. no. Wong and A. 4. 1984. C. 8.N. "Behaviour of Soil Beneath Rigid Wheels. no. R. Sweden. 1. "Plasticity Theory and Stress Distribution Beneath Wheels. Wong. Liu and J. Yong." in Proc.J. Vicksburg. Con$ of the International Society for TerrainVehicle Systems. "Numerical Simulations of TireSoil Interaction Based on Critical State Soil Mechanics. Yong and E. Rowland. "OffRoad Vehicle Mobility Evaluation.198 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS J.H. 1966. A." in Proc. 1977.N. "A Dimensional Analysis of the Performance of Pneumatic Tires on Soft Soils. Skiadas. Amsterdam. vol.Y." Technical Report M714.A." SAE 5939. 4. vol. MS. 4. and H. Luth. R. G. MS. and N. 4. 1965. ." Journal of Terramechanics. D.A. "Prediction of InSand Tire and Wheeled Vehicle Drawbar Performance. 1999. J. 1996. 2nd Int. Developments in Agricultural Engineering 3.R. Karafiath. 8th Int. no.A. Wong. 16." Journal of Terramechanics. "Prediction of WheelSoil Interaction and Performance Using the Finite Element Method. 1. 14. Boonsinsuk and R.' " Canadian Geotechnical Journal. 8th Int. "Large Strain Finite Element Analysis of Sand: Model. 1972. 1972. 13.S. vol. L.Y. Fattah. no.V. Wong. "Soil Compliance Influence on Tyre Performance. 1971. no. "Discussion on 'Prediction of wheelsoil interaction and performance using the finite element method.W.Y. 1984. Wong. "Review of 'Soil Mechanics for OffRoad Vehicle Engineering. Army Corps of Engineers Waterways Experiment Station.D. 1978. Stockholm. "OffRoad Traction Prediction for Wheeled Vehicles.' " Journal of Terramechanics. 1967. 4th Int.Y. paper no. "Tracked Vehicle Ground Pressure and its Effect on Soft Ground Performance. 3." in Proc.Y. 72619. Freitag.S. "A Synopsis of Tire Design and Operational Considerations Aimed at Increasing InSoil Tire Drawbar Performance.H. Vicksburg. Army Corps of Engineers Waterways Experiment Station. University of Toronto Press. 16. Turnage. Society of Automotive Engineers. Reece." Journal of Terramechanics. vol. P." Computers and Structures. no. The Netherlands: Elsevier Science Publishers B. Con$ of the International Society for TerrainVehicle Systems. D." in Proc. 2. 3 and Journal of Terramechanics.R. 74. Wong. U." Journal of Agricultural Engineering Research. vol. vol. Toronto.N. J. Rula and C. vol. 1971. 5. Liu.L. E. 1967. Con$ of the International Society for Terrain Vehicle Systems. 33. J. Canada. 1979. "An Analysis of Ground Mobility Models (ANAMOB). 6th Int.A." in Proc.W." Technical Report 3688." American Society of Agricultural Engineers. vol. vol. Vehicle Trclction Mechanics. Nuttall. Algorithm and Application to Numerical Simulation of TireSand Interaction. G. U. 1984. Mang. 1976 R. Yong. 2. J. 1 . Wismer and H. Fattah. Con$ of the International Society for TerrainVehicle Systems.
Bekker.Y. Dec. Army Cold Regions Research and Engineering Laboratory. and 1985.S. Dowell. "Characterization of the Mechanical Properties of Muskeg with Special Reference to Vehicle Mobility. 29. 196566. Reece. 4. Wong. no. Irwin. 2. Wong and G. PrestonThomas." Journal of Agricultural Engineering Research. 1.T. Wong. National Research Council of Canada. vol. J. 19.REFERENCES 199 D. no.G. J. no. J. Transport Engineering. Wong. 3 1. 3. 1977.L. vol. Con$ of the International Society for Terrain Vehicle Systems. J.R. vol.M. 23. J. 1975. 1983. J. PrestonThomas. Ottawa. A. no. 1980. 5th Int.Y.. Ottawa.Y. B. "On the Characterization of the PressureSinkage Relationship of Snow Covers Containing an Ice Layer. dissertation. Division of Energy.. "Evaluation of Soil Strength Measurements. Harrison. 1. 1994.Y. Wong. J.D. Canada. Institution of Mechanical Engineers. NRCC 22881. 19.Y." Journal of Terramechanics. W." unpublished Ph. vol. J. "Principles of SoilVehicle Mechanics. 1983. 1976. 17. Part D. 20. vol." in Proc." Journal of Terramechanics. Technical Report 268. vol. Radforth. 16. 2. J." Journal of Terramechanics. 8. Wong. 2. no. Detroit. no. 198.R. Wong and M.Y. part 2A. M.Y.Y. J. Garber. 1978. Institution of Mechanical Engineers. and J. vol. 1983. no. Carleton University.D. D15. "On the Characterization of the Shear StressDisplacement Relationship of Terrain. 1980." Report no." Journal of Terramechanics. 1975. 1992. Ont. Canada." Journal of Terramechanics. "On the Role of Mean Maximum Pressure as an Indicator of CrossCountry Mobility for Tracked Vehicles. M.Y. J." Journal of Terramechanics. "ComputerAided Analysis of the Effects of Design Parameters on the Performance of Tracked Vehicles. "Vehicle Performance over Snow. 2. 180. Wong and J. H. vol. 1979. Rowland." in Proc. no." Monograph. 1979. 1 . and J. 1984.M. "Theoretical Prediction and Experimental Substantiation of the Ground Pressure Distribution and Tractive Performance of Tracked Vehicles. "Measurement and Characterization of the PressureSinkage Data for Snow Obtained Using a Rammsonde. Carleton University. Wong. 4. 1982. Garber. "Terrain Vehicle Systems Analysis. "Data Processing Methodology in the Characterization of the Mechanical Properties of Terrain. PrestonThomas.J. vol.R. Ont. "Effects of Vibration on the Shearing Characteristics of Soil Engaging Machinery. vol." Journal of Terramechanics." U S . PrestonThomas. Wills. "A Review of Vehicle Design for SoftGround Operation. "The Measurement of Soil Shear Strength and Deformation Moduli and a Comparison of the Actual and Theoretical Performance of a Family of Rigid Tracks.Y. Keira.Y. no. J. J. Wong. no. 1963. Department of Mechanical and Aerospace Engineering. Wong and J. MI." in Proc. vol. "Some Further Studies of the Mechanical Properties of Muskeg. and J. vol. 1986. Radforth." Journal of Terramechanics. .
vol. Wong and Y. 200. 1992. 1994." Journal of Terramechanics.J. 4.Y." in Proc. 32. 1st North American Workshop on Modeling the Mechanics of OffRoad Mobility. Sacramento." Trans. 1997.Y. Wong. vol. "Application of the Computer Simulation Model NTVPM86 to the Development of a New Version of the Infantry Fighting Vehicle ASCOD. vol.Y. "ComputerAided Methods for Design Evaluation of Track Systems. Army Corps of Engineers Waterways Experiment Station. 1994. Institution of Mechanical Engineers. Section 2. Wong. J. May 56." International Journal of Vehicle Design.Y. Institution of . no. vol. Part D. 3. paper no. vol. September 2830." Vehiclt. 1988. Institution of Mechanical Engineers. Gao and J.Y. J. Wong. Institution of Mechanical Engineers. Wong and G. no. Transport Engineering.Y. D2." in Proc. vol. 1995. 2 and 3. J. Part D.Y.Y. 1. 1999. PrestonThomas. Journal of Automobile Engineering. "TerramechanicsIts Present and Future. 29. Wong.Y." Journal of Terramechanics. 2." in Proc.Y. J. "ComputerAided Methods for Design Evaluation of Tracked Vehicles and Their Applications to Product Development. 1. "Parametric Analysis of Tracked Vehicle Performance Using an Advanced Computer Simulation Model. Wong. J. 1986. Part D. "The Development and Validation of a ComputerAided Method for Design Evaluation of Tracked Vehicles with Rigid Links. "Applications of a ComputerAided Method to Parametric Study of Tracked Vehicles with Rigid Links. "Computer Simulation Models for Evaluating the Performance and Design of Tracked and Wheeled Vehicles. Part D. 1 and 2." Journal of Terramechanics. 1992. Wong and J.Y. sponsored by the U S . vol. nos. nos. CA. MI. "Expansion of the Terrain Input Base for the Nepean Tracked Vehicle Performance Model NTVPM to Accept Swiss Rammsonde Data from Deep Snow. PrestonThomas. Wong and J.Y. Gao. 941675. J. 202. Wong. vol. J. System Dynamics." in Proc. vol." in Proc.200 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS J. J. no. Austria. D l . vol. Army Research Office and held at the U S . 1992. J. Society for TerrainVehicle Systems North American Regional Conference. 28. D3. Journal of Commercial Vehicles. no. 208. March 2527. D3." in Proc. J." in Proc. Wong. "Dynamics of Tracked Vehicles. J. Int. 6th European ISTVS Conference and the 4th OVK Symposium on 08Road Vehicles in Theory and Practice.Y. J. Wong. 1992. vol. no. no. "Optimization of the Tractive Performance of Articulated Tracked Vehicles Using an Advanced Computer Simulation Model. Transport Engineering. "Adaptation of the Tracked Vehicle Performance Model NTVPM to NATO Requirements. 1994. 206. Irwin. 1994. Society of Automotive Engineers. no. 29. "ComputerAided Methods for the Optimization of the Mobility of SingleUnit and TwoUnit Articulated Tracked Vehicles. Wong. Institution of Mechanical Engineering. "Investigation into the Effects of Suspension Characteristics and Design Parameters on the Performance of Tracked Vehicles Using an Advanced Computer Simulation Model. 22. in Proc. Vienna. Y. Wong. Journal of Automobile Engineering.Y. Vicksburg.
The rim of the wheel is narrow. 1975.9 and 15.) below the center of the contact area. vol. 1998. 186.000 lb).1 The contact area of a tire on a fairly hard and dry soil may be approximated by a circle having a radius of 20 cm (7.92 ft). 1993." Journal of Terramechanics. 50172. Estimate the motion resistance and thrustslip relation . Nakashima and J. no. no.) into the soil at the vertical position. 3. The contact pressure is assumed to be a uniform 68. Semonin. Calculate the resultant vertical stress a.95 kPa (10 psi). c$ = 5".3 A tracked vehicle with uniform contact pressure weighs 155.) long. Wong and A. "Performance of the Air CushionSurface Contacting Hybrid Vehicle for Overland Operation. 208. The lugs are 25 cm (10 in. 1994. The outside diameter of the steel wheel across the tips of the lugs is 1. Wong.PROBLEMS 201 Mechanical Engineers. 2." Journal of Terramechanics.R. D3. 0.Y. no.8 in. M." Journal of Terramechanics. "Soil Stresses and Deformations Beneath Rigid Wheels. Wong. Part D. Onafeko and A." in Proc. no. 1967. Also calculate the corresponding driving torque required. D4. 1972. "Radial and Shear Stress Distribution under Rigid Wheels and Pneumatic Tires Operating on Yielding Soils with Consideration of Tire Deformation. Institution of Mechanical Engineers. 6 . Institution of Mechanical Engineers. J. and y.9 in.5 cm (5 in. Krick. "A ThreeDimensional Tire Model by the Finite Element Method. Reece." in Proc. = 16 kN/m3 (102 lblft". At what depth below the center is the vertical stress onetenth of the contact pressure? 2. 4.R. Wong. Reece. 1967.2 A steel cage wheel with 18 lugs on a narrow rim is to be attached to an offroad wheeled vehicle to increase its traction over a wet soil. "Motion Resistance of Pneumatic Tires. "Optimization of Design Parameters of RigidLink Track Systems Using an Advanced ComputerAided Method. Journal of Automobile Engineering. 6. vol. nos. For this type of soil. "Prediction of Rigid Wheel Performance Based on the Analysis of SoilWheel Stresses.G. 1969. 1. vol.) wide and penetrate 12. Journal of Automobile Engineering. PROBLEMS . Part D. vol. H." Journal of Terramechanics. 212. 2. G. 1 and 2.) wide and 305 cm (120 in. vol. J.68 kN (35. vol. and its effect may be neglected." Journal of Automotive Engineering. 4.79 kPa (2 psi). Bekker and E. 1. in the soil at depths of 20 and 40 cm (7. 30. Estimate the tractive effort that a lug in the vertical position can develop in a soil with c = 13. no. Part I and Part 11. J. vol.).V. vol. no. The surface of the lugs is assumed to be smooth.Y.Y. the concentration factor v is assumed to be 3.5 m (4.Y. Each of its two tracks is 102 cm (40 in.
k . Estimate the motion resistance and the thrust of the front axle at 20% slip on a terrain with n = 0.n+2).286 N/m3 (104 lb/ft3). and the relationship between the average ground pressure and the inflation pressure for the tires is given in Fig.103 lb). a cohesion of 3.202 MECHANICS OF VEHICLETERRAIN INTERACTIONTERRAMECHANICS ship of the vehicle on a terrain with n = 0.79 kPa (0.).). and its surface has an angle of friction with the soil of 24" and no adhesion.55 psi). kc = 29. and a weight density of 16. are LO and 2. All four tires are of 11. 2.c = 8.76 kN/mn+' (9 lb/in.25 psi). with equal weight distribution between the axles.80. and K = 2. Estimate the resultant force on the blade required to make the initial cut without surcharge. The blade has a width of 4.75 psi).17 kPa (0.489 lb). 4 = 1lo.).2 cm (6 in.62 kPa (1."+').) and a contact width of 0. c = 5.56(b). respectively. The soil has an angle of internal shearing resistance of 35".2 lb/in.. What will be the changes in its performance if the width of the track is reduced by 20% and its length is increased by 25%? 2.65 m (104 in."+').91 kN/mn+2(1.62 m (182 in.) deep.8. k4 = 2083 kN/mn+2(16 lb/in.). 2.7 lb/in. kc = 0.00 R16XL radial tires with dimensions as given in Example 2. = 51. as shown in Fig. .38 m (15 in.4.75 psi).6 A tracked vehicle has a gross weight of 125 kN (28. Estimate the compaction resistance and thrust of the vehicle at a slip of 20% on the same terrain as that described in Problem 2. Also identify the magnitudes and directions of the horizontal and vertical components of the resultant force exerted on the blade by the soil.77 kN/mn+' (0."+').5. The values of the parameters characterizing bladesoil interaction K. 4 = 22S0.5 cm (1 in. The tire inflation pressure is 150 kPa (21..4 A fourwheeldrive tractor weighs 60 kN (13. Each of its two tracks has a contact length of 2.5 An inclined bulldozer blade with an angle of 57" to the horizontal is used to remove a layer of soil 15. and K.4. 2. 2. and K = 5 cm (2 in. The normal pressure distribution under the tracks is of the multipeak sinusoidal form.
respectively. g is acceleration due to gravity.1. and negotiate grades in a straightline motion. = 0. decelerate. they include the aerodynamic resistance R. Ff = 0. grade resistance R. whereas for a frontwheel vehicle. In the longitudinal direction. and will be discussed in detail in this chapter..CHAPTER 3 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Performance characteristics of a road vehicle refer to its capability to accelerate.. For a rearwheeldrive vehicle. and tractive effort of the front and rear tires Ff and F. Procedures for predicting and evaluating the performance characteristics of road vehicles will also be presented. 3. . 3.. and m and W are vehicle mass and weight.1 EQUATION OF MOTION AND MAXIMUM TRACTIVE EFFORT The major external forces acting on a twoaxle vehicle are shown in Fig. F.. rolling resistance of the front and rear tires Rrf and R. The tractive (or braking) effort developed by the tires and the resisting forces acting on the vehicle determine the performance potential of the vehicle.).. The equation of motion along the longitudinal axis x of the vehicle is expressed by where d2xldt2 or a is the linear acceleration of the vehicle along the longitudinal axis. (W sin O. drawbar load R.
the normal load on the front axle Wf can be determined: . There are two limiting factors to the maximum tractive effort of a road vehicle: one is determined by the coefficient of road adhesion and the normal load on the drive axle or axles. To predict the maximum tractive effort that the tireground contact can support. is the total rolling resistance of the vehicle. By introducing the concept of inertia force. They can be computed readily by summation of the moments about points A and B shown in Fig.1. the maximum tractive effort that the vehicle can develop has to be determined. To evaluate the performance potential. the other is determined by the characteristics of the power plant and the transmission.1 Forces acting on a twoaxle vehicle. The smaller of these two determines the performance potential of the vehicle. the normal loads on the axles have to be determined.204 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Fig. 3. By summing moments about A. 3. the above equation may be rewritten as where F is the total tractive effort and R.
h. ? Wsin 8. For small angles of slope. L (3. For passenger cars.1 EQUATION OF MOTION AND MAXIMUM TRACTIVE EFFORT w. = W1. When the vehicle is climbing up a hill.h. the negative sign is used for the term Wh sin 8. In the above expression. h. cos 0.) It should be noted that the first term on the righthand side of each equation . h is the height of the center of gravity.  haWlg  R. the normal load on the rear axle can be determined by summing moments about B: w.R.3. is approximately equal to 1. h. 3. 3. Eqs. L is the wheelbase. may be assumed to be near the height of the center of gravity h. (3. is the height of the point of application of the aerodynamic resistance. is the distance between the front axle and the center of gravity of the vehicle. iWh 205 sin 8. + Wh sin 0. is the height of the drawbar hitch.T is the slope angle. when the vehicle is climbing up a hill.3) L where 1.4) where 1. + R. the positive sign is used for the term Wh sin 0.2 into the above equations. cos 8.h. Substituting Eq.= Wl. and that of the drawbar hitch h.3 and 3. one obtains and W. and O.. With these simplifications and assumptions.4 may be rewritten as and aW L L + R.  R. is the distance between the rear axle and the center of gravity of the vehicle. cos 0.h. Similarly. = 11 W L  + Lh ( F . the height of the point of application of the aerodynamic resistance h. + haWlg + R.
is given by .. The maximum tractive effort that the tireground contact can support can be determined in terms of the coefficient of road adhesion p and vehicle parameters. for small angles of slope. The major forces acting on a tractorsemitrailer are shown in Fig. The normal load on the semitrailer axle. For a frontwheeldrive vehicle. For a tractorsemitrailer. the calculation of the maximum tractive effort that the tireground contact can support is more involved than a twoaxle vehicle. it is necessary to calculate the normal load on the tractor rear axle under operating conditions.206 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES represents the static load on the axle when the vehicle is at rest on level ground. and the vertical and horizontal loads at the hitch point W. the tractor rear axle is driven. and It should be noted that in deriving the above equations. This can be calculated by considering the tractor and the semitrailer as free bodies separately. the transverse load transfer due to engine torque for longitudinally mounted engine or the longitudinal load transfer due to engine torque for a transversely mounted engine has been neglected. and that both the right.2. To compute the maximum tractive effort as determined by the nature of tireroad interaction. is expressed as the product of the coefficient of rolling resistance f. 3. and the weight of the vehicle W. For a rearwheeldrive vehicle. and where the total rolling resistance R. the normal load on the semitrailer axle W. By taking the semitrailer as a free body. For most of the tractorsemitrailers. and Fhi can be determined.and lefthand side tires are assumed to have identical performance. The second term on the righthand side of each equation represents the dynamic component of the normal load or dynamic load transfer.
 Fhih. is the height of the point of application of R. becomes and the load at the hitch point is given by .. may be simplified as The longitudinal force at the hitch point is given by aW2 . Substitute Eq.1 1) where R. ha.12. the expression for W. W. the positive sign for the term W2h2sin 0.d2 = + R. 3...13 into Eq.1 1 should be used. is the weight of the semitrailer. is the aerodynamic resistance acting on the semitrailer.h2 sin 8.? W2 sin Bs Fhi = Ra2 + g + frW. Other parameters and dimensions are shown in Fig.2 Forces acting on a tractorsemitrailer. the expression for W . and W. W. = h3 = h.. 3.h. 3. in Eq.1 EQUATION OF MOTION AND MAXIMUM TRACTIVE EFFORT 207 Fig.. + h2aW... 3.2. If h.3. 3. L2 (3.lg + W. When the vehicle is climbing up a hill.
W . ( W . + (R. = h. the expression for W.17) From Eqs.2. + aW g +. (3. + Fhih3+( L . the positive sign for the term W.l. + W.16 and 3.d l ) Whi L. 3. + aW. sin 6. (3. is the aerodynamic resistance acting on the tractor.) + Fhi (3. may be simplified as Wr = W. 3. ha. + F h i ) h . sin 8... .h.16) By equating the forces acting on the tractor in the longitudinal direction. h . and W .14 into the above equation yields The maximum tractive effort as determined by the nature of the tireroad interaction imposes a fundamental limit on the vehicle performance charac .W .l.17. .15 should be used. the maximum tractive effort that the tireground contact can support with the tractor rear axle driven can be expressed by Substitution of Eq..d l ) Whi L. When the vehicle is climbing up a hill. + f.. = h. the normal load on the tractor rear axle Wr can be determined: wr = + h.. 3...h.lg + W..15) where R.+ ( L .208 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES By taking the tractor as a free body and summing moments about the front tireground contact point. the following expression for the required tractive effort F can be obtained: F = R. 3. sin 6. + R..lg + W . Other parameters and dimensions are shown in Fig. is the height of the application of R. is the weight of the tractor. in Eq. If ha. sin 6.aW.
35kN) CD=0. gradability. 3.1. which is proportional to vehicle weight.3 [3. the power required to overcome the aerodynamic resistance is greater than that required to overcome the rolling resistance of the tires and the resistance in the transmission. and inertia resistance. rolling resistance. as shown in Fig. kW 90  hp 120  3 60  90  Q 60  $ 30  CT w Bn 3 2 30  4 DOOR SEDAN FRONTAL AREA 22ft2(2.04m2) WEIGHT 36751b (16.2 AERODYNAMIC FORCES AND MOMENTS With growing emphasis on fuel economy and on the reduction of undesirable exhaust emissions. Because of the significant effects of aerodynamic resistance on vehicle power requirements at moderate and higher speeds. continual effort has been expended in improving the aerodynamic performance of road vehicles. it is necessary to reduce the aerodynamic resistance.45 AERODYNAMIC / / /' / MECHANICAL n 0 20 40 60 80 100 120 mph I I 50 100 150 200 kmlh SPEED Fig. 3. (Reproduced with permission of the Society of Automotive Engineers from reference 3. it has become increasingly important to optimize vehicle power requirements. and drawbar pull.) . 3. including maximum speed.1]. acceleration. To achieve this.2 AERODYNAMIC FORCES AND MOMENTS 209 teristics. For a typical passenger car cruising at a speed higher than approximately 80 kmlh (50 mph).3.3 Power requirements of a fullsize passenger car as a function of speed.
commonly known as the pressure drag and skin friction. the mass density of the . which accounts for more than 90% of the total aerodynamic resistance of a passenger car. the pressure drag is by far the larger. Hg). The external air flow generates normal pressure and shear stress on the vehicle body. The commonly used standard conditions are: temperature 519" Rankine (15°C or 59°F) and barometric pressure 101.2]. It should be noted that the momentum losses of the air in the wake of the vehicle and the energy imparted to the air by the vortices generated by the vehicle are not additional. It is interesting to note that aerodynamic resistance is proportional to the square of speed. for a long vehicle. CD is the coefficient of aerodynamic resistance that represents the combined effects of all of the factors described above. however. and constitutes more than 90% of the total external aerodynamic resistance of a passenger car with normal surface finish. the aerodynamic resistance is usually expressed in the following form: where p is the mass density of the air. Of the two components. and V. According to the aerodynamic nature. In performance calculations. the former is the dominant one. and the other is the flow through the engine radiator system and the interior of the vehicle for purposes of cooling.210 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES The aerodynamic resistance is generated by two sources: one is the air flow over the exterior of the vehicle body. When the speed of a vehicle is doubled. and an increase in altitude of 1219 m (4000 ft) will lead to a decrease in aerodynamic resistance by 17%. heating. The pressure drag arises from the component of the normal pressure on the vehicle body acting against the motion of the vehicle. In view of the significant effects of ambient conditions on the aerodynamic resistance. the external aerodynamic resistance comprises two components. Of the two. while the skin friction is due to the shear stress in the boundary layer adjacent to the external surface of the vehicle body. it is necessary to establish a standard set of conditions to which all aerodynamic test data may be referred. such as a bus or a tractortrailer train. an increase in ambient temperature from O" to 38°C (32" to 100°F) will cause a 14% reduction in aerodynamic resistance. In practice. the power required for overcoming aerodynamic resistance increases eightfold. and ventilating. which is the projected area of the vehicle in the direction of travel.7 psi. and hence aerodynamic resistance. For instance.32 kPa (14. is the speed of the vehicle relative to the wind.92 in. 76 cm or 29. but are an alternative measure of the pressure drag and skin friction [3. The skin friction may become more significant. usually taken as the frontal area. Af is a characteristic area of the vehicle. Thus. the horsepower required to overcome aerodynamic resistance increases with the cube of speed. It should be mentioned that atmospheric conditions affect air density p.
In the United States.002378 slug/ft3. may be obtained by wind tunnel testing of scale models or fullsize vehicles. A number of wind tunnels capable of testing fullsize passenger cars are used in industry and research centers [3. a scale of 112. Based on data collected. Consequently.225 kg/m3 (0. it requires large wind tunnels and is expensive. In addition.3]. should be as small as possible. the relationship between the frontal area and the vehicle mass may be approximately expressed by where A. To ensure flow field similarity in wind tunnel testing of scale models. therefore. the air flows with respect to the tunnel floor and a boundary layer builds up. which is the ratio of the frontal area of the model (or the fullsize test vehicle) to the crosssectional area of the wind tunnel test section. two basic problems require special attention: flow field similarity and the modeling of the ground plane. a 318 scale model should. which is comparatively inexpensive and more convenient for shape modifications. the air is at rest relative to the road.3].07651 Ib/ft3). The frontal area Af of the vehicle may be determined from a photograph taken from the front if accurate drawings of the vehicle are not available. a basic requirement is that the Reynolds Number (RN) for the scale model be equal to that for the fullsize vehicle. for passenger cars with mass in the range of 8002000 kg (or 17604400 lb in weight). though 115 scale is also used in small wind tunnels. while in Europe 114 scale is the most common. is the frontal area in m2 and mu is the mass of the vehicle in kg. the frontal area varies in the range of 7984% of the area calculated from the overall vehicle width and height. and its equivalent weight density 0. The proper modeling of the ground plane in wind tunnel testing is another issue requiring careful consideration.3]. preferably not exceeding 5% [3. For passenger cars. . To satisfy this requirement. be tested in the wind tunnel at an airstream speed of 813 of that of the fullsize vehicle. scale model testing. is widely used in the development of new products. Flow field similarity refers to the similarity between the flow pattern in the wind tunnel and that under actual driving conditions on the road. While fullscale testing avoids the scaling problems with models. This may significantly affect the flow pattern under the scale model (or fullsize test vehicle). whether scale models or fullsize vehicles are used.5 is recommended [3. The coefficient of aerodynamic resistance C . To alleviate this problem. a moving ground plane has been used. for passenger cars 318 scale is widely used. the blockage ratio. When a vehicle is driven on the road at zero wind speed.3. The Reynolds Number is the ratio of the product of airstream speed and the characteristic length of the vehicle to the kinematic viscosity of the air. In wind tunnel testing. For commercial vehicles.2 AERODYNAMIC FORCES AND MOMENTS 211 air p may be taken as 1. In a conventional wind tunnel.
During the test. It has been shown that the coastdown method can yield sufficiently accurate results on the aerodynamic resistance of road vehicles if care is taken to determine the rolling resistance of the tires and driveline resistance. commonly referred to as the coastdown test. in which the test vehicle is completely enclosed within a socalled shrouding trailer [3. including the tires. The coefficient of aerodynamic resistance C. including the forebody.5. driveline resistance and aerodynamic resistance can then be derived from the coastdown test data. Using this method. has a significant effect on the coefficient of aerodynamic resistance.5 [3. However. 3. The influence of shape variations on the aerodynamic resistance coefficient of a passenger car is shown in Fig. 3. The deceleration of the vehicle due to the combined effects of the rolling resistance of the tires.1 [3. With the effects of the rolling resistance of the tires and driveline resistance separated from the total resisting force. may also be used to determine the aerodynamic resistance [3. and those for a select group of automobiles are listed in Table 3. The shape of the vehicle body. One of the methods that can be used to determine the rolling resistance of the tires and driveline resistance is to carry out an additional road test. 3.4 [3. The values of the coefficient of aerodynamic resistance for passenger cars with various shapes are shown in Fig. The towing force measured by the load cell is then the sum of the rolling resistance of the tires and driveline resistance of the test vehicle. In comparison with wind tunnel testing. a procedure recommended by the Society of Automotive Engineers (SAE Recommended Practice 51263) may be followed to deduce the aerodynamic resistance and the combined tire rolling resistance and driveline resistance from the coastdown test data. is a function of a number of vehicle design and operational factors. this method does not require expensive facilities. it requires a straight and level road (usually not exceeding 0.9]. and taking into account the effects of the rotating inertias of all rotating components in the driveline.212 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES The deceleration method of road testing. However. afterbody. Alternatively.7]. The variations of vehicle speed and/or distance traveled with time are continuously recorded. then the driveline is disconnected from the engine and the vehicle decelerates. window recesses.4.10]. external mirrors.5% grade) and is subject to the influence of ambient conditions. a vehicle is used to tow the trailer together with the test vehicle shrouded by it. The trailer shrouds the entire test vehicle fiom any aerodynamic force. 3. as it is shrouded by the trailer and no aerodynamic force applies to it. such as speedtime or speeddistance relations. the aerodynamic resistance can be determined. and mudflaps. The effects of the shape of the . wheelwells. driprails. underbody. preferably its top speed. A load cell is placed at the hitch connecting the trailer and the test vehicle to measure the towing force applied to it. the total resisting force can be deduced. the tires of the test vehicle maintain full contact with the road and support the entire load of the vehicle.61. the vehicle is first run up to a certain speed.8]. From the derived deceleration.
and other operational factors..6 and 3. 3. The various components of aerodynamic resistance of a representative passenger car and their potential for reduction are summarized in Table 3.2 AERODYNAMIC FORCES AND MOMENTS 213 Fig.3. (b) Oldsmobile Toronado. loading conditions.7. and window open or closed.) forebody and afterbody of a passenger car on the aerodynamic resistance coefficient are shown in Figs.10]. for three types of passenger car. (c) MercedesBenz 300 SE. (a) Citroen DS 19. 3. also affect the aerodynamic resistance coefficient. (Reproduced with permission of the Society of Automotive Engineers from reference 3. (f) Ford Mustang.10]. respectively [3.1 1 shows the effect of ground clearance on the value of C.4 Aerodynamic resistance coefficient for passenger cars. It is estimated that the component of aerodynamic resistance coefficient due to body shape can be reduced from a typical value of . such as radiator open or blanked.8 and 3. ground clearance. respectively [3.e. 3. the angle between the longitudinal axis of the vehicle and the horizontal). The loading conditions and the distribution of load among axles may change the attitude (angle of attack) and ground clearance of the vehicle.10]. Figures 3.10]. It can be seen that the greatest potential for reduction lies in the optimization of the body shape.9 show the effects of front and rear spoilers on the aerodynamic resistance coefficient. 3. The influence of loading conditions on the value of C. In addition to the shape of the vehicle body.10 shows the effect of the angle of attack on the value of C. (d) Ford Falcon Futura. Figure 3. To improve the aerodynamic performance of vehicles. for different types of vehicle [3. 3. while Fig. the attitude of the vehicle defined by the angle of attack (i.8. and hence the aerodynamic resistance coefficient.101.2 [3. The influence of operational factors on the aerodynamic resistance coefficient of a car is shown in Fig. (e) VW 1200. for a passenger car is shown in Fig.2].13 [3.9.12 [3. addon devices are often used. 3.
3 GL Mazda 323 1. Aerodynamic Resistance Coefficient C. m2 ft2 .8 Mercedes l9OE (19OD) BMW 51% (520i. Frontal Area A.2 VW Polo Coupe Nissan Micra GL Low Medium Size VW Golf GTI VW Jetta GT Ford Escort 1.214 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES TABLE 3.8i Honda Prelude Source: Reference 3.1 Values of Aerodynamic Resistance Coefficient and Frontal Area for Passenger Cars Vehicle Type Mini Cars Fiat Uno ES Peugeot 205GL Honda Civic 1.9. 525e) Saab 900 GLi Volvo 740 GLE Luxury Cars Saab 9000 Turbo 16 Jaguar XLS Mercedes 500 SEL Peugeot 604 ST1 BMW 7281 (73211735) Sports Cars Porsche 924 Renault Fuego GTX VW Scirocco GTX Toyota Celica Supra 2.5 Toyota Corolla 1300 DX Medium Size VW Passat CL Audi 80CC BMW 31% (320i) Honda Accord 1.8 EX Nissan Stanza Notchback Upper Medium Size Audi 100 1.
3 will improve the fuel economy by approximately 23%. 3.) 0.28 to a practical minimum of 0.2].2 AERODYNAMIC FORCES AND MOMENTS "I 215 form modifications Fig. The total scope for reduction in aerodynamic resistance of a typical modem car is approximately 55%.15 shows the effects of the reduction in aerodynamic resistance coefficient on fuel saving of a tractorsemitrailer under different operating conditions [3. (Reproduced with permission from reference 3. 3.2 [3.11].1. It can be seen that at a steady speed of 96 kmlh (60 mph). The effects of the aerodynamic resistance coefficient on the fuel economy under steadystate conditions of a passenger car.10. 3.3.5 Influence of body shape details on aerodynamic resistance coefficient of a passenger car. Figure 3. a reduction of the aerodynamic resistance coefficient from 0. as indicated in Table 3. with mass 1060 kg (2332 lb).14 [3.5 to 0. It can be seen from Fig. are shown in Fig.12].15 that operating on a level road at constant speeds. and radial tires. frontal area 1. the reduction in .77 m2 (19 ft2).
/ [& configuration Ideal front and CL Fig. 3. (Reproduced with permission from reference 3.9. 3.) Fig. (Reproduced with permission from reference 3.) .6 Influence of the shape of the front end on aerodynamic resistance coeffici ent of a passenger car.10.7 Influence of the shape of the rear end on aerodynamic resistance coefficient of a passenger car.
8 Influence of front spoiler design on aerodynamic resistance coefficient and aerodynamic lift coefficient of a passenger car. It can be seen that for a tractorsemitrailer. In comparison with passenger cars. and trucktrailers. (Reproduced with permission from reference 3. tractorsemitrailers. the aerodynamic resistance of the tractor is not sensitive to yaw angle. It also shows the contributions of the tractor (or truck) and semitrailer (or trailer) to the total aerodynamic resistance coefficient of the combination.10.3. heavy commercial vehicles. This is primarily due to their essentially boxshaped body.16 shows the variations of the aerodynamic resistance coefficient of a tractorsemitrailer and a trucktrailer with the yaw angle. 3. usually have much higher values of aerodynamic resistance coefficient. which is the angle between the direction of travel of the vehicle and that of the wind [3. and .2 AERODYNAMIC FORCES AND MOMENTS 217 Fig. Figure 3. such as trucks.) aerodynamic resistance coefficient has the most significant effect on fuel saving of a tractorsemitrailer.12].
9 Influence of rear spoiler design on aerodynamic resistance coefficient and aerodynamic lift coefficient of a passenger car.) . (Reproduced with permission from reference 3. (Reproduced with permission from reference 3.218 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Fig. 3.c . rn VW VARIANT 411 AUDl 100 A COMPETITOR F 2 .) Cd 1 6 . 3.10.2 Fig.10.10 Influence of the angle of attack on aerodynamic resistance coefficient and aerodynamic lift coefficient of passenger cars.
addon devices. such as the air deflector mounted on the roof of the tractor or truck. tractorsemitrailers. have been introduced.17 shows the effects of various types of air deflector on the aerodynamic resistance coefficient of a tractorsemitrailer [3. Figure 3. For the trucktrailer combination.10. the truck contributes approximately 62% to the total aerodynamic resistance of the combination at 0" yaw angle. vans. buses. Table 3.3.) that the tractor contributes approximately 60% to the total aerodynamic resistance of the tractorsemitrailer combination at 0" yaw angle. It can be seen that with the best air deflector among those .11 Influence of ground clearance on aerodynamic resistance coefficient and aerodynamic lift coefficient of passenger cars. and trucktrailers [3. 3.12].2 AERODYNAMIC FORCES AND MOMENTS "XX) 150 m 250 219 e rnm 350 Fig.13]. (Reproduced with permission from reference 3.3 shows representative values of the aerodynamic resistance coefficient of passenger cars. To improve the aerodynamic performance of heavy commercial vehicles.
a total reduction of 34% in aerodynamic resistance coefficient can be achieved. Figure 3. If this is coupled with the installation of the best air deflector (type lo). The installation of a gap seal between the tractor and semitrailer (type 8) does not cause a noticeable decrease in the aerodynamic resistance coefficient. flat panels on the semitrailer body (type 9). the aerodynamic resistance coefficient is reduced by 22%.220 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES @with full load @with driver only @allowable rear axle Iwd I * V W W l L ~AUDI100 0allowable front axle Iwd ar01 Fig.) investigated (type 6 shown in the figure). The aerodynamic lift usually causes the reduction of the . the aerodynamic resistance coefficient can be reduced by 24%.12 Influence of load on aerodynamic resistance coefficient and aerodynamic lift coefficient of passenger cars.10. in comparison with that of the baseline vehicle (type 1). 3. (Reproduced with permission from reference 3. It may become significant at moderate speeds.18 shows the variations of the aerodynamic resistance coefficient of tractorsemitrailers with various addon devices and tractor shapes with the yaw angle [3. With rounded vertical edges in the front of the semitrailer and with smooth.12]. Aerodynamic lift acting on a vehicle is caused by the pressure differential across the vehicle body from the bottom to the top.
) .13 Influence of operational factors on aerodynamic resistance coefficient of a passenger car. 3.10. (Reproduced with permission from reference 3.LAMPS CLOSED WINDOWS CLOSED WITH ROOF LIKE @ BUT LAMPS OPEN LIKE @ BUT SlDE WINDOWS OPEN LIKE @ BUT WITHOUT ROOF LIKE @ BUT SlDE WINDOWS OPEN LIKE 0 BUT LAMPS OPEN Fig.
and loading conditions on the aerodynamic lift coefficient C. The aerodynamic lift R.10.09 0. and 3.01 0. for passenger cars vary in the range 0. and C.7.08 Cooling system 0. C.005 0. The effects of the shape of the afterbody on the rear axle aerodynamic lift coefficient C.015 Total internal drag 0.435 0. acting on a vehicle is usually expressed by where C. are illustrated in Figs.035 0.11. The effects of the angle of attack.2. ground clearance. normal load on the tireground contact.8 and 3. is the coefficient of aerodynamic lift usually obtained from wind tunnel testing.9 show the influence of the front and rear spoilers on the front and rear axle aerodynamic lift coefficients. externally mounted aerodynamic surfaces that generate a downward aerodynamic force are widely used.. Similar to the coefficient of aerodynamic resistance.. but also on a number of operation factors. Typical values of C.222 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES TABLE 3.015 Overall total drag 0.5 using the frontal area of the vehicle as the characteristic area.01 0.12.. 3. This increases the normal load on the tireground contact. 3. to improve their cornering and tractive capabilities.12 0.195 Source: Reference 3.20. it depends not only on the shape of the vehicle. the performance characteristics and directional control and stability of the vehicle may be adversely affected. For racing cars. *Based on cars of 1970's and early 1980's. Figures 3..035 0. . Thus.2 Components of Aerodynamic Resistance Coefficient and Potential for Reduction Components of Aerodynamic Resistance Coefficient Typical Value* Minimum Feasible Value Forebody Afterbody Underbody Skin friction Total body drag Wheel and wheel wells Driprails Window recesses External mirror (one) Total protuberance drag 0.005 0. 3. respectively.07 0 0. are shown in Fig.01 0. respectively.
This moment is the resultant of the moments of the aerodynamic resistance and aerodynamic lift about the center of gravity of the vehicle.22. it would affect the performance. Thus. . The aerodynamic pitching moment Ma is usually expressed by where C.05 and 0.11 . Most passenger cars have a value of C. 3. It may cause significant load transfer from one axle to the other at moderate and higher speeds. using the wheelbase as the characteristic length and the frontal area as the characteristic area. 3.) 0 50 The aerodynamic pitching moment may also affect the behavior of a vehicle.3.2 AERODYNAMIC FORCES AND MOMENTS t I 223 I 100 150 200 kmlh SPEED Fig.20.14 Effect o f reduction in aerodynamic resistance coefficient on fuel economy at different speeds for a midsize passenger car. (Reproduced with permission o f the Society o f Automotive Engineers from reference 3. The wheelbase or the overall length of the vehicle may be used as the characteristic length in Eq. as well as the directional control and stability of the vehicle. between 0. is the coefficient of aerodynamic pitching moment usually obtained from wind tunnel testing and LC is the characteristic length of the vehicle.
Aerodynamic Resistance Coefficient C.1 0.12. 3.15 Effect of reduction in aerodynamic resistance coefficient on fuel saving for a tractorsemitrailer.641.224 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Fig.8 0.38 0.O .12.741 . (Reproduced with permission from reference 3. 0.30.40.52 0.50.3 Values of Aerodynamic Resistance Coefficient for Various Types of Vehicle Vehicle Type Passenger cars Vans Buses Tractorsemitrailers Trucktrailers Source: Reference 3.) TABLE 3.
12.I lo0 Yaw angle 150 So (b) Fig.16 Distribution of aerodynamic resistance between (a) tractor and semitrailer and (b) truck and trailer at different yaw angles. (Reproduced with permission from reference 3.) . 3.
) I]! 1 I 1 I I Distance above cab ~Gapwidths=0.12.17 Effect of addon devices and body details on aerodynamic resistance coefficient of tractorsemitrailers. 3.13.18 Effect of addon devices on aerodynamic resistance coefficient of tractorsemitrailers at different yaw angles.) . 3.226 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Fig.71~1 300 Yaw angle Fig. (Reproduced with permission from reference 3. (Reproduced with permission of the Society of Automotive Engineers from reference 3.
the ideal performance characteristics of a power plant are constant power output over the full speed range. The smaller of these two will determine the performance potential of the vehicle. and easiness to start. and fuel economy of vehicle power plants.3. there are two limiting factors to the performance of a road vehicle: one is the maximum tractive effort that the tireground contact can support.19. the tractive effort is usually determined by the engine and transmission characteristics. This will provide the vehicle with high tractive effort at low speeds where demands for acceleration. size.3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS 227 3. the engine and transmission characteristics must be taken into consideration. as shown in Fig.20 shows the torquespeed characteristics of a serieswound dc motor. low cost. In TORQUE SPEED Fig.19 Ideal performance characteristics for vehicular power plants. Consequently. the tractive effort may be limited by the nature of tireroad adhesion. 3. In this section. drawbar pull. 3. There are power plants that have powertorquespeed characteristics close to the ideal for vehicular applications.3.1 Power Plant Characteristics For vehicular applications. Various technological options. or grade climbing capability are high. considerable emphasis has been placed on the control and reduction of undesirable exhaust emissions in recent years. Figure 3. In low gears with the engine throttle fully open. are being investigated. the engine output torque varies with speed hyperbolically. and can be used only with a suitable transmission. the general characteristics of vehicle power plants and transmissions will be presented. 3. it has found the widest application in automotive vehicles to date because of its relatively high power to weight ratio. powertoweight ratio. The internal combustion engine has less favorable performance characteristics. and the other is the tractive effort that the engine torque with a given transmission can provide. In higher gears. Despite this shortcoming. including further modification of the internal combustion engine. good fuel economy.3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS As mentioned previously. In addition to the continuous search for improving the efficiency. such as serieswound electric motors and steam engines. . To predict the overall performance of a road vehicle.
3. Rankinecycle external combustion engines. the Rankinecycle engine would eliminate the need for a transmission. It can use a wide range of hydrocarbon fuels.14]. however. and yet undesirable emissions including nitrogen oxides are very low. and hybrid power systems. and others can reduce undesirable emissions. The greatest disadvantage is its low efficiency and poor fuel economy under no load or partial load conditions that constitute a significant portion of the operation of automotive vehicles. The Stirlingcycle engine utilizes alternate heating and cooling of the working medium. noncondensing external combustion (Stirlingcycle) engines. the two basic approaches to reducing undesirable emissions are to prevent them from forming. There is evidence to suggest that nitrogen oxide emissions could also be reduced. Among the disadvantages of this kind of power plant are the time required to put the engine into operation and a relatively poor powertoweight ratio. Improved combustion using direct fuel injection. They include gas turbine engines. Alternatives to the internal combustion engine are also being studied. The carbon monoxide and hydrocarbon in the exhausts of a gas turbine are lower than those of an equivalent gasoline engine.228 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES SERIES WOUND I I SPEED Fig. The Rankine vaporcycle external combustion engine has torquespeed characteristics close to the ideal. a device that combines the features of catalyst and filter technology can considerably reduce the amount of carbon monoxide. hydrocarbons. Alternative fuel engines using compressed natural gas can also reduce undesirable emissions. and particulates in the exhaust gas [3. such as compressed helium and hydro . lean burn combustion systems. and can be used with a wide range of fuels. electric propulsion systems. The gas turbine is. such as a combination of the internal combustion engine and electric propulsion. For the diesel engine. Coupled with its high overload capacity. or by a catalytic converter in the exhaust system of the gasoline engine.20 Torquespeed characteristics of a serieswound electric motor. not without drawbacks as an automotive power plant. It has a favorable powertoweight ratio. general. and to remove them from the exhaust once formed. The gas turbine has several advantages as a vehicular power plant. Pollutants can also be removed after they have left the combustion chamber by injecting air into an exhaust manifold reactor for more complete oxidation.
Power output. hydrogen is combined with air to produce electricity with virtually no pollution. diesel. and the engine torque also declines.22. 3.3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS 229 gen gas. With a multifuel reformer. In vehicular applications. and methane. the mean effective pressure decreases because of growing losses in the airinduction manifolds. the engine torque decreases more rapidly with an increase of speed. The emission is primarily water vapor.14]. as they offer zero undesirable emissions. however. Since the internal combustion engine is still the most commonly used power plant in automotive vehicles to date. Beyond this point. such as agricultural and industrial tractors. The internal combustion engine starts operating smoothly at a certain speed (the idle speed). respectively. The emission characteristics of the Stirling engine are. To date. however. at constant volume to develop useful mechanical work. natural gas. As speed increases further.21 Performance characteristics of a gasoline engine. Electric vehicles with fuel cells as the power source have attracted a great deal of interest. it is appropriate to review the basic features of its characteristics that are essential to the prediction of vehicle performance. This results in a decline of power output. extremely good. may also be used for fuel cells [3.3. other fuels. Representative characteristics of a gasoline engine and a diesel engine are shown in Figs. . it has a rather poor powertoweight ratio and is mechanically complex. the maximum permissible speed of the engine is usually set just above the speed of the maximum power output. such as gasoline. Good combustion quality and maximum engine torque are reached at an intermediate engine speed.21 and 3. In a fuel cell. 3. Vehicles designed for traction. A fuel cell is an electrochemical device in which the energy released from a chemical reaction is converted directly into electricity. usually operate at much lower engine speeds since the 140 3 130 120 110 g p POWER 2000 4000 6000 rpm SPEED Fig. increases with an increase of speed up to the point of maximum power.
the water pump and fan. and not power. For a gasoline engine at the full throttle .15]. It should be mentioned that engine performance diagrams supplied by manufacturers usually represent the gross engine performance. and all other installations and accessories not essential to the operation are stripped off. In vehicle performance prediction. maximum torque. Hg). Various sets of reference atmospheric conditions have been recommended and used.32 kPa (14. that make a demand on engine power. Figure 3. and alternator with engine speed for a representative fullsize passenger car [3.230 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES pF r: 1 kg1kW. such as the alternator. determines the limits to their tractive performance. reference atmospheric conditions are used. Atmospheric conditions affect engine performance.92 in. air conditioning unit. air cleaner. the power consumption of all accessories over the full engine speed range should be evaluated and subtracted from the gross engine power to obtain the effective power available to the transmission input shaft. power steering. etc. It is the performance of the engine with only the builtin equipment required for selfsustained operation. = 101.23 shows the variation of the power consumed by the air conditioning unit.200 3000 rpm 0.7 psi. To allow comparison of the performance of different engines on a common basis. One of these sets is: To = 520" Rankine (15S°C or 60"F). such as the fan and water pump for the cooling system. 76 cm or 29. To limit the maximum operating speed.22 Performance characteristics of a diesel engine. 3. and barometric pressure (dry air) B. and powerassisted steering and braking.35 Fig. There are also auxiliaries. The effective engine power available at the transmission input shaft is therefore reduced by the power consumed by the accessories.h Iblbhp 60 40 04l0 1500  2000 2500 SPEED 0. engines for heavyduty vehicles are often equipped with a governor. and by losses arising from the exhaust system.
B.3. and T are the barometric pressure at the engine air intake and ambient temperature ( O R ) respectively. except under extreme conditions. the following relation may be used [3. As an approximation.23 Accessory power requirements for a fullsize passenger car.16]: Atmospheric conditions can change engine performance considerably.15. For a diesel engine. The effects of engine inlet temperature and ambient pressure on engine perform . (Reproduced with permission o f the Society o f Automotive Engineers from reference 3.16] where B . is the vapor pressure. the relationship between the engine power under reference atmospheric conditions Po and that under given atmospheric conditions P is given by [3. which represents the effect of air humidity.3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS 1000 2000 ENGINE SPEED 231 3000 rpm Fig. it may be neglected. the effects of atmospheric conditions on its performance characteristics are more complicated than those for a gasoline engine. Usually. 3.) position.
36 psi). Curve apower ratio versus ambient pressure. Curve bpower ratio versus intake temperature for gasoline engines. For a gasoline engine at the full throttle position. lately the Society of Automotive Engineers recommends the following for engine power rating (SAE 51995): inlet air supply temperature To = 25°C (77°F). the relation between P and P. . inlet air supply pressure (absolute) B. and T are the dry air portion of the total inlet air supply pressure in kPa and temperature in "C.5 psi) and dry air pressure (absolute) B.16]. = 100 kPa (14. It is dependent on the air W 1005 (I) (I) W B 70 80 90 100 110 120 % POWER RATIO P/Po Fig. It can be seen that if the engine air inlet temperature is higher and the ambient pressure is lower than the reference conditions. For diesel engines.24 [3. respectively.ance are shown in Fig. under given atmospheric conditions. Curve cpower ratio versus intake temperature for diesel engines. = 99 kPa (14. In addition to the reference atmospheric conditions mentioned above.24 Effect of atmospheric conditions on engine power. 3. the relationship between engine power under reference atmospheric conditions Po and that under given atmospheric conditions P is given by where B. 3. the power output of the engine will be lower. recommended by the Society of Automotive Engineers is quite complex.
25. 3. and the automatic transmission with a torque converter.or fourstroke). . which is determined by the usual practice requiring direct drive (nonreducing drive) in the gearbox in the highest gear. to properly match the characteristics of the engine to achieve the desired operating fuel economy and acceleration characteristics. therefore. in high gear for passengers cars 3. Other types of transmissions. Manual Gear Transmissions The principal requirements for the transmission are: 1. For vehicles requiring extremely high torque at low speeds.3. stroke of the engine (two. the powertorquespeed characteristics of the internal combustion engine are not suited for direct vehicle propulsion. For details.2 Transmission Characteristics As mentioned previously. As a general rule. such as 3%. or turbocharged).3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS 233 pressure charging system (naturally aspirated. an additional reduction gear (final drive) may be placed at the driven wheels. charge air cooling system. to be able to start. a propeller shaft. typically 33% (1 in 3). and a drive axle with a differential (to allow relative rotation of the driven tires during turning maneuvers). supercharged. fully loaded. in both forward and reverse directions on a steep gradient. and to be able to maintain a speed of 8896 kmlh (5560 mph) on a gentle slope. such as the continuous variable transmission (CVT) and the hydrostatic transmission. please refer to SAE Standard 51995. the drive axle has a constant gear reduction ratio. to achieve the desired maximum vehicle speed with an appropriate engine 2. In frontengined and frontwheeldrive vehicles or in rearengined and reardrivevehicles. the gearbox and differential are usually integrated into a unit. as indicated in Fig. fuel density and viscosity. The term "transmission" includes all of those systems or subsystems employed for transmitting the engine power to the driven wheels or sprockets. if there is no overdrive gear.3. a gearbox. The manual gear transmission usually consists of a clutch. etc. is required to provide the vehicle with the tractive effortspeed characteristics that will satisfy the load demands under various operating conditions. The gearbox provides a number of gear reduction ratios ranging from 3 to 5 for passenger cars. 3. The number of gear ratios is selected to provide the vehicle with the tractive effortspeed characteristics as close to the ideal as possible in a costeffective manner. A transmission. are also in use. and 5 to 16 or more for commercial vehicles. There are two common types of transmission for road vehicles: the manual gear transmission. commonly referred to as a transaxle.
234 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES / I I  TRACTIVE EFFORT REQUIRED TRACTIVE EFFORT AVAILABLE ( WITH GEAR REDUCTION ) TRACTIVE EFFORT AVAILABLE ( NO REDUCTION STAGE ) SPEED Fig. which for passenger cars is usually about 10% higher than the speed at the maximum engine power. Vma.) The gear ratio of the highest gear (i. n. the smallest gear reduction ratio) is chosen so that the desired maximum vehicle speed can be achieved with an appropriate engine. is the engine speed corresponding to the maximum vehicle speed. is the desired maximum vehicle speed.25 Tractive effortspeed characteristics of a passenger car.5 is the gear ratio in the drive axle.e. the engine speed is slightly higher than that at the maximum engine power. is the gear ratio of the highest gear in a gearbox with nspeed. and . 3.. and aerodynamic resistance at the maximum vehicle speed on a level road. (Reproduced with permission from reference 3.. the gear ratio of the highest gear in the gearbox may be determined as follows: where E. This ensures sufficient power reserve to maintain a given vehicle speed against a temporary increase in headwind or gradient during operation or against the possible deterioration in engine performance after extended use.. Based on this principle. rolling resistance of the tires. r is the rolling radius of the tire.26. The common practice is to select a gear ratio such that at the maximum vehicle speed.16. i is the tire slip. . as indicated in Fig. The engine should have sufficient power to overcome the internal resistance in the transmission. 3.
3. from Eq. is expressed by In the above equation. The gear ratio of the lowest gear (i.9. that the vehicle can climb.e..25 can be used to determine the gear ratio cm in the drive axle.26 Effect of the gear ratio of the highest gear on vehicle performance. = I)). in the highest gear.ROAD SPEED Fig.e. 3. the maximum slope Osma. the largest gear reduction ratio) is selected on the basis that the vehicle should be able to climb a steep gradient.. then the gear ratio of the lowest gear in the gearbox can be determined as follows.then Eq. the gearbox is in direct drive (i.18. For a rearwheeldrive vehicle.) If. usually 33% for passenger cars. If this approach is followed. There is also a suggestion that the gear ratio of the lowest gear in the gearbox should be such that the vehicle can climb the maximum gradient possible without tire spin on a typical road surface. the aerodynamic resistance is neglected because on a steep slope.. 3. (Reproduced with permission from reference 3. . c. as determined by the maximum tractive effort that the tireground contact can support. the vehicle speed is usually low.
. to a great extent. The method for selecting the gear ratios for the intermediate gears between the highest and the lowest is. a similar expression for the gear ratio of the lowest gear can be derived from Eqs. The basis for this is to have the engine operating within the same speed range in each gear.27 Selection of gear ratio based on geometric progression rule. For instance. the gear ratios are usually arranged in a geometric progression.27. the gear ratio of the lowest gear t. This would ensure that in each gear. in the gearbox is given by where Me. the operating fuel economy is similar.. dependent upon the type of vehicle (heavy commercial vehicles or passenger cars).26.27. as shown in Fig. the following relationship can be established (see Fig.236 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES From Eq. 3. 3. 3. For a frontwheeldrive vehicle.27): and nei o W ENGINE OPERATING SPEED RANGE nez W n V) W W 4th GEAR 0 VI v2 v3 v4 VEHICLE SPEED Fig. .10 and 3. is the maximum engine torque and qt is the efficiency of the transmission. 3. for a fourspeed gearbox. For heavy commercial vehicles. 3.
third. second.4 Gear 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Value of Kg Calculated from Eq.4 gives the gear ratios of gearboxes designed for commercial vehicles. respectively. have been determined.29 Gear Ratios of Transmissions for Commercial Vehicles Allison HT70 Eaton Fuller RTI 1608 EatonFuller Eaton Fuller ZF Ecomid RTIRTO15615 RT6613 16s 109 . It can be seen that the ratios for these gearboxes are basically arranged in a geometric progression. and fourth gears.where c. It should be noted that because the number of TABLE 3. if the ratio of the highest gear 5. are the gear ratios of the first. 3. and that of the lowest gear 6. the factor Kg can be determined by and Table 3. and the number of speeds in the gearbox n. and c. &. In a more general case. &. is known..
and due to oil churning. the gear ratios of the upper gears are usually closer than those of the lower gears. the tractive effort of the vehicle is given by where Me is the engine output torque. It is interesting to note that while the gear ratios for passenger cars are not arranged in a geometric progression. The mechanical efficiency of the transmission is a function of load (torque) and speed. for the gearbox in the Cadillac (Seville) shown in Table 3. For passenger cars. the average value of the ratios of two consecutive gear ratios is quite close to the value of Kg obtained using Eq. whereas the ratio of the gear ratio of the third gear to that of the second gear is 0.5.92).637 + 0.625 ((0. 3.7 (0.teeth of a gear is an integer.00).538 (1 S712. whereas the value of Kg obtained using Eq. the following average values for the mechanical efficiency of the major subsystems in the transmission may be used: (m).538)13).17]. is the . Consideration is also given to the fact that shifting between upper gears happens more frequently than between lower gears. m (300 Ib ft) [3. The transmission is connected to an engine operating at wide open throttle and developing a maximum torque of 407 N . As a result.621 In the transmission. it is not possible. $ is the overall reduction ratio of the transmission (including both the gearbox and drive axle gear ratios).  gearboxdirect gearboxindirect drive axle drive 98% drive 95% 95% For a vehicle with a manual gear transmission. In vehicle performance predictions. such as 100 kmlh (or 60 mph) or the maximum speed of the vehicle. particularly in city driving. the gear ratios are not usually arranged in a geometric progression. to arrange gear ratios in an exact geometric progression. in some cases. 3.71 1. For instance.57) and the ratio of the gear ratio of the second gear to that of the first gear is 0. Figure 3. The ratios of intermediate gears may be chosen to minimize the time required to reach a specific speed. 77.28 shows the variations of the mechanical efficiency with the input speed for a threespeed automatic gearbox.29 is 0.637 (1.29.5. Similar situations can be observed in the gear ratios of the transmissions for other passenger cars shown in Table 3. the average value of the ratios of two consecutive gear ratios for the Cadillac (Seville) is 0.7 + 0. For instance. there are losses due to friction between gear teeth and in the bearings and seals.0011. the ratio of the gear ratio of the fourth gear to that of the third gear is 0. as a first approximation.
3i Toyota Camry Wagon 3.3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS TABLE 3.0i T I 6 Renault Laguna 2.0 Volvo 440 1.0 V6 Dodge Intrepid 3.8 Audi A6 Avant 2.0i Peugeot 405 2.2i Mazda 323 1% MercedesBenz C220 MercedesBenz E320 MercedesBenz S420 Mercury Cougar 3% Nissan Sunny 2. The relationship between vehicle speed and engine speed is given by where n.7i Volvo S70 Volvo S70 Manual Manual Manual Manual Automatic Automatic Automatic Manual Automatic Manual Manual Manual Manual Automatic Manual Manual Automatic Automatic Automatic Manual Automatic Manual Manual Manual Manual Manual Manual Automatic Manual 1st 2nd 3rd 4th Drive 5th Gear Ratio overall transmission efficiency.5 239 Gear Ratios of Transmissions for Passenger Vehicles Final Gearbox Gear Ratios Vehicle Transmission TYpe Audi A4 1.0i Volkswagen Passat 2.3. is the engine speed and i is the slip of the vehicle running gear. It is important to note that the maximum tractive effort that the tireground contact can support usually determines the traction capability of the vehicle in low gears. and r is the radius of the tire (or sprocket).6i Cadillac Seville Chrysler Voyager 3.3i Fiat Punto 1. 5 Honda Odyssey 2.8 TD Ford Galaxy 2.0 diesel Oldsmobile Aurora 4.5 TDI BMW 320i BMW 5 2 5 Buick Park Avenue 3.6 Ford Escort 1.8i Cadillac DeVille 4. For .0i Toyota Corolla 1.0 16V Honda Civic 1 .
the reactor is in free rotation. thus to obtain a torque multiplication.30. (Reproduced with permission of the Society of Automotive Engineers from reference 3.. and the turbine is connected to the output shaft of the converter.29 shows the variation of the tractive effort with speed for a passenger car equipped with a threespeed manual gear transmission [3.17. The pump is connected to the engine shaft. The function of the reactor is to enable the turbine to develop an output torque higher than the input torque of the converter.16]. The major advantages of incorporating a torque converter into the transmission may be summarized as follows: 1. the slip is usually assumed to be 25% under normal operating conditions. 3.18]. The torque converter consists of at least three rotary elements known as the pump (impeller). At this point. The reactor is usually mounted on a free wheel (oneway clutch) so that when the starting period has been completed and the turbine speed is approaching that of the pump. the turbine. as shown in Fig. with a ratio of output torque to input torque equal to 1.240 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES O/' 100 r 96 z g 92 DIRECT DRIVE INTERMEDIATE . the converter operates as a fluid coupling.* [<GAR .0 [3. Figure 3. ..28 Mechanical efficiency of a threespeed automatic gearbox at wide open throttle. *. and the reactor. It usually comprises a torque converter and an automatic gear box. 3.) 0 a road vehicle. Automatic Transmissions The automatic transmission with a torque con verter is used widely in passenger cars in North America. it will not stall the engine. When properly matched./ Lk' 88 L1  \ I / 800 1600 2400 3200 4000 rpm GEAR BOX INPUT SPEED Fig. which in turn is coupled with the input shaft of the multispeed gearbox.. The reactor is coupled to an external casing to provide a reaction on the fluid circulating in the converter.
3.6 GRAVEL WET ASPHALT = 0.3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS % kN GROSS TRACTIVE EFFORT NET TRACTIVE EFFORT Ib .) q v . (Reproduced with permission from reference 3. .  ADHESION LIMITS OF TRACTIVE EFFORT CONCRETE k = 0.16.8 P = 0. 3.241 3.OUTPUT SHAFT Fig.4 VEHICLE SPEED 25% GRADE LEVEL GROUND Fig.29 Performance characteristics of a passenger car with a threespeed manual transmission.30 Schematic view of a torque converter.
efficiency. Together with a suitably selected multispeed gearbox. it provides torquespeed characteristics that approach the ideal. 3. which is the ratio of the input speed to the square root of the input torque. = output speed X output torquelinput speed x input torque = CsiCrr Capacity factor (size factor) Kt.) .17]. (Reproduced with permission of the Society of Automotive Engineers from reference 3. in which the torque ratio. and input capacity factor. which is proportional to the square of the rotating speed. 3.31 Performance characteristics of a torque converter. 3. are plotted against the speed ratio [3.. = speed/The capacity factor is an indication of the ability of the converter to absorb or to transmit torque. The torque ratio of the converter reaches a maximum at stall condition where the speed ratio is zero. = output torquelinput torque Efficiency rl. The performance characteristics of a torque converter are usually described in terms of the following four parameters: Speed ratio Csr = output speedlinput speed Torque ratio C.31. SPEED RATIO Fig. It provides a flexible coupling between the engine and the driven wheels (or sprockets).17.242 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES 2. Representative performance characteristics of the torque converter are shown in Fig.
and increases with an increase of the speed ratio. a small difference between the input and output speed remains because of the slip between the pump (impeller) and the turbine. and the converter eventually acts as a hydraulic coupling with a torque ratio of 1. an engine capacity factor K. To characterize the engine operating conditions for purposes of determining the combined performance of the engine and the converter. and increases with an increase of the speed ratio.140 500 1500 2500 3500 4500 ENGINE SPEED Fig. and Me are the engine speed and torque.32 I .17. to determine the actual operating conditions of the converter. (Reproduced with permission of the Society of Automotive Engineers from reference 3. is introduced and is defined as where n.32 Capacity factor of an internal combustion engine. 3. Since the converter is driven by the engine. 3. At this point.The torque ratio decreases as the speed ratio increases. the engine operating point has to be specified. The input capacity factor is an important parameter defining the operating conditions of the torque converter and governing the matching between the converter and the engine. The efficiency of the converter is zero at stall condition.0. respectively. The variation of the capacity factor with speed for a particular engine is shown in Fig. It reaches a maximum when the converter acts as a fluid coupling.) . The input capacity factor of the converter has a minimum value at stall condition.
For a particular value of the input capacity factor of the converter K. as shown in Fig. 3. the engine shaft is usually connected to the input shaft of the converter.31. the tractive effort and speed of the vehicle can be calculated: and Figure 3..33 shows the variation of the tractive effort with speed for a passenger car equipped with a torque converter and a threespeed gearbox [3.244 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES [3.31. It should be mentioned that the efficiency of a torque converter is low over a considerable range of speed ratio. It is programmed to engage in a predetermined vehicle speed range. the converter speed ratio and torque ratio can be determined from the converter performance curves. the input capacity factor of the converter corresponding to the specific engine operating point is then known. Knowing the engine operating point. therefore. and n. respectively. the engine power is directly transmitted to the output shaft of the torque converter. = K. Since K. the engine and the converter should have a similar range of capacity factor. 3. as shown in Fig. When the "lockup" clutch is engaged.17]. 3. The matching procedure begins with specifying the engine speed and engine torque. The output torque and output speed of the converter are then given by and where M .32). are the output torque and output speed of the converter. one can determine the engine capacity factor K. As mentioned above. To improve the overall efficiency of the automatic transmission and hence fuel economy. To achieve proper matching.17]. With the reduction ratios of the gearbox and the drive axle known.. .. (Fig. a "lockup" clutch is incorporated in the torque converter.
ft).) Example 3. Since the capacity factor K.87 X 2450 = 2132 rpm The output torque of the torque converter M.33 Tractive effortspeed characteristics of a passenger car with a threespeed automatic transmission. ft) The efficiency of the torque converter under this operating condition is . is n... = 123.31..17.  Solution. Determine the output speed and output torque of the torque converter when the engine is operating at 2450 rpm with an engine output torque of 393 N m (290 lb . The output speed of the torque converter n. An engine with torquespeed characteristics shown in Fig. = 0. m (304 lb .31.LOW > F 5 2 a: INTERMEDIATE 1000 DIRECT F 0 0 0 25 50 50 0 75 100 100 150 200 km/h VEHICLE SPEED Fig. is Mtc = 393 X 1. 3. when Kt. 3. The engine capacity factor K. = 1. (Reproduced with permission of the Society of Automotive Engineers from reference 3. is equal to that of the torque converter K.05.. = 0. 3. 3..87 and the torque ratio C. the speed ratio C..1.32 is coupled with a torque converter with characteristics shown in Fig. From Fig.O5 = 413 N .
and hence the reduction ratio.201. the reduction ratio was controlled by mechanical means through centrifugal weights on the driving pulley and an engine vacuum actuator.35 [3.) thick. continuously variable transmissions have attracted a great deal of interest. The Perbury system is schematically shown in Fig. The Van Doorne system is most suited to low power applications. Two representative types of continuously variable transmission are the Van Doorne belt system and the Perbury system.19.34 A Van Doorne type continuously variable transmission.078 in. instead of tension.246 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Continuously Variable Transmissions With growing interest in improving the fuel economy of automotive vehicles. with the outer pair connected to the input shaft and the inner one connected to the output shaft. 3. 3.34. The effective radius of the pulleys. a microprocessorbased control system has been developed [3. as shown in Fig. a "segmented steel belt" or a "push belt system" has been developed [3.19]. can be varied by adjusting the distance between the two sides of the pulleys. which consists of three disks. The variations of the efficiency with input torque and speed at a reduction ratio of 1 for a system designed for a lightweight passenger car are shown in Fig. upon I BLE ADJUSTABLE BELT CROSS DRIVING PULLEY Fig. The operating fuel economy of automotive vehicles will be discussed later in this chapter. It comprises a set of belt elements about 2 mm (0. This type of continuously variable transmission can achieve a reduction ratio ranging from 4 to 6. . The inner surfaces of the disks are of a toroidal shape. More recently. The mechanical efficiency of this transmission varies with the load and speed. Unlike the conventional Vbelt. it transmits power by the compressive force between the belt elements.22]. 3. The key component of this system is the variator. with slots on each side to fit two hightensile steel bands which hold them together. 3. and has been used in small size passenger cars and snowmobiles. This type of transmission provides a continuously variable reduction ratio that enables the engine to operate under the most economical conditions over a wide range of vehicle speed. On the original system. To improve the efficiency of the system and to reduce noise and wear.36 [3. The Van Doorne system has a pair of conically faced pulleys.21]. 3.
36 A Perbury type continuously variable transmission.) INPUT Fig.22. (Reproduced with permission of the Society of Automotive Engineers from reference 3.35 Variation of mechanical efficiency with input torque at a constant reduction ratio for a Van Doorne type continuously variable transmission. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 3.) . 3. 3.19.I 0 I I 20 40 INPUT TORQUE I 60 Ib*ft Fig.
Variable displacement pumps are piston pumps that permit higher pressure to be used. To minimize wear. Variable Displacement Pump with Fixed Displacement Motor This type of hydrostatic drive has certain advantages over the fixed displacement pump and motor system. and has been designed for buses and delivery trucks with a rated power of 375 kW (502 hp). vane. and have enjoyed a certain degree of success [3. a gearbox is frequently employed. particularly those of a specialized nature. a continuously variable reduction ratio can be achieved. The performance characteristics of this type of system coupled with a twospeed gearbox are shown in Fig. The rollers can rotate about their own axes. This simple hydrostatic transmission has been quite widely used in construction machinery such as excavators to drive the tracks.1.37(a). The tractive effortspeed characteristics of this system with a multispeed gearbox are illustrated in Fig. The performance characteristics of the vehicle are approaching the ideal ones.which the spherical rollers roll. thus providing a mechanism for steering. The relative slip between the two is 12% under normal operating conditions. Common with the Van Doorne belt system. typically less than 0. To extend the tractive effort and vehicle speed range. or piston motor through control valves.37(b).23]. 3. the displacement of both the pump and the motor can be varied continuously. Hydrostatic drives may be divided into three categories. as the coefficient of traction between the roller and the disk surfaces is low. They also permit stepless speed control from zero to maximum. which allows the two tracks to be operated individually. lubrication is provided between the rollers and the disks. Closedloop fluid circuits can be employed to provide both forward and reverse motions and braking functions. it cannot provide zero output and a reverse ratio. Variable Displacement Pump and Motor In this system. separate devices are required for starting and for reverse. The maximum working pressure of the fluid in this type of system is usually about 20. 3. as well as offroad vehicles. Consequently.685 kPa (3000 psi). The average value of the mechanical efficiency of this system is approximately 90%. This system can provide a reduction ratio of about 5. Constant Displacement Pump with Fixed Displacement Motor This type of hydrostatic drive usually consists of a gear or vane pump driving a gear. To transmit adequate torque. By varying the inclination of the roller axes. as shown in Fig. Each gear pump drives its own hydraulic motor. Hydrostatic Transmissions Hydrostatic transmissions are used in some road vehicles. It should be noted that the carriers for the rollers are fixed. high normal forces across the contact points are required. The Perbury system is suited to higher power applications than the Van Doorne belt system. .
37 Tractive effortspeed characteristics of a vehicle equipped with various types of hydrostatic transmission. Figure 3.38 Variation of transmission efficiency with output speed of an automatic transmission with a torque converter and of a hydrostatic transmission. from "Why has the British Manufacturer been Hesitant to Adopt Hydrostatic Drives?" by Wardill. for vehicles designed for traction operating with a high tractive effort at low speeds. However. and service remain to be solved. the problems of cost. It appears that there is relatively little difference between the two types of transmission from the point of view of efficiency over the operating range.3 VEHICLE POWER PLANT AND TRANSMISSION CHARACTERISTICS F 249 SPEED Fig. the hydrostatic drive can provide a more positive speed control and flexibility in vehicle layout. I.) .38 shows the efficiencies of a hydrostatic drive and a comparable automatic transmission (a torque converter with a twospeed gearbox) [3. the hydrostatic transmission seems to be more suitable.37(c). In comparison with the automatic transmission with a torque converter. Conference on Making Technology ProfitableHydrostatic Drives. (Reproduced with permission of the Council of the Institution of Mechanical Engineers. E. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 3. reliability. Mech.) 3.23.3.SPEED GEAR BOX 0 20 40 60 80 100% OUTPUT SPEED Fig. 3.23]. 3. maintenance.39 shows the fuel consumption and power output of HYDROSTATIC TRANSM ISSlON TOROUE CONVERTER WITH 2. Figure 3. Although the performance and control of this type of transmission are beyond question. 1974.
3. The passenger car with characteristics shown in Fig.29 will be used as an example to illustrate the procedure for predicting acceleration characteristics and gradability..23.23]. 3. the resistance of the vehicle as a function of speed must also be determined. and the aerodynamic resistance R. the major resisting forces are the rolling resistance R. in addition to the relationship between the tractive effort and vehicle speed.39 Variation of fuel consumption and output power with output speed of an automatic transmission with a torque converter and of a hydrostatic transmission. Thus. On level ground without a drawbar load.4 PREDICTION OF VEHICLE PERFORMANCE The relationship between tractive effort and vehicle speed discussed in the previous section provides the basis for predicting the performance characteristics of a road vehicle. a faster rate of work can be achieved with the hydrostatic drive.HYDROSTATIC TORQUE CONVERTER h~. and they can be predicted using methods discussed . To fully describe the performance of a vehicle.lb/h INPUT HP OUTPUT SPEED Fig.23]. even though manual gear transmissions have higher efficiency [3. 3.250 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES 6 . Tests of offroad vehicles equipped with hydrostatic transmissions have shown improved productivity as compared with those equipped with manual gear transmissions. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 3.) a particular vehicle equipped with the two types of transmission [3. It is apparent that the hydrostatic transmission permits full power to be developed by the engine once the output speed of the transmission is high enough.
. .5 kN (1240 lb). Any change of translational speed of the vehicle will therefore be accompanied by a corresponding change of the rotational speed of the components coupled with the wheels. 3.4. including the engine and the driveline. . the maximum tractive effort as determined by the engine torque and transmission characteristics is about 5. = y.. is the mass moment of inertia of the wheel. 3. that with the second gear engaged. gravel. and not by the engine torque.. Figure 3. that the translational motion of the vehicle is coupled to the rotational motion of the components connected with the wheels. and wet asphalt are shown in the figure.. I. are the mass moments of inertia of the rotating components connected with the drive . To take into account the effect of the inertia of the rotating parts on vehicle acceleration characteristics.1.. The maximum tractive efforts of the passenger car that the tireground contact can support on various surfaces including concrete. and R. when the vehicle speed is below 1 12 kmlh (70 mph). It can be seen. as shown in Fig.. The difference between the tractive effort and the resultant resisting force is the net thrust F. y. for instance. . This indicates that.29.. with speed for the passenger car is shown in Fig. 3.. I . the tractive effort of the vehicle on wet asphalt is limited by the tireroad adhesion. They are determined using the method discussed in Section 3..ma where m is the vehicle mass.1 Acceleration Time and Distance Having determined the net thrust of the vehicle as a function of speed. the maximum tractive effort that the car can develop with the second gear engaged is 4 kN. is introduced into the following equation for calculating vehicle acceleration a: F  R = F. available for accelerating the vehicle or for overcoming grade resistance. The variation of R. one can then compute the acceleration of the vehicle using Newton's second law. I2 . a mass factor y. The intersection of the vehicle thrust and the resultant resistance curves determines the maximum speed that the vehicle can achieve.4 PREDICTION OF VEHICLE PERFORMANCE 251 previously. whereas the maximum tractive effort on wet asphalt that the tireroad contact can support is only 4 kN (900 Ib). It should be noted. can be determined from the moments of inertia of the rotating parts by where I..3. however.29 also shows that with the second gear engaged.29. in fact. It should be noted that the nature of tireroad interaction imposes a fundamental limit on the maximum tractive effort.
to V. and r is the rolling radius of the wheel.29.16]: The first term on the righthand side of the above equation represents the contribution of the rotating inertia of the wheels. available for accelerating the vehicle is a function of vehicle speed: This makes the expression relating the time and speed of the following form not integrable by analytic methods: To predict the time required to accelerate the vehicle from speed V. the mass factor y. These relationships can be derived using the equation of motion of the vehicle in a differential form: and As can be seen from Fig. respectively. . &. with reference to the driven wheel. . the integration is best handled by numerical methods using a computer.. timespeed and timedistance relationships are of prime interest. while the second term represents the contribution of the inertia of the components rotating at the equivalent engine speed with the overall gear reduction ratio towith respect to the driven wheel.& . may be calculated using the following empirical relation [3. although graphic methods of integration can also offer solutions of sufficient accuracy [3.line having gear ratios t.16].. In the evaluation of vehicle acceleration characteristics. the net tractive effort F. can be calculated by integrating the following equation: . The distance S that the vehicle travels during an acceleration period from speed V... to V. 3. For passenger cars.
gear changing causes a time delay of 12 s.40 shows the acceleration timedistance curve and the acceleration timespeed curve for a passenger car with a gross weight of 17. slip occurs between the driving and driven parts of the clutch.) . for automatic transmissions. and the vehicle speed is not directly related to the engine speed. the engine is usually assumed to be operating at wide open throttle.16. Figure 3.5 1 1 1 L .4 PREDICTION OF VEHICLE PERFORMANCE 253 When a vehicle having a manual gear transmission starts from rest. the delay is typically 0. in the initial period. it can be assumed that during the clutch engagement period. DISTANCE 0 0. To obtain a more accurate estimate of acceleration time and distance. It should be noted that a certain amount of time is required for gear changing during acceleration.2 L . In the evaluation of acceleration time and distance. 3.40 Acceleration characteristics of a passenger car with a threespeed manual transmission. In a first approximation.3. There are mathematical models available for analyzing the dynamics of the clutch engagement process.51 s.79 kN (4000 lb) and with thrustspeed characteristics as shown in Fig.5 0 2 1.L 0 50 1 km 6 xlOOOft 1 I 100 100 150 SPEED mph km/h Fig. For manual transmissions. the maximum engine torque is transmitted to the input shaft of the gearbox. this delay should be taken into consideration.0 4 1 60f1 S 0 1. however.29 [3. The kinks in the timespeed curve represent the delays caused by gear changing. The acceleration time and distance from zero vehicle speed to the next speed increment can then be calculated using the procedures outlined above. (Reproduced with permission from reference 3. 3.16].
254
PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES
Example 3.2. A vehicle weighs 21.24 kN (4775 lb), including the four road
wheels. Each of the wheels has a rolling radius of 33 cm (13 in.) and a radius
of gyration of 25.4 cm (10 in.), and weighs 244.6 N (55 lb). The engine
develops a torque of 325 N . m (240 lb ft) at 3500 rpm. The equivalent
mass of moment of inertia of the parts rotating at engine speed is 0.733 kg
m2 (0.54 slug . ft2).The transmission efficiency is 85%, and the total reduction
ratio of the driveline in the third gear is 4.28 to 1. The vehicle has a frontal
area of 1.86 m2 (20 ft2), and the aerodynamic drag coefficient is 0.38. The
coefficient of rolling resistance is 0.02. Determine the acceleration of the
vehicle on a level road under these conditions.


Solution
a) The mass factor y, for the vehicle in the third gear can be calculated
using Eq. 3.37:
b) The thrust of the vehicle F is determined using Eq. 3.30:
c)
The vehicle speed V can be calculated using Eq. 3.3 1:
Assume that i
=
3%; the vehicle speed V is
V
=
98.7 kmlh (61.3 mph)
d) The total resistance of the vehicle is the sum of the aerodynamic resistance R , and the rolling resistance R,:
R
e)
=
R,
+ R,
=
752 N (169 lb)
The acceleration a of the vehicle can be determined using Eq. 3.36:
3.5 OPERATING FUEL ECONOMY
3.4.2
255
Gradability
Gradability is usually defined as the maximum grade a vehicle can negotiate
at a given steady speed. This parameter is primarily intended for the evaluation of the performance of heavy commercial vehicles and offroad vehicles.
On a slope at a constant speed, the tractive effort has to overcome grade
resistance, rolling resistance, and aerodynamic resistance:
F
=
W sin 6,
+ R, + R,
For a relatively small angle of 8,, tan 6, = sin 6,. Therefore, the grade resistance may be approximated by W tan 8, or WG, where G is the grade in
percent.
The maximum grade a vehicle can negotiate at a constant speed therefore
is determined by the net tractive effort available at that speed:
Use can be made of the performance curves of a vehicle, such as those shown
in Fig. 3.29, to determine the speed obtainable on each particular grade. For
instance, the grade resistance of the passenger car with a weight of 17.79 kN
(4000 lb) on a grade of 7.5% is 1.34 kN (300 lb). A horizontal line representing this grade resistance can be drawn on the diagram, which intersects
that net tractive effort curve at a speed of 133 kmlh (82 mph). This indicates
that for the passenger car under consideration, the maximum speed obtainable
at a grade of 7.5% is 133 kmlh (82 mph). It should be noted that the limits
of tractive effort set by the nature of tireroad adhesion usually determine
the maximum gradability of the vehicle. For instance, it can be seen from
Fig. 3.29 that the maximum grade the vehicle can negotiate at low speeds on
a gravel surface with p = 0.6 will be approximately 35%.
3.5
OPERATING FUEL ECONOMY
The operating fuel economy of an automotive vehicle depends on a number
of factors, including the fuel consumption characteristics of the engine, transmission characteristics, weight of the vehicle, aerodynamic resistance, rolling
resistance of the tires, driving cycle (conditions), and driver behavior.
256
PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES
Typical fuel economy characteristics of a gasoline and a diesel engine are
shown in Figs. 3.41 and 3.42, respectively [3.18]. They usually have reduced
fuel economy at low throttle and low torque settings. Operations at low engine
speed and high torque are always more economical than at higher speed and
lower torque settings with the same power output. For instance, it can be seen
from Fig. 3.41 that for the engine to develop 22 kW (30 hp) of power, it can
run at a speed of 2500 rpm or 4000 rpm. At 2500 rpm, the specific fuel
consumption is approximately 0.29 kgIkW . h (0.48 lblhp h), whereas at
4000 rpm, it is 0.37 kg/kW . h (0.60 lblhp . h). By connecting the engine
operating points with the lowest specific fuel consumption for each power
setting, an optimum fuel economy line (maximum efficiency line) of the engine can be drawn, as shown in Fig. 3.41 [3.18].
For a given power requirement at a specific vehicle speed, the engine
operating point is determined by the gear ratio of the transmission. Ideally,
the gear ratio of the transmission can be continuously varied to any desired
value so that the engine operating point will follow the optimum fuel economy

ROAD SPEED ( TOP GEAR )
50
100
kmlh
150
( OVERDRIVE )
50
100
150
I
I
I
50
30
kW
hp
I
I
I
90'
70
I
I
VEHICLE POWER
REQUIREMENTS:
kmlh
I
I
mph
110
I
I
1
MAXIMUM ENGINE POWER
OPTIMUM
OVERDRIVE
20
10
1000
2000
3000
4000
5000 rpm
ENGINE SPEED
Fig. 3.41 Fuel economy characteristics of a gasoline engine. (Reproduced with permission from reference 3.18.)
3.5 OPERATING FUEL ECONOMY
257
7MAXIMUM ENGINE TORQUE
%
ENGINE
SPECIFIC FUEL
CONSUMPTIONS
0
I
600
I
1000
I
' I
1400
1
I
1800
I
rpm
ENGINE SPEED
Fig. 3.42 Fuel economy characteristics of a diesel engine. (Reproduced with permission from reference 3.18.)
line for all power settings. This has stimulated the development of a variety
of continuously variable transmissions, as described in Section 3.3.2. The
potential gain in fuel economy using the continuously variable transmission
may be illustrated using the example given above. As shown in Fig. 3.41,
when the vehicle is operating in the top gear at 128 km/h (80 mph), the
horsepower required is 22 kW (30 hp), and the engine is running at 4000
rpm with a specific fuel consumption of 0.37 kg/kW h (0.60 lblhp . h).
However, if a continuously variable transmission is used, the transmission
gear ratio can be varied so that at the same vehicle speed with the same power
output, the engine is running at 2500 rpm with a specific fuel consumption
of approximately 0.29 kg/kW . h (0.48 lblhp . h). This represents a potential
fuel saving of 21.6%. It should be noted, however, that the mechanical efficiency of the current generation of continuously variable transmissions is
generally lower than that of the manual gear transmission. The actual saving
in fuel using the continuously variable transmission may not be as high as
that given in the above example. Figure 3.43 shows a comparison of fuel
consumption of a small passenger car with a 1.6 L engine equipped with a
Van Doorne type of continuously variable transmission and that with a manual
fivespeed transmission [3.20]. It can be seen that under steady operating
conditions in the speed range 60150 kmlh (3793 mph), the vehicle with
the Van Doorne transmission achieves better fuel economy than the manual
fivespeed transmission, in spite of its lower mechanical efficiency (approximately 8690%).
To further illustrate the effect of the ratios of the transmission on the operating fuel economy of road vehicles, the overdrive gear of a passenger car
258
PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES
5SPEED MANUA
I
I
1
1
1
50
75
100 rnph
VEHICLE SPEED
Fig. 3.43 Comparison of fuel consumption of a small car equipped with a continuously variable transmission to that with a manual transmmion. (Reproduced with
permission of the Council of the Institute of Mechanical Engineers from reference
0
25
3.20.)
may be used as an example. As shown in Fig. 3.26, the gear ratio of the top
gear in the transmission is usually selected in such a way that the curve
representing the power avaiIable at the driven wheels meets the resultant resistance curve at a speed slightly higher than that of maximum power 13.181.
This typical choice of gear ratio provides the vehicle with sufficient power
reserve to maintain a given vehicle speed against a temporary increase in
resistance due to headwind or gradient. The vehicle power requirements at
various vehicle speeds in top gear can be plotted in the engine performance
diagram as shown in Fig. 3.41. It will be noted that a maximum vehicle speed
of 145 kmlh (90 mph) is equivalent to an engine speed of 4500 rpm in top
gear in the example shown, and that the power required to overcome the
resultant resistance at that speed is about 32.8 kW (44 hp). When the engine
is running at 4500 rpm and developing 32.8 kW (44 hp), the specific fuel
consumption will be 0.40 kg/kW h (0.65 lblhp h), as shown in Fig. 3.41.
Thus, in 1 h at 145 kmlh (90 mph), the vehicle will consume 13.1 kg (28.8
lb) of fuel in top gear.
If, however, an overdrive gear with a gear ratio approximately 30% less
than that of the top gear is introduced into the transmission, the vehicle can
still achieve a maximum speed of 145 kmlh (90 mph), as shown in Fig. 3.26,
but with reduced power reserve over the entire speed range. Owing to the
lower gear ratio that an overdrive gear introduces, for the same vehicle speed
the engine speed will be lower than that when using the top gear, as shown
in Fig. 3.41. For instance, at a speed of 145 kmlh (90 mph), with the over


259
3.5 OPERATING FUEL ECONOMY
drive gear, the engine is running at 3400 rpm as compared with 4500 rpm
when using the top gear. Accordingly, using the overdrive gear, the engine
specific fuel consumption is reduced to 0.32 kgIkW . h (0.53 lblhp h) as
compared with 0.40 kgIkW h (0.65 lblhp h) when using the top gear.
Thus, with the overdrive gear, the vehicle will consume only 10.5 kg (23.1
lb) of fuel per hour at a speed of 145 kmlh (90 mph). This represents a
saving of fuel of approximately 20%. Although this example is for a particular
engine and vehicle, most cars will show similar gains with an overdrive. The
improvement in fuel economy obtained by an overdrive gear under steadystate cruising conditions is an exploitation of the fact that for the same power
output, the internal combustion engine is always more economical to operate
at low speed and high torque than at higher speed and lower torque settings.
The reduction of vehicle weight is also one of the important measures for
achieving improved fuel economy. This is because the propelling force, and
hence power, required to accelerate a vehicle is proportional to its weight. In
"stop and go" driving conditions in the city or an urban environment, the
frequent acceleration leads to higher fuel consumption for a heavier vehicle
than a lighter vehicle. To reduce vehicle weight, unibody construction has
largely replaced the separate bodyframe construction, computeraided techniques have been introduced to optimize the design of vehicle structure, and
lightweight materials, such as composites, highstrength lowalloy steel, plastics, aluminum, and metalplastic laminates, have found increasing use in
vehicle components. The reconfiguration of the vehicle from front enginerear wheel drive to front enginefront wheel drive would also lead to a considerable reduction in vehicle weight. It is estimated that a reduction of 1 kg
in vehicle mass is equivalent to a reduction in fuel consumption of 7.24 X
lo' Llkm (or each pound of weight saved will result in a reduction in fuel
consumption of 1.4 X lop5 gallmi) [3.24]. It is observed that a 10% change
in tire rolling resistance will result in an approximately 2% change in fuel
economy for passenger cars. The effect of aerodynamic resistance on vehicle
fuel consumption is also noticeable, which has been discussed in Section 3.2.
Driving cycle (conditions) is another factor that significantly affects fuel
consumption. It is obvious that the fuel consumption for driving in the city
with slow speeds and frequent "stop and go" is substantially higher than that
for driving on the highway with steadier and higher speeds. To provide a
common basis for comparing the fuel economy of different vehicles, the Environmental Protection Agency (EPA) of the United States has devised a city
(urban) driving cycle and a highway (suburban) driving cycle. Vehicle manufacturers are required to conduct fuel economy tests according to these EPA
cycles. The EPA city driving cycle consists of 10 "stop and go" driving
segments within 765 s and with a maximum speed of 60 mph (96 kmlh).
The EPA highway driving cycle consists of four segments to simulate the
driving conditions on a local road, a collector lane, a principal arterial, and a
minor arterial within 765 s and with a maximum speed of 60 mph (96 kml
h) [3.24]. Based on the test results for the EPA city and highway driving



cycle, a composite fuel economy indicator [also known as the Corporate Average Fuel Economy (CAFE)] expressed in miles per gallon (mpg) is established according to the following formula [3.24]:
mPgctmposite  (0.55Icity mpg)
1
+ (0.45lhighway mpg)
(3.44)
A number of other operating factors, including engine startup and
warmup behavior, ambient conditions, road surface conditions, vehicle maintenance, and driver behavior (habits), also affect the operating fuel economy.
The fuel consumption data for some passenger cars are given in Table 3.6.
It can be seen that for the same vehicle with the same engine, the fuel consumption is dependent upon the type of transmission installed. From the data
shown, in most cases, fuel consumption with an automatic transmission is
higher than that with a manual transmission for both city and highway driving.
3.6
ENGINE AND TRANSMISSION MATCHING
From the discussions presented previously, it can be seen that the engine and
transmission characteristics are two of the most significant design factors that
affect the performance and fuel economy of a vehicle. For a given vehicle to
achieve a desired level of performance and fuel economy, proper matching
of the engine to the transmission is of importance. The performance of a road
vehicle may be characterized by its acceleration time from standstill to a given
speed, usually 100 kmlh or 60 mph or the time required to travel a given
distance, such as 114 mi or 0.4 km. This can be predicted using the method
described in Section 3.4. The fuel economy may be characterized by the fuel
consumed for a given distance traveled under a specific driving cycle. This
may be evaluated using the general procedure outlined in Section 3.5. In the
United States, the fuel consumption data obtained under EPA city and highway driving cycle and/or the EPA Corporate Average Fuel Economy (CAFE)
described by the mpg,,,,,,,,e
calculated from Eq. 3.44 are generally used as
indicators for fuel economy.
For a given vehicle with a particular engine and gearbox having a specific
gear ratio span (i.e., the ratio of the gear ratio of the lowest gear to that of
the highest gear), the acceleration time and fuel economy are a function of
the drive axle gear ratio. Figure 3.44 shows the effects of the gear ratio
of the drive axle on the performance and fuel economy of a vehicle with
different engine sizes (small, midsize, and large) [3.25]. The enveloping curve
shown in Fig. 3.44 represents the optimum performance versus fuel economy
tradeoff curve. For instance, points A, B, and C represent the gear ratios of
the drive axle with a specific gearbox that achieve the optimum tradeoff between performance and fuel economy for the large, midsize, and small engine,
TABLE 3.6 Fuel Consumption Ratings of Passenger Cars

Fuel Consumption
Vehicle
Acura Integra
Acura Integra
Audi A4
Audi A4
BMW 328i
BMW 3281
Cadillac Seville
Chevrolet Cavalier
Chevrolet Cavalier
Chrysler Intrepid
Chrysler Intrepid
Ford Focus
Ford Focus
Honda Accord DX
Honda Accord DX
Engine
Displacement
(~iters)
No. of
Cylinders
Transmission
L / 100 km
mPg
L/ 100 km
mPg
1.8
1.8
2.8
2.8
2.8
2.8
4.6
2.4
2.4
2.7
2.7
2.0
2.0
2.3
2.3
4
4
6
6
6
6
8
4
4
6
6
4
4
4
4
M5 +
E4E*
M5 +
E5 +
M5
E5 +
E4E*
M5 +
E4E*
E4 +
S4 +
M.5+
E4E*
M5 +
E4E*
9.3
10.0
11.7
13.0
11.5
12.3
13.9
10.7
11.0
11.7
11.7
9.4
9.4
10.1
10.8
30
28
24
22
25
23
20
26
26
24
24
30
30
28
26
6.8
7.0
7.5
8.2
7.5
7.9
8.1
6.5
7.4
7.5
7.4
6.5
6.9
7.2
7.5
42
40
38
34
38
36
35
43
38
38
38
43
41
39
38
City
Highway
TABLE 3.6 (Continued)
Fuel Consumption
Vehicle
Lincoln Town Car
MercedesBenz C280
MercedesBenz E320
MercedesBenz S430
Nissan Maxima
Nissan Maxima
Toyota Camry
Toyota Camry
Volkswagen Passat
Volkswagen Passat
Volvo S70
Volvo S70
Engine
Displacement
[liters)
No. of
Cylinders
Transmission
L / 100 km
mPg
L / 100 km
mPg
4.6
2.8
3.2
4.3
3.O
3.0
2.2
2.2
2.8
2.8
2.4
2.4
8
6
6
8
6
6
4
4
6
6
5
5
E4E*
E5E*
E5E*
E5E*
M5 +
E4E*
M5 +
E4E*
M5 +
E5 +
M5 +
E5E*
13.7
11.2
11.4
13.7
10.9
11.9
10.0
10.4
11.9
13.1
11.1
11.7
21
25
25
21
26
24
28
27
24
22
25
24
8.9
8.0
7.3
8.9
7.9
7.8
6.8
7.3
7.5
8.3
7.5
7.8
32
35
39
32
36
36
42
39
38
34
38
36
City
Highway
Source: 2000 Fuel Consumption Guide, Ministry of Transport, Canada. (The city ratings are based on a 12 km drive of 22 minutes which includes 16 complete
stops, with an average speed of 32 kmlh. The highway ratings are based on a 16 km trip of 12 minutes with no stops, at an average speed of 77 kmlh.)
Note: Eelectronic automatic, Mmanual, Sautomatic with manual mode, 1, 2. 3, 4, 5number of gears, +with
overdrive, E*electronic overdrive,
L / 100 kmliters per 100 km, mpgmiles per imperial gallon.
3.6 ENGINE AND TRANSMISSION MATCHING
263
DIFFERENT DRIVE AXLE RATIOS
OPTIMUM PERFORMANCE vs.
ECONOMY TRADEOFF CURVE

INCREASING ECONOMY
Fig. 3.44 Effect of drive axle ratio on performance and fuel economy of a passenger
car. (Reproduced with permission of the Society of Automotive Engineers from reference 3.25.)
respectively. Figure 3.45 shows the optimum performance versus economy
tradeoff curves for various fourspeed gearboxes having different gear ratio
spans from 3.56 to 5.94. If the vehicle is to achieve an acceleration time
of 13.5 s from standstill to 60 mph (96 kmlh) with a given engine, then using gearbox unit C with a gear ratio span of 5.94 and with an optimum drive
axle ratio will improve the fuel economy by 4.4%, in comparison with that
using gearbox unit A with a gear ratio span of 3.56. The fuel economy of the
vehicle is measured by thc EPA Corporate Average Fuel Economy (CAFE)
in mpg,
,,,,, ,,, defined by Eq. 3.44
Figure 3.46 shows the effects of the gear ratio span of a threespeed automatic transmission with an optimum drive axle gear ratio and of the engine
displacement (in liters) on the performance and fuel economy of a General
Motors frontwheeldrive car (3.261. It shows the gain in fuel economy that
can be obtained by changing the transmission gear ratio span or engine size
for a given performance level, expressed in terms of the time taken to travel
114 mi (0.4 km). This provides the vehicle engineer with quantitative information to select the proper combination of engine and transmission to achieve
a desired level of performance and fuel economy.
264
PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES
S
8

10

E
g12

E'
1
4SPEED (3.56:1OVERALL): UNlT A
4SPEED (4.72:l OVERALL): UNlT B
4SPEED (5.94:l OVERALL): UNIT C
!2
c
el4

0
z
16


INCREASING ECONOMY
Fig. 3.45 Effect of gear ratio span of a fourspeed manual transmission on performance and fuel economy of a passenger car. (Reproduced with permission of the Society
of Automotive Engineers from reference 3.25.)
3SPEED AUTOMATIC TRANSMISSION
AT OPTIMUM AXLE RATIOS
ECONOMY GAlN
WlTH CONSTANT
PERFORMANCE

ECONOMYEPA 55/45
Fig. 3.46 Effect of engine size and transmission gear ratio span on performance and
fuel economy of a passenger car. (Reproduced with permission of the Society of Automotive Engineers from reference 3.26.)
7. the bralung force F.1 Braking Characteristics of a TwoAxle Vehicle The major external forces acting on a decelerating twoaxle vehicle are shown in Fig. Criteria for the evaluation of braking capability and approaches to improving braking performance will be discussed. 4 Fig. . a. and r is the rolling radius of the tire.7 BRAKING PERFORMANCE 3. intensive efforts have been directed towards improving the braking performance. 3. In this section. is the applied brake torque..47 Forces acting on a twoaxle vehicle during braking. 3. is the corresponding angular deceleration. With increasing emphasis on traffic safety in recent years.47.7 265 BRAKING PERFORMANCE Braking performance of motor vehicles is undoubtedly one of the most important characteristics that affect vehicle safety. I is the rotating inertia connected with the wheel being decelerated.. is given by where T. Safety standards that specify performance requirements of various types of brake system have been introduced in many countries. When the braking force is below the limit of tireroad adhesion.3. originating from the brake system and developed on the tireroad interface is the primary retarding force. the method of approach to the analysis of the braking performance of motor vehicles will be presented. The braking force F. 3.
respectively. the magnitude of the transmission resistance is small and can be neglected in braking performance calculations. is the rolling resistance coefficient. Substituting Eq. When the vehicle is moving uphill. it is assumed that the aerodynamic resistance is applied at the center of gravity of the vehicle. + W sin 0. When the vehicle is moving uphill. W f and W. = Fb + f. transmission resistance. the positive sign for the term W sin 8. should be used. the rolling resistance of tires. W is the vehicle weight. Thus. be used. 3. and R. 11 where a is the deceleration..266 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES In addition to the braking force. R. + R. and grade resistance (when traveling on a slope) also affect vehicle motion during braking.W cos 9. the following relationship can be established: where Fbf and F. the normal loads on the front and rear axles. the negative sign should. Normally. the resultant retarding force F.. is the angle of the slope with the horizontal. + R.49 into Eqs. can be expressed as and a  R. the normal loads on the axles become .48. By considering the equilibrium of the moments about the front and rear tireground contact points.47 and 3. aerodynamic resistance. By considering the force equilibrium in the horizontal direction. 3. During braking. and that there is no drawbar load.. however. is the aerodynamic resistance. In the above expression. are the braking forces of the front and rear axles. the negative sign for the term W sin 9. there is a load transfer from the rear axle to the front axle. is the transmission resistance. can be expressed by F. + W sin 9. (3. should be used. On a downhill grade.46) where f .. 9.
01. For instance.lL = 0. tires are at the point of sliding.32.85. 1. for a light truck with 68% of the static load on the rear axle (1. respectively.7 BRAKING PERFORMANCE 267 and The maximum braking force that the tireground contact can support is determined by the normal load and the coefficient of road adhesion.lL = 0.3. where Kbf and Kbr are the proportions of the total braking force on the front and rear axles.52 and 3. 3.53. From Eqs. Any further increase in the braking force would cause the tires to lock up. With fourwheel brakes. it can be seen that only when the distribution of the braking forces between the front and rear axles is in exactly the same proportion as that of normal loads on the front and rear axles will the maximum braking forces of the front and rear tires be developed at the same time. It should be pointed out that the distribution of the braking forces between the front and rear axles is a function of the design of the brake system when no wheels are locked. and are determined by the brake system design. and f. 3.68). hlL = 0.53. For conventional brake systems.52 and 3. the maximum bralung forces on the front and rear axles are given by (assuming the maximum braking force of the vehicle FbmaX= ~w> where p is the coefficient of road adhesion. the distribution of the braking forces is primarily dependent on the hydraulic (or air) pressures and brake cylinder (or chamber) areas in the front and rear brakes. the maximum braking forces of the front and rear tires that the tireground contact can support will be developed at the same time only if the braking force . p = 0. = 0.18. It should be noted that when the braking forces reach the values determined by Eqs.
resulting in an increase in yaw acceleration. a self Fig. a yawing moment due to the inertia force about the yaw center of the front axle will be developed. The lockup of front tires will cause a loss of directional control. When the rear tires lock up first. and the driver will no longer be able to exercise effective steering. then either the front or the rear tires will lock up first. 47% of the total braking force must be placed on the front axle and 53% on the rear axle to achieve optimum utilization of the potential braking capability of the vehicle.49 shows the measured angular deviation of a vehicle when the front and rear tires do not lock at the same instant [3. the moment arm of the inertia force increases. If some slight lateral movement of the rear tires is initiated by side wind. . that front tire lockup does not cause directional instability.48. and eventually the vehicle rotates 180". It should be pointed out.268 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES distribution between the front and rear brakes satisfies the following condition: In other words. the moment arm gradually decreases. This is because whenever lateral movement of the front tires occurs. As the yaw motion progresses.27]. or centrifugal force.48 Loss of directional stability due to lockup of rear tires. road camber. 3. 3. The braking force distribution that can ensure the maximum braking forces of the front and rear tires developed at the same time is referred to as the ideal braking force distribution. The figure shows the top view of a twoaxle vehicle acted upon by the braking force and the inertia force. This can be visualized with the aid of Fig. with the rear end leading the front end. As the rear end of the vehicle swings around 90". the capability of the rear tires to resist lateral force is reduced to zero. If the braking force distribution is not ideal. the vehicle will lose directional stability. When the rear tires lock. Figure 3. however.
. Since on slippery surfaces.4 kmlh.WET CONCRETE A U M A Y ur 0. when rear tires lock and the angular deviation of the vehicle exceeds a certain level. braking performance standards in some countries require that the braking effort distribution be such that the front tires lock before the rear tires on roads with a coefficient of adhesion lower than a certain value. and the vehicle will experience a serious loss of directional stability over a considerable distance. control cannot be regained. Because of the importance of the sequence of locking of the tires to vehicle behavior during braking. (Reproduced with permission of the Society of Automotive Engineers from reference 3.A #A 100 AHEAD POSITION INITIAL SPEED 64.27. and control may be regained by release or partial release of the brakes. Thus.) correcting moment due to the inertia force of the vehicle about the yaw center of the rear axle will be developed. only the braking force and rolling resistance will be considered in the following analysis. Loss of steering control may be detected more readily by the driver.49 Angular deviation of a car when the front and rear tires do not lock at the same instant. Contrary to the case of front tire lockup. The conditions under which the front or the rear tires will lock first can be quantitatively determined. particularly on a road surface with a low coefficient of adhesion. 40mph SOUTHBOUND R U N S A 60 Z 3 Y A A A NORTHBOUND RUNS SURFACE.7 BRAKING PERFORMANCE degrees I .5 0 05 10 15 sec TIME Fig. the value of the available braking force is low. 3. it tends to bring the vehicle back to a straight line path. the kinetic energy of the vehicle will dissipate at a slow rate. Consequently. even by complete release of the brakes and by the most skillful driver.3. To facilitate the understanding of the problem. This suggests that rear tire lockup is a more critical situation.
3.56 and 3.58 into Eq. 3. the vehicle deceleration rate (in gunits) associated with the impending lockup of the front tires can be defined by Similarly.270 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Substituting Eq.55 into Eqs.60) Substituting Eqs. 3.50 and 3. 3. 3.60 yields From Eq. it can be shown that the rear tires approach lockup when the deceleration rate is .61.51 yields The braking forces of the front and rear axles as determined by the brake system design are expressed by and The front tires approach lockup when Fbf = pWf (3.
it can be seen that for a given vehicle with a fixed braking force distribution. 3. if the brake system is designed to have 40% of the total braking force placed on the front axle. the gross vehicle weight is 44. the design parameters of the vehicle. Conversely.50 shows the braking characteristics of a light truck as a function of the braking effort distribution on the front axle under loaded and unloaded conditions [3.28]. the front tires will lock first if On the other hand. the solid line and the dotted line represent the boundaries of the deceleration rate that the vehicle can achieve prior to the locking of any tires under loaded and unloaded conditions.85.69 kN (6000 lb). ideally. 3. Fig. if 60% of the total braking force is placed on the front. both the front and rear tires will lock at the same deceleration rate only on a particular road surface. As an illustrative example. Based on the analysis described above. The ratio of the height of the center of gravity to the wheelbase is 0.75 g. This suggests that. For instance. Under this condition. . whereas lines AB and A'B' represent the limiting values of the deceleration rate the vehicle can achieve without locking the front tires. which indicates an optimum utilization of the potential braking capability of the vehicle. either the front or rear tires will lock first.000 lb). and for the unloaded case. respectively. the rear tires will lock first if From the above analysis. For the loaded condition. then for the loaded vehicle.48 kN (10. the interrelationships among the sequence of locking of tires. The coefficient of road adhesion is 0. the deceleration achievable prior to any tire lockup. resulting in a loss of either steering control or directional stability.3.7 BRAKING PERFORMANCE 271 For a given vehicle with a particular braking force distribution on a given road surface. the lockup of the rear tires will take place prior to the lockup of the front tires and the highest deceleration rate the vehicle can achieve just prior to rear tire lockup will be 0. In Fig. the braking force distribution should be adjustable to ensure optimum braking performance under various operating conditions. Under all other conditions. the maximum braking forces of the front and rear axles that the tireground contact can support are developed at the same time.18 for both loaded and unloaded conditions. it is 26. and operating conditions can be quantitatively defined. Lines OA and O'A' represent the limiting values of the deceleration rate the vehicle can achieve without loclung the rear tires. 3. Use can be made of Fig.50.50 to determine the bralung characteristics of the light truck under various operating conditions.
6kN .1 kN . Usually.UNLOADED : 15. 3. 3500 Ib FRONT 0.85 LOADED: 14.64 g on a surface with a coefficient of road adhesion of 0.50 is selected as a compromise. Therefore. the maximum deceleration that the truck can achieve without locking any tires under both loaded and unloaded conditions is 0.272 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES LIGHT TRUCK ROAD ADHES ION COEFFICIENT : 0. . 47% of the total braking force on the front is required for the loaded case as compared to 72% for the unloaded case.) then for the loaded case. 3200 Ib FRONT kN 6800 1b REAR 30. 3. 2500 1b REAR A A' FRONT BRAKING FORCE 1 TOTAL BRAKING FORCE Fig. there is a difference of 25% in the optimum braking force distribution between the loaded and unloaded cases.9 r 11. point 1. (Reproduced with permission of the Society of Automotive Engineers from reference 3.2 .50 Effect of braking effort distribution on the braking performance of a light truck. A compromise in the selection of the braking force distribution has to be made. It is interesting to note that to achieve the maximum deceleration rate of 0.85.85 g.6 g. which indicates the optimum utilization of the potential braking capability on a surface with a coefficient of road adhesion of 0. . the lockup of the front tires will take place prior to that of the rear tires. Under these circumstances.2 kN . in Fig.85.28. and the highest deceleration rate the vehicle can achieve without the locking of any tires will be 0. the value of the braking force distribution on the front axle corresponding to the intersection of lines AB and O'A'.
Because the difference in vehicle weight between the loaded and unloaded cases for a passenger car is much smaller than that for a truck. A braking force distribution with 64. which can readily be seen from Fig.51.7 kN. varies with the loading con PASSENGER CAR LOADED : 12.85 FRONT BRAKING FORCE I TOTAL BRAKING FORCE Fig.51 Effect of braking effort distribution on the braking performance of a passenger car.51 illustrates the braking characteristics of a passenger car [3.85 g.) . To achieve the maximum deceleration rate of 0. 2276 Ib FRONT 9.28. 124 In. The maximum deceleration that the vehicle can achieve prior to any tire lockup under both loaded and unloaded conditions is therefore 0.82 g.51.7 BRAKING PERFORMANCE 273 Figure 3. It is shown that the optimum braking force distribution.28]. which ensures the maximum deceleration rate. a difference of 5%.1 kN. 3.4 In.3kN. Og r WHEELBASE: 315 cm. 62% of the total braking force on the front is required for the loaded case as compared to 67% for the unloaded case.3.5% of the total braking force on the front. 3. 3018 1b REAR UNLOADED : 10. may be selected as a compromise under these circumstances. 2076 Ib REAR C. 3. ROAD ADHESION COEFFICIENT : 0.4kN. the bralung characteristics under these two conditions are very close. 2850 1b FRONT 13. HEIGHT : 54 cm. (Reproduced with permission of the Society of Automotive Engineers from reference 3.G. The analysis and examples given above indicate the complex nature of the braking process. corresponding to point 1 in Fig. 21.
and then reduce the rate of pressure rise to the rear brakes. the capability of the tires to sustain a side force can be maintained. and the other with p = 0. 3. for a given vehicle with a fixed braking force distribution. Loadsensing proportioning valves have been used on trucks. particularly in Europe.8. The center of gravity is 1. Under all other conditions.8. The braking effort distribution on the front axle is 60%.508 m (20 in. thus.274 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES ditions of the vehicle. Determine which set of the tires will lock first on two road surfaces: one with a coefficient of road adhesion p = 0.).7.. To ensure steering control and directional stability under all possible operating conditions. In practice.2.) behind the front axle and 0. Example 3. antilock devices have been introduced. and road surface conditions. thus. the operating conditions vary in a wide range. The coefficient of rolling resistance is 0. a) On the road surface with p = 0.62: The vehicle deceleration associated with the impending lockup of the rear tires is determined by Eq. vehicle design parameters. 3. To improve braking performance.63: Since ( ~ l g > ) ~(alg).87 m (1 13 in.27 m (50 in..24 kN (4775 lb) and has a wheelbase of 2. the vehicle deceleration associated with the impending lockup of the front tires is determined by Eq.3.4.8. the achievable deceleration rate without causing a loss of steering control or directional stability will be reduced. A passenger car weighs 21. . The operating principles of the antilock braking system will be briefly described in Section 3.) above ground level.02. the rear tires will lock first on the road surface with p = 0. Pressure proportioning valves commonly in use provide equal pressure to both front and rear brakes up to a certain pressure level. Solution. The prime function of these devices is to prevent tires from locking. only under a specific set of loading and road conditions will the maximum braking forces on the front and rear axles be developed at the same time and will the maximum deceleration rate be achieved. pressure proportioning valves or loadsensing proportioning valves have been used. These valves adjust the braking effort distribution as a function of load distribution between the axles.
vehicle mass. Braking efficiency 7. Stopping distance is another parameter widely used for evaluating the overall braking performance of a road vehicle. This indicates that on a surface with a coefficient of road adhesion of 0. < (alg). the maximum deceleration achievable prior to any tire lockup is 0. corresponding to point 1. 3. The interrelationships among stopping distance. Referring to Fig. may be expressed as ads = (& + C R) y.3%.05. is an equivalent mass factor taking into account the mass moments of inertia of the rotating components involved during braking. resulting in an unnecessarily long stopping distance. y. the value of y. braking force.. braking efficiency may be used. 3.64 g.85. the front tires will lock first on the road surface with p = 0.3. when a l g < p. is in the range of 1. .2.2. in differential form. is defined as the ratio of the maximum deceleration rate in g units ( a l g ) achievable prior to any tire lockup to the coefficient of road adhesion p.0.. To predict the stopping distance. and is given by The braking efficiency indicates the extent to which the vehicle utilizes the available coefficient of road adhesion for braking. Since during braking the clutch is usually disengaged.7. Since (alg). For passenger cars or light trucks. the braking efficiency is 75.Wlg ds = VdV where y.2 Braking Efficiency and Stopping Distance To characterize the braking performance of a road vehicle. < 1.50. Thus. the deceleration is less than the maximum achievable.03 to 1.7 BRAKING PERFORMANCE b) 275 On the road surface with p = 0.. and vehicle speed. used in the calculation of acceleration. is not necessarily the same as that of y. hence 7. if 57% of the total braking force is placed on the front axle. the basic principles in dynamics are employed.
3...71) 0. Eq.68 becomes VdV Fb + frW cos 8. + W sin 8. The aerodynamic resistance is proportional to the square of speed.46 into the above equation and neglecting the transmission resistance R. is therefore one. + C. k W sin 8.V2 for R. the braking torque generated by the brakes has already overcome the inertia of the rotating parts connected with the wheels.16] s=Y"Win( 2gCu. the stopping distance can be expressed by [3. W sin 0... For final speed V. The mass factor y.V: + C. The minimum stopping distance s. Fb + frW cos 8.Vz ) (3. and integration. In this case. can be expressed as Smln. = W %Cae In (1 c.e..71 reduces to the form Ybw S = . For a given vehicle. = loo%. 2 + f.69) + R.W cos 8. the maximum brakmg forces developed at the tireground contact are retarding only the translational inertia..W cos c. t W sin 8. if the braking force distribution and road conditions are such that the maximum braking forces of the front and rear tires that the tireground contact can support are developed at the same time.is less than 100% (i. + W sin 8. the maximum decel .v: + pW + frW cos 8.73) If the braking efficiency 7. and it may be expressed as With substitution of C. Eq... that is.276 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES Equation 3.%?cue ln(l+ Fb + f .. (3. to a final speed V2: Substituting Eq.v:8. the braking efficiency q. the minimum stopping distance will be achieved. = F. ) (3. 3. 3.67 may be integrated to determine the stopping distance S from an initial speed V.
For preliminary braking performance calculations. . this additional stopping distance S.73. In this case. the distance the vehicle travels during the transient period between the application of brakes and the attainment of steadystate braking has to be taken into consideration in determining the total stopping distance. the lockup of the semitrailer tires causes trailer swing. The locking of the tractor rear tires first usually causes jackknifing. an average value of 0. In a first approximation. then the stopping distance will be longer than that determined using Eq. For a given twoaxle vehicle. A tractorsemitrailer during emergency braking could exhibit behavior of a more complex nature than that of a twoaxle vehicle. the braking characteristics of a tractorsemitrailer are more complex. which puts the vehicle completely out of control and often causes considerable damage both to the vehicle itself and to other road users. directional instability of a tractorsemitrailer may be caused by the locking of either the tractor rear tires or the semitrailer tires. The delay in applying brakes due to the driver's reaction time further increases the actual stopping distance in practice.3. in practice. Although trailer swing has little effect on the stability of the tractor.7.7 BRAKING PERFORMANCE 277 eration rate in g units achievable prior to tire lockup is less than the coefficient of road adhesion available).29]. is the response time of the brake system and V . the optimum braking for a tractorsemitrailer is even more difficult to achieve than for a twoaxle vehicle.28]. particularly to the oncoming traffic [3. the load transfer during braking is dependent not only on the deceleration rate. there is a time lag between the application of brakes and the full development of the braking force. This time lag depends on the response of the brake system.3 Braking Characteristics of a TractorSemitrailer In comparison with a twoaxle vehicle. This reaction time usually varies from 0. 3. the load transfer is only a function of the deceleration rate. it could be very dangerous to other road users. but also on the braking force of the semitrailer. On the other hand. whereas for a tractorsemitrailer. the stopping distance may be calculated from It should be pointed out that. may be assumed [3. 3. In addition to the possibility of loss of directional control due to the lockup of tractor front tires.3 s for t. In general.5 to 2 s [3. may be calculated from where t. The actual stopping distance therefore will be longer than that calculated using the equations given above.16]. Consequently. is the initial speed of the vehicle.
. Fhi is the horizontal load on the fifth wheel.52 shows the major forces acting on a tractorsemitrailer during braking.278 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES To reach a better understanding of the braking characteristics of a tractorsemitrailer. C. 1. Figure 3. Other parameters are shown in Fig. and C.W. the equations have to be modified.d l ) + Wrdl = W f (L. and semitrailer axle. Cr. + Fhih. . are the ratios of the braking force to the normal load of the tractor front axle. For the tractor. because of interaxle load transfer. rear axle.52. To simplify the analysis. It should be mentioned that the equations described above are applicable to tractors with a single rear axle and semitrailers with a single axle. + CrWr = algW.. For the semitrailer. From the above equations. respectively. For the tractorsemitrailer combination. 3. a is the deceleration of the vehicle. the normal loads on various axles can be expressed by the following. . and C. it is necessary to review its mechanics of braking.1. For tractors and semitrailers having tandem axles without equalization. 3.h. + W . + Fhi (alg)W. ( L .  dl) 2. the aerodynamic drag and rolling resistance will be neglected. where Whiis the vertical load on the fifth wheel. The equilibrium equations are as follows. .
Tractor front axle: 2. Semitrailer axle: It can be seen that to determine the normal loads on various axles of a given tractorsemitrailer. the deceleration rate and the braking force coefficient of the semitrailer axle Cs. When the deceleration and the braking force of the semitrailer axle are known. have to be specified. 1. Tractor rear axle: 3.Fig.52 Forces acting on a tractorsemitrailer during braking. 3. the normal load on the semi .
L.29].77. = alg = p. = 0. The expressions for the axle loads given above can be simplified as follows. h . On the other hand.000 lb) (semitrailer empty). d.44 nl (8 ft).20 ft).75 m (9 ft).280 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES trailer axle can be determined from Eq. the braking force coefficients for all axles and the deceleration rate in g units are equal to the coefficient of road adhesion. L2 = 9. can be calculated from Eqs. from Eqs.98 m (3. varies very little over a wide range of road and loading conditions.75 kN (55.000 lb).250 lb) (semitrailer fully loaded).62 kN (17.250 lb) (semitrailer partially loaded). W2 = 245. = 0. 1. 3. 3. 3. Figure 3. It can be seen that the optimum value of the braking force distribution on the tractor rear axle K. h2 = 2. The required braking force distribution among the axles. the braking forces on the axles are proportional to the corresponding normal loads.. W2 = 170.84 m (2. and h. and the vertical and horizontal loads on the fifth wheel. = C.873. can be determined from Eqs.79.0 m (16.. = 4. = 75. Tractor front axle: Under the optimum braking condition.78 and 3. = 2. therefore.53 shows the variation of the optimum braking force distribution with the coefficient of road adhesion for a particular tractorsemitrailer under various loading conditions [3. dl = 0. 1. Cf = C. W2 = 75.5 ft). 3. With the values of Whi and Fhiknown. The parameters of the vehicle used in the analysis are as follows: W .75 m (32 ft). = 5.62 kN (17.14 kN (38. For the optimum braking condition where the maximum braking forces of all axles that the tireground contact can support are developed at the same time. the optimum value of the . the normal loads on the front and rear axles of the tractor can be calculated.88 m (16 ft).75 and 3.75 ft).3 m (1 ft). Whi and Fhi.86.89.
therefore. This indicates that for a tractorsemitrailer combination with a fixed braking force distribution. The dynamic behavior and directional response of tractorsemitrailers during braking is of practical importance to traffic safety. Under all other conditions. thus minimizing the undesirable directional response. the preferred locking sequence..29]. the locking of tractor front tires results in a loss of steering control. the locking of tractor rear tires first results in jackknifing.3.53 Variation of ideal braking force distribution with road adhesion coefficient and loading conditions for a tractorsemitrailer. It has been shown that by careful selection of the braking force distribution among the axles coupled with the proper control of loading conditions. the optimum braking condition can be achieved only with a particular loading configuration over a specific road surface. 3. A procedure for predicting the locking sequence of tires of tractorsemitrailers has been developed [3. a loss of braking efficiency will result under certain operating conditions [3. Extensive study has . This indicates that the locking sequence of the tires is of particular importance to the behavior of the tractorsemitrailer during braking. and the locking of semitrailer tires causes trailer swing. appears to be tractor front tires locking up first. one of the axles will lock up first. vary considerably with the coefficient of road adhesion and with the loading conditions of the semitrailer. As mentioned previously. As jackknifing is the most critical situation. braking force distribution on the tractor front axle Khf and that on the semitrailer axle K..7 BRAKING PERFORMANCE 281 Fig. the preferred locking sequence may be achieved over a certain range of road conditions. and then tractor rear tires. then semitrailer tires. However.29].
3.37]. and the stopping distance bill be longer than the minimum achievable. and ideally to keep the skid of the tire within a desired range. Data collected in Germany and other countries in the mid1980's have shown that the introduction of antilock brake systems has reduced a noticeable number of traffic accidents involving passenger cars. .54 Effect of skid 40 60 SKID 80 100% LOCKED WHEEL cornering force coefficient of a tire.e. the insurance premium is reduced for passenger cars equipped with antilock devices. and its ability to sustain side force is reduced to almost null. As a result. such as that shown in Fig. 3. the ratio of the bralung effort to the normal load of the tire) and the coefficient of cornering force (i. the coefficient of road adhesion falls to its sliding value. and the results have been reported in the literature.361. 100% skid). To appreciate the operation of an antilock brake system. the ratio of the cornering force to the normal load of the tire) at a given slip angle as a function of skid for a pneumatic tire.. In some countries. Figure 3. The prime function of an antilock brake system is to prevent the tire from locking. This will ensure that the tire can develop a sufficiently high braking force for stopping the vehicle.e.293..7. 3. including references [3.54.e.54 shows the general characteristics of the braking effort coefficient (i. when a tire is locked (i. and has also mitigated the consequences of a number of accidents [3. it would be useful to briefly review the dynamics of the tire during braking. the vehicle will lose directional control and/or stability.. When a braking r [dDESlRABLE t RANGE b BRAKING EFFORT COEFFIC IENT CORNERING FORCE COEFFICIENT 0 20 FREE ROLLING Fig.4 Antilock Brake Systems As mentioned previously.been made. and at the same time it can retain an adequate cornering force for directional control and stability.
283 3..As noted previously. is positive. and when it is negative. the linear deceleration of the tire center a. It should be noted that because of the skid of the tire during braking.. 1. the skid i. It consists of a sensor (or sensors).7 BRAKING PERFORMANCE torque T. and ideally to keep it operating within a desired range of skid. The braking effort F. Fig. If the applied braking torque T.r and T. the tire accelerates. and a brake Forces and moments acting tire during braking. This braking effort F.90) where I. the tire decelerates. respectively. 3.55 . 3. is the mass of moment of inertia of the tire assembly about its center and r is the radius of the tire.  T. is applied to the tire. of the tire is defined by Eq.55. has a moment T.30 as follows: where o and V are the angular speed and linear speed of the center of the tire.)lI. a corresponding braking effort F. = (F.. of the tire center: where W is the load carried by the tire and g is the acceleration due to gravity. its angular speed w becomes zero.. When the difference between F. causes an angular acceleration b of the tire: b = (T. an electronic control unit. is not equal to rb. and T. while the linear speed of the tire center V is not zero) within a short period of time. (3. the tire will become locked (i. is large and the angular deceleration b is high. about the tire center. A modern antilock brake system is an electronic feedback control system.e. as shown in Fig. also causes a linear deceleration a. The difference between T. is developed on the tireground contact patch. The basic function of an antilock device is to monitor the operating conditions of the tire and to control the applied braking torque by modulating the brake pressure so as to prevent the tire from becoming locked. which acts in the opposite direction of the applied braking torque T.r  TJlI.
therefore. . a module for predicting whether the tire is at the point of locking. To monitor the rotation of individual tires. the skid of the tire is difficult to determine accurately.56 Elements of an antilock braking system. When certain conditions that indicate the impending lockup of the tire are met by the measured parameters and/or their derivatives. a command signal is sent to the modulator to release the brake. The control unit usually consists of four modules: a signal processing module. In some of the existing antilock devices.383. and a command signal is transmitted to the modulator to release 1. To monitor the average angular speed of the tires on a drive axle. 3. the locking of the tire is predicted. The control logic of an antilock device. In the control unit. The methods for predicting the locking of the tire used in some antilock systems are described below [3. Sensors with electromagnetic pulse pickups and toothed wheels are usually used to monitor the rotation of the tires or the rotating components of the driveline. MODULATOR 1 A 4. MASTER CYLINDER Fig. after the signals generated by the sensors have been processed. In practice. WHEEL CYLINDER 5. The angular speed and angular deceleration (or acceleration) of the tire are derived from these digital pulse signals by differentiation with respect to time. The signals generated by the sensors are transmitted to the electronic control unit for processing. 1. and a module for generating a command signal for activating the pressure modulator. sensors are mounted directly to the wheeled hubs. They usually generate 90100 pulses per wheel revolution. SENSOR 2.284 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES pressure modulator. as schematically shown in Fig. a module for determining whether the danger of loclung the tire is averted.56. the sensor may be mounted at the speedometer cable takeout of the transmission case or on the propeller shaft. the measured parameters andlor those derived from them are compared with the corresponding predetermined threshold values. CONTROL UNIT 3. is usually formulated based on some easily measurable parameters. A linear accelerometer is used in some antilock devices to monitor the longitudinal deceleration of the vehicle.421. 3. primarily due to the lack of a practical and costeffective means to directly measure the linear speed V of the tire center during braking. such as the angular speed and angular deceleration (or acceleration) of the tire and linear deceleration of the vehicle.
using various estimation methods. the . is increased with a decrease in the vehicle speed.5 g. the forward momentum of the vehicle causes the tire to have an angular acceleration. 3.383.6 g. 3. typically lo%. is the threshold value for tire skid. the threshold value for skid is.3. another module in the control unit will determine at what point the brake should be reapplied. a command signal will be sent to the modulator to reapply the brake. During this period of time. 2. and the brake is released whenever the decrease in angular speed of the tire is 15% of the already stored value. the actual skid of the tire during braking is difficult to determine accurately. As mentioned previously. To avoid excessive operation of the antilock device at low vehicle speeds due to errors in estimating the tire skid. whenever the criteria for releasing the brake discussed previously are no longer satisfied. some of them are described below [3. due to a lack of practical means for directly measuring the linear speed of the tire center. typically 11. the threshold value used is in the range 11. whenever the product of the angular deceleration h of the tire and its rolling radius r exceeds a predetermined value. the operating conditions of the tire and the vehicle are continuously monitored by the sensors and the control unit. it is predicted that the tire is at the point of locking. In some systems. 1.421. the tire skid i.6 g. In some systems. the brake pressure will be reduced if the following two conditions are met [3. and at the same time if the deceleration of the vehicle measured by a linear accelerometer is not higher than 0. After the danger of locking the tire is predicted and the brake is released. When the brake is released.5 g. and when the value of r h is greater than 1. In many current antilock brake systems. There is a variety of criteria employed in existing antilock systems. the angular speed signal of the tire is tracked by a trackandhold circuit in the control unit. In certain devices. In an antilock system designed for passenger cars. In some systems. loclung of the tire is predicted. Therefore. and r h = rho. the tracked signal is held in a memory circuit for about 140 ms. in many cases. is calculated from the estimated linear speed of the tire center based on the radius r and the measured angular speed o of the tire.7 BRAKING PERFORMANCE 285 the brake. 2. if the deceleration of the vehicle is higher than 0. On the other hand. where is.41. and a command signal for releasing the brake is sent to the modulator. a fixed time delay is introduced to ensure that the brake is reapplied only when a fixed time has elapsed after the release of the brake.6 g. and rho is the threshold value for the circumferential deceleration of the tire. if the measured angular speed of the tire decreases by 5% of the already held value. During the braking process. > is.421: the estimated tire skid i. 3.
the brake pressure fluctuates during the operation of an antilock device. and threechannel and foursensor con SKID 010 psi kPa 60 ~ 4 0 0 PRESSURE 0 1 3 2 4 5 s TIME Fig. Fig.and righthand side tires.57 Operating characteristics of an antilock system for heavy commercial ve hicles with pneumatic braking systems. As an example.43].23 g have been used. The common layouts for passenger cars are the fourchannel and foursensor. vehicle speed. and circumferential acceleration ric. The variations of the brake pressure.286 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES brake is reapplied as soon as the product of the angular acceleration h of the tire and the rolling radius r exceeds a predetermined value. the brake pressure buildup rate is made dependent upon the angular acceleration of the tire. 3. at which the antilock device is usually deactivated. typically from 5 to 16. . Threshold values for r h in the range 2. but also when braking in a turn and on an asymmetrical road surface having different values of coefficient of road adhesion for the left. not only when braking in a straight line. tire skid. and restoring the brake pressure is repeated several times. 3. of the tire with time during a simulated braking maneuver over a wet pavement are shown. Various layouts for antilock devices on road vehicles have been used. circumferential speed rw. The cycle of reducing. The primary consideration is to ensure directional control and stability of the vehicle. per second until the vehicle has slowed to a speed of approximately 35 km/h (23 mph). As can be seen. holding. threechannel and threesensor. In some devices.57 shows the characteristics of an antilock system designed for heavy commercial vehicles [3.
For instance.) . as schematically shown in Fig. 3. in the first system. in contrast to using the Control channel L Sensor lI5ll symmetrical road surface d h asymmetrical road surface In all systems. It has been shown that using the "selectlow" operating mode for controlling the two tires on the rear axle will ensure vehicle directional stability when braking on an asymmetrical road or on a turn. Fig. control was by synchronous triggering of both solenoid valves. the fourchannel and foursensor configuration shown in the figure has four hydraulic brake circuits with sensors for monitoring the operating conditions of the four tires separately. whereas "selecthigh" means that the control unit will use the information from the faster of the two tires to control the brake pressure applied to both tires. However.58 [3.44]. 3.44.figurations. A channel refers to the portion of the brake system which the control unit/modulator controls independently of the rest of the brake system. "Selectlow" means that the control unit will use the information from the slower of the two tires to jointly control both tires with the same brake pressure. (Reproduced with permission of the Society of Automotive Engineers from reference 3. the rear wheels are controlled together according to the *selectlow* principle. based on the information obtained by the respective sensors. The two front tires are controlled individually.58 Various layouts of antilock systems for passenger cars. the two tires on the rear axle are jointly controlled in the "selectlow" operating mode.
45]. This is because. It is also interesting to note that with the four tires individually controlled. based on the information obtained by the two sensors mounted on the two front tires and by the one sensor for monitoring the average operating conditions of the two rear tires.and righthand side tires. It should be pointed out. as well as on the rear axle on an asymmetrical road. the tire on the low friction side of an asymmetrical road or on the inside of a turn will be locked up. The threechannel and threesensor configuration has three hydraulic circuits for the control of the two front tires individually and the two rear tires jointly. 3. while the other tire on the high friction side of the road or on the outside of a turn develops a higher braking force. to prevent the tire from spinning during acceleration or on slippery surfaces. traction control systems have been developed for improving vehicle tractive performance and for maintaining directional control and stability during acceleration [3. and a large yawing moment which will have an adverse effect on the directional stability of the vehicle. 3. A twochannel and foursensor configuration in which the two front tires are jointly controlled by the "selecthigh" operating mode and the two rear tires by the "selectlow" operating mode has also been developed [3. It is claimed that this system can substantially curb the excessive operation of the antilock brake system on rough roads.471. This results in a large yawing moment which will adversely affect the directional stability of the vehicle.and righthand side tires on the front axle. and that the combination of the "selecthigh" for the front axle and the "selectlow" for the rear axle offers a reasonable compromise between achieving a sufficiently short stopping distance and retaining adequate directional stability. however. 2.7.5 Traction Control Systems Similar to the functions of antilock devices for improving vehicle braking performance. that using the "selectlow" operating mode will have a lower braking efficiency and a longer stopping distance than using the "selecthigh" mode. and ideally to keep the slip of the tire within a desired range so as to retain an adequate cornering force for direction control and stability. with the "selecthigh" mode. . The prime functions of a traction control system are as follows: 1.46. The operation of the threechannel and foursensor configuration with the "selectlow" operating mode for the rear tires is similar to that of the fourchannel and foursensor configuration described above. to improve traction on an asymmetrical road surface with different values of coefficient of road adhesion for the left. different braking forces are acting on the left.288 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES "selecthigh" operating mode. This results in a reduction of the cornering force available for the axle.
U. When operating on a long stretch of slippery road. Society of Automotive Engineers.B. While a differential lock. the tire on the side of the road having a lower value of coefficient of road adhesion will slip excessively. 1978.and righthand side halfshafts." in M.A. "Potential for Aerodynamic Drag Reduction in Car Design. a typical traction control system includes of a sensor (or sensors). REFERENCES 3. As a result. Holcombe. Ed. or ignition. For a vehicle with only one drive axle. For a drive axle with a simple differential. both tires on the drive axle may slip excessively. fuel injection system." Automotive Aerodynamics. SP3. When the vehicle operates on a slippery surface with a low coefficient of road adhesion or during startup. Dorgham. Progress in Technology Series. a braking torque is applied to that tire through brake pressure modulation so as to increase the driving torque available to the other tire for improving traction. and brake pressure modulator. In addition.. Jersey. . This ensures adequate directional control for a frontwheeldrive vehicle or directional stability for a rearwheeldrive vehicle. the driving torque is evenly distributed between the left. the slip of the driven tires can be determined directly using the angular speed of the freerolling tires on the nondriven axle as a reference. when operating on an asymmetrical road. limitedslip differential or viscous coupling would provide a solution to this problem. It should be pointed out that the response of traction control to brake pressure modulation is usually faster than that to engine control because of the actuation time of the engine control device. 1983.REFERENCES 289 Similar to an antilock brake system.K. and will impose a limit on the tractive effort that the other tire with a higher value of coefficient of road adhesion can develop. Impact of Aerodynamics on Vehicle Design. Technological Advances in Vehicle Design Series.J.2 C. vol.1 K. engine rotating inertia. When the slip of a tire on one side of a drive axle is determined to be excessive. a traction control system is a viable alternative. Can. Kelly and H. sharing a large number of common components. "Aerodynamics for Body Engineers.: Inderscience Enterprises Limited. and the elasticity of the driveline. the traction control system is usually integrated with the antilock brake system. 3. Channel Islands. 16. Because of the similarity between the two systems. an electronic control unit. it has an engine control device. such as the sensor. the traction control system will apply braking torques to both driven t!res and/or decrease the engine output torque to reduce the tractive effort and slip.W. which controls the throttle. to avoid brake overheating. a combined brake pressure modulation and engine control is necessary. and a brake pressure modulator. electronic control unit. Under these circumstances.
1999. and T. Giles." in Driveline '84. Janssen and W. A. London: ButterworthsHeinemann." in W. Ed. paper 801402. "Aerodynamic Drag of Passenger Cars.. "Wind TunneltoRoad Aerodynamic Drag Correlation. L. White. Korst. and J. G. 10th ed. London: ButterworthsHeinemann. Hucho." The 1lth George Stephenson Lecture. London: Butterworths." SAE Transactions. 81. Hahne.H. vol. paper 760185. W. 4. paper 690189. England. "A Continuously Variable Automatic Transmission for Small Front Wheel Drive Cars." in Advances in Road VehicleAerodynamics. "The Effect of Various Parameters on the Aerodynamic Drag of Passenger Cars. Bonthron. and H. "The Optimization of Body DetailsA Method for Reducing the Aerodynamic Drag of Road Vehicles. Special Publication SP747. 1990.A. 1969. H. 1957. . May 30Dec. Society of Automotive Engineers." in W. Hucho. Hucho. "Mechanics of Vehicles. Necati." in W. White and H. Automotive Technology Series.H. Taborek. Oct. 69. "A Method of Estimating Automobile Drag Coefficient. "The Determination of Vehicle Drag Contributions from Coastdown Tests. paper 720099. Institution of Mechanical Engineers. 78. 1973. Ed. 1990. 1961." in W. 1976." Society of Automotive Engineers. 1969. G. R." in Advances in Road Vehicle Aerodynamics. 1973. BHRA Fluid Engineering. Janssen.H. R. 1984. "Improvement of Automobile Fuel Economy. "Measurement and Test Techniques. "CVTEfficiency Measured under Dynamic Running Conditions. "Commercial Vehicles. McKnight. Wood. paper 850569.. London: ButterworthsHeinemann. D. C. The Motor Vehicle. 1983. Marzin.J. 26. Eaker. 1990. "Computer Predicts Car Acceleration. England. G." in Research in Automotive Aerodynamics. Aerodynamics of Road Vehicles.A..H. BHRA Fluid Engineering. Hucho.J. Ed. C. Gotz. L.K." Society of Automotive Engineers. Hucho. Rousillon. W. vol.290 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES W.H.J. Cranjield. Ed." Machine Design. J.H.I. J. 1972. Setz.J." SAE Transactions. "Contribution to the Accurate Measurement of Aerodynamic Drag by the Deceleration Method. vol. Aerodynamics of Road Vehicles." Society of Automotive Engineers." SAE Transactions.W. Aerodynamics of Road Vehicles. J.D. J. 1990. "Experimental Shape kesearch of Ideal Aerodynamic Characteristics for Industrial Vehicles. H. 1980.W.H. Hucho. Cranfield. Coon and C. Gears and Transmissions. Hucho.G. 1988. Institution of Mechanical Engineers. Aerodynamics of Road Vehicles. Emmelmann. Newton. paper 740969.. London: ButtenvorthsHeinemann. 1985." Society of Automotive Engineers. 1974. Hucho. Garrett. vol.G. Steeds.S. London: Butterworths. "Wind Tunnels for Automobile Aerodynamics.H. Berta and B. Bourhis. W. Bonis.H. K. "Transportation in the 21st CenturyOur Challenges and Opportunities.
vol.L. "An Analytical Study of Transmission Modifications as Related to Vehicle Performance and Economy. 178.Y. University of Michigan. 1. Fedewa. vol. vol. Lister. paper 71 0045. R. "Aspects of Hydraulic Transmissions for Vehicles of Specialized Nature." in Proceedings of the XXI FISITA Congress. Greenwood." Society of Automotive Engineers. London: Mechanical Engineering Publications.D. Mikulcik. E." SAE Transactions. D.C. paper 865 139. New York: Plenum Press. H.REFERENCES 291 C. Klein. Fancher. 80. March 1978. . C. Institution of Mechanical Engineers. Guntur. "Directional Behavior During Braking of a TractorSemitrailer Fitted with Antilock Devices.S. Wong. 1979.Y. June 1976. C. Fuel Economy in Road Vehicles Powered by Spark Ignition Engines. Porter. paper 770418. Bernard. Post." SAE Transactions. J. Bickerstaff and G. 197 1 ." Report of the Highway Safety Research Institute. vol. vol.C." in Proc. Cole. no.P. Bernard. C. I . Ellis. part 3C. and C. "The Dynamics of TractorSemitrailer Vehicles: The Jackknifing Problem. 1974. 19631964.R." International Journal of Vehicle Design. R. vol.E.B. 88. vol. Guntur." SAE Transactions. Springer. P. Wong and R. paper 741 137. "Predicting the Braking Performance of Trucks and TractorTrailers.W.M. 1979. J. "Automotive Fuel Economy. Sept. Price and S. Hilliard and G.R." i n J.J." Transactions of the ASME." SAE Transactions. 1986. Wong. Chana. R. Journal of Dynamic Systems. H.C. Vehicle Handling Dynamics.B. and J. Hartley. vol. 83. 3. "Effects of Operational and Design Parameters on the Sequence of Locking of the Wheels of TractorSemitrailers. Ann Arbor. Ann Arbor. D. F. Institution of Mechanical Engineers. paper 650092. Yugoslavia. Wong." Society of Automotive Engineers.C.R. paper 791046. Mahoney. "Design for Fuel EconomyThe New GM Front Drive Cars. 1980. Construction and Operation of a Commercial Vehicle Continuously Variable Transmission.Y. "A Computer Based Mathematical Method for Predicting the Braking Performance of Trucks and TractorTrailers." in Driveline '84. "Evaluation of the Braking Performance of a TractorSemitrailer Equipped with Two Different Types of Antilock System. Winkler. W. 1965.R. "Antilock Brake Systems for Passenger Cars. Verma. and T. 74.R. J. 1984.. 1984.S.E. V.Y.J. MI.S. no. 1977. Guntur. 100. 7." Vehicle System Dynamics. R.A.C. R. Belgrade. Murphy. State of the Art 1985." Report of the Highway Safety Research Institute.E. Beasley. "The Design. and J.J. and J. 1978.E. Guntur and J. 1972. Eds. C. MacAdam. MI. Winkler. University of Michigan. "Light Truck Tire Traction Properties and Their Effect on Braking Performance. paper 79072 1. "Application of the Parameter Plane Method to the Analysis of Directional Stability of TractorSemitrailers. J.K. no. Lam. "Retention of Directional Control When Braking. 1994. 1. Measurement and Control.
R. and R. . Ottawa. H.R.). 9. Satoh and S. 1980. Shiraishi. paper 860506. Shiraishi.8 cm (20 in. Leiber and A. and J. The frontal area of the vehicle is 2. vol. no. Wong.Y. Demel and H.R. J. The rolling radius of the tires is 33 cm (13 in. Plot the resultant resistance versus vehicle speed. Department of Mechanical and Aeronautical Engineering. third.8.Y. Czinczel." Vehicle S y ~ l e mDynamics. Satoh and S. Ouwerkerk. M. = 0. 1983. "ABS and ASR for Passenger Cars Goals and Limits. Wong.R. l . H." Society of Automotive Engineers. "Adaptive Brake Control Systems.1 is equipped with an engine having torquespeed characteristics as shown in the following table.2 The vehicle described in Problem 3. Bleckmann.) behind the front axle and 50. 5. paper 890834. vol. "Evaluation of the Performance of AntiLock Brake Systems Using Laboratory Simulation Techniques. R. Canada." International Journal of Vehicle Design. The coefficient of rolling resistance is given by f. Guntur. 1989. "Performance of Antilock Brakes with Simplified Control Technique. J. M." Society of Automotive Engineers. Selbert. and show the maximum thrust of the vehicle with the two types of drive. J.37. Guntur. Estimate the possible maximum speed of the vehicle on level ground and on a grade of 25% as determined by the maximum tractive effort that the tireroad contact can support if the vehicle is (a) rearwheel drive. "Traction Control System with Teves ABS Mark 11. Gunter and H.). "Excess Operation of Antilock Brake System on a Rough Road. 1972.PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES R. H. "Four Years of Experience with 4Wheel Antiskid Brake Systems (ABS)." in Proceedings of the Institution of Mechanical Engineers. 1979. PROBLEMS 3. 3.W. Leiber and A.0136 + 0.03. The coefficient of road adhesion is 0. second.R. paper 830481. R. 3.Y." in Braking of Road Vehicles 1983. Hemming. H. H. 1. 1977. The center of gravity is 127 cm (50 in. where V is the speed of the vehicle in kilometers per hour. 1983. Ellis.02 kN (4500 lb) and has a wheelbase of 279. Fennel. and fourth.1 A vehicle weighs 20." Society of Automotive Engineers. Guntur and J." Society of Automotive Engineers. 1980. Ont. Graber. Institution of Mechanical Engineers. "Antiskid System for Passenger Cars with a Digital Electronic Control Unit. 1983. and (b) frontwheeldrive.4 X V2. Carleton University. paper 790458." Society of Automotive Engineers. The gear ratios of the gearbox are: first. Monograph. 1986. no.45. vol. Czinczel.R. "Some Design Aspects of AntiLock Brake Systems for Commercial Vehicles. Braking and Handling of Heavy Commercial Vehicles. paper 830484.. 186.4 cm (1 10 in.32 m2 (25 ft2) and the aerodynamic drag coefficient is 0. 2.) above ground level.16. 4. and W. Srinivasa. Wong.W. 68/72.
1 ft). The total gear reduction ratio of the gearbox and the drive axle is 2. In practice.8 2500 393. and the drive axle is 0. the vehicle encounters a variety of surfaces.).4 cm (1 10 in. With a view to avoiding the loss of directional stability on surfaces with a low coefficient of adhesion under emergency braking conditions.54.8 3. propeller shaft. Calculate the tractive effort and speed of the vehicle when the third gear is engaged and the engine is running at 2000 rpm with an engine torque of 407 N .02 kN (4500 lb) and has a wheelbase of 279.5 A passenger car weighs 20. m 500 339 1000 379.9 cm (1 I in. The wheelbase of the tractor is 381 cm (150 in. Also determine the overall efficiency of the transmission. what would you recommend regarding the braking effort distribution between the front and rear axles? 3. 3. Estimate the maximum speed of the vehicle on level ground and on a grade of 25% as determined by the tractive effort that the engine torque with the given transmission can provide if the vehicle is rearwheeldrive. including the torque converter.88 kN (60. ft). Plot the vehicle thrust in various gears versus vehicle speed.8 and the coefficient of rolling resistance of 0.2 5000 189.8 kW (60 hp) at 4000 rpm.72 kN (15. and the equivalent weight of the rotating parts of the driveline at engine speed is 444.). The transmission efficiency is 88%. The rolling radius of the tire is 33.PROBLEMS 293 1 .2 to 0. the tractor weighs 66.).45 kN (2800 lb). respectively.3 A vehicle is equipped with an automatic transmission consisting of a torque converter and a threespeed gearbox. The engine develops 44. The center of gravity is 127 cm (50 in. rpm Engine torque.8 4500 233.000 lb) and the semitrailer weighs 266.90.7 1750 406. including the four tires.2 ft) and a radius of gyration of 27. N .).6 For a tractorsemitrailer combination.015.91 when the third gear is engaged.67 m2 (18 ft2) and the aerodynamic drag coefficient is 0. The transmission efficiency is 88% and the total reduction ratio of the driveline in the second gear is 7.m (300 lb . 3.56 to 1. and the trailer axle is 1016 . The average coefficient of rolling resistance is 0.32.45. The torque converter and the engine characteristics are shown in Figs.8 N (100 lb) with a radius of gyration of 10 cm (4 in.) behind the front axle and 50.4 4000 284.8 cm (20 in.31 and 3. Engine Characteristics Engine ?peed. Each of the tires has an effective diameter of 67 cm (2. The combined efficiency of the gearbox.5 cm (1. The vehicle has a frontal area of 1.015.4 A passenger car weighs 12. and weighs 222.4 N (50 lb).O. The gear ratio of the drive axle is 3.) above ground level.000 lb). Calculate the acceleration of the vehicle on a level road under these conditions.2 3000 363 4 3500 325. 3. with the coefficient of road adhesion ranging from 0.
The center of gravity of the semitrailer is 508 cm (200 in.32 m2 (25 ft2).87. It has a frontal area of 1.015. and the rolling coefficient f. The vehicle decelerated under the action of the aerodynamic resistance. The drive axle gear ratio is 3.7 ft2) and an aerodynamic drag coefficient of 0.28 kN (2536 lb). Assuming that the rolling resistance of the tires is independent of speed and that the internal resistance of the driveline may be neglected. gallon). and from 80 kmlh (50 mph) to 72.) above the ground.41 is to be installed in a subcompact car with a weight of 11. This line identifies the engine operating point where the specific fuel consumption is the lowest for a given engine output power.294 PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES cm (400 in.75 kg1L (or weight density of 6. . The test was conducted on a level road with a tail wind of 8 kmlh (5 rnph).8 For an internal combustion engine. gallon) under the abovenoted operating conditions.26 Ib per U S .6? Also calculate the normal loads on the axles and the forces acting at the hitch point. an optimum fuel economy line can be drawn on the engine performance diagram.28 m (1 1 in. The mass density of the gasoline is taken to be 0. The center of gravity of the tractor is 203. and the internal resistance of the driveline.4.4 kmlh (45 mph) in a distance of 162.) and 0.2 cm (80 in. The rolling radius and rolling resistance coefficient of the tire are 0. The vehicle weighs 15.7 A "coastdown" test was performed to estimate the aerodynamic resistance coefficient C. estimate the values of the aerodynamic resistance coefficient C. A gasoline engine with performance shown in Fig.S. The vehicle was first run up to a speed of 96 kmlh (60 mph) and then the gear was shifted to neutral.6 m (533.) above the ground level.) behind the tractor front axle and 96. as shown in Fig. the rolling resistance of the tires. 3.) behind the rear axle of the tractor. determine its gear ratio that provides the maximum fuel economy at a vehicle speed of 100 kmlh (62 rnph).5 ft). 3. of a road vehicle. The hitch point is 25 cm (10 in. respectively.5 cm (38 in.83 m2 (19.) above the ground.5 kmlh (55 mph) in a distance of 160 m (525. What is the ideal braking effort distribution between the axles that ensures all the tires being locked up at the same time on a surface with a coefficient of road adhesion p = 0.8 cm (70 in. b) Estimate the fuel consumption of the car in liters per 100 km (or in miles per U.88. 3.568 kN (3500 lb) and has a frontal area of 2.41. and the rolling resistance coefficient of the tires f r. 3. a) If the car is equipped with a continuous variable transmission (CVT) with a mechanical efficiency of 0.) in front of the trailer axle and 177.) in front of the tractor rear axle and 122 cm (48 in. The vehicle slowed down from 96 kmlh (60 mph) to 88.5 ft).
ride quality over rough terrain. In this chapter. therefore. the drawbar performance is. of prime importance. Although differing criteria are used to assess the performance of different kinds of offroad vehicle. For military vehicles. therefore. the maximum feasible operating speed between two specific points in a given area may be employed as a criterion for the evaluation of their mobility. there is a basic requirement common to all crosscountry vehicles. that is. The performance on soft terrain constitutes a basic problem in vehicle mobility. . Performance criteria for various types of offroad vehicle will also be examined in detail.CHAPTER 4 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES Depending on the functional requirements. drawbar horsepower. methods for evaluating and predicting the tractive performance of crosscountry vehicles will be discussed. the transport productivity and efficiency are often used as basic criteria for evaluating their performance. different criteria are employed to evaluate the performance characteristics of various types of offroad vehicle. Mobility in the broad sense refers to the performance of the vehicle in relation to soft terrain. obstacle negotiation and avoidance. and the terrain is. For crosscountry transport vehicles. and drawbar efficiency. It may be characterized by the ratio of drawbar pull to vehicle weight. For tractors. and water crossing. of prime interest. mobility over unprepared terrain. and a detailed analysis of the relationship among vehicle performance. their main function is to provide adequate draft to pull various types of implement and machinery. on the other hand. vehicle design parameters.
the drawbar pull and vehicle speed are functions of slip. as described in Chapter 2. of a conventional tracked vehicle [4. to establish an analytic procedure to predict the internal resistance with sufficient accuracy. Furthermore.21. including agricultural implements and construction and earthmoving equipment.1 and 4. Because of the complex nature of the internal resistance in the tracksuspension system. and is equal to the difference between the tractive effort F developed by the running gear and the resultant resisting force C R acting on the vehicle: For a vehicle with known power plant and transmission characteristics. Thus..296 4.1 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES DRAWBAR PERFORMANCE Drawbar Pull and Drawbar Power For offroad vehicles designed for traction (i.1.2]: . as shown in Figs. the development of thrust often results in considerable slip over unprepared terrain. The resisting forces acting on an offroad vehicle include the internal resistance of the running gear. As a first approximation. is the force available at the drawbar. the drawbar performance is of prime importance. It should be pointed out. it is difficult. Frictional losses in track pins.e. Internal Resistance of the Running Gear For wheeled vehicles. grade resistance. and in sprocket hub and roadwheel bearings.. the tractive effort and vehicle speed can be determined using methods similar to those described in Chapter 3. the maximum tractive effort is often limited by the characteristics of vehicleterrain interaction. the in ternal resistance of the running gear is mainly due to hysteresis losses in the tire.2. resistance due to vehicleterrain interaction. obstacle resistance. 4. For tracked vehicles. which has been discussed in Chapter 1. as it represents the ability of the vehicle to pull or push various types of working machinery. between the driving sprocket teeth and track links.1. the internal resistance of the track and the associated suspension system may be substantial. it not impossible. Among the operational parameters. that in crosscountry operations. the following formula proposed by Bekker may be used for calculating the average value of the internal resistance R. tractors). Experimental results show that of the total power consumed in the tracksuspension system. respectively [4. Drawbar pull F.1 4. and the rolling resistance of the roadwheels on the track constitute the major portion of the internal resistance of the tracksuspension system. however. track tension and vehicle speed have noticeable effects on the internal resistance. as well as aerodynamic drag. 4. 6375% is due to losses in the track itself.
. are empirical coefficients. For modern lightweight tracked vehicles.. which is the ratio of the motion resistance to vehicle weight. may be estimated by the following empirical equation [4. the mobility of the vehicle over unprepared terrain. and determines.1 Effect of track tension on power consumption.00015.2) where R. For tracks having double. = W (222 + 3V) (4. 24000lb TRACK TENSION Fig. may be taken as 0.1 . and f. rubberbushed pins and rubber pads. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 4.03. and as a first approximation. W is the vehicle weight in tonnes. smooth road surfaces. the internal resistance may be less. varies with the type of track. lubricated pin joints with needle bearings. to a great extent. and the empirical formula is [4. the value of f. singlepin tracks. it can be as low as 0.1 DRAWBAR PERFORMANCE o I a ' 297 / VEHICLE WEIGHT : 106.4. it is 0.) R. for allsteel. The value of f. It includes the . the coefficient of motion resistance f . is typically 0.7kN.015. and V is the vehicle speed in kilometers per hour.025.2] For military tracked vehicle operating on hard. is in newtons. and for tracks having sealed. 4.3]: where f . Resistance Due to VehicleTerrain Interaction This type of resistance is the most significant one for offroad vehicles. and V is in kilometers per hour.
G. 4. and it may be predicted using the methods described in Chapter 2 or determined experimentally. (From Introduction to TerrainVehicle Systems by M. copyright O by the University of Michigan. and it should be taken into consideration in formulating the equations of motion for the vehicle. EMPIRICAL FORMULA FOR GENERAL CASE HALF TRACK RUBBER TRACK 4. it produces a moment that would cause significant load transfer. The obstacle resistance may be considered as a resisting force. Bekker.) resistance due to compacting the terrain and the bulldozing effect. reproduced with permission of the University of Michigan Press. RUBBER BUSHED TRACK bTfl STEEL TRACK Fig. the value of the obstacle resistance is obtained from experiments. Ground Obstacle Resistance In offroad operations. obstacles such as stumps and stones may be encountered. 1969.2 Effect of speed on the coefficient of internal resistance of various types of track. Aerodynamic Resistance Aerodynamic resistance is usually not a signif icant factor for offroad vehicles operating at speeds below 48 kmlh (30 mph). .298 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES  0 20 40 60 kmlh SPEED 1 ( & & & AGRICULTURAL TRACTOR 2. usually variable in magnitude. In general. 5. acting parallel to the ground at a certain effective height. When the line of action of this resisting force is high above ground level.
O.3]. such as battle tanks. the usual requirement is that they should be able to climb up a gradient of 30" (58%).3 Tractive performance diagram for tractors. that is. The product of drawbar pull and vehicle speed is usually referred to as the drawbar power that represents the potential productivity of the vehicle. is given by where V and V. 4.5 m2 (70 ft2). The aerodynamic resistance can be predicted using the methods described in Chapter 3. 4. The drawbar power P. the power required to overcome aerodynamic resistance at 48 kmlh (30 mph) amounts to about 11.17 and a frontal area of 6. For heavy fighting vehicles. aerodynamic resistance may have to be taken into consideration in performance calculations. is approximately 1. The aerodynamic resistance coefficient mainly depends on the shape of the vehicle. . A light tracked vehicle weighing 10 tones and having a frontal area of 3.1 DRAWBAR PERFORMANCE 299 For vehicles designed for higher speeds. the slip of the running gear and the vehicle speed in each gear are usually plotted against tractive effort and drawbar pull. as shown in Fig. the aerodynamic resistance coefficient C. the rate at which productive work may be done.5 kW (14 hp) to overcome the aerodynamic resistance at a speed of 56 km/h (35 mph).2 kW (15 hp).7 m2 (40 ft2) may require 10. such as military vehicles. as mentioned previously.3. For a tank weighing 50 tonnes and having an aerodynamic resistance coefficient of 1. are the actual forward speed and the theoretical speed of the Fig.4. To characterize the drawbar performance. and the frontal area is of the order of 68 m2 (6586 ft2) [4. For heavy fighting vehicles. In addition to the resisting forces described above. the grade resistance must be taken into consideration when the vehicle is climbing up a slope.
As an example. as shown in Fig. the tractive (drawbar) efficiency is often used. The drawbar performance diagram provides a basis for comparing and evaluating the tractive performance of tractors.7 into Eq. and is determined by the engine speed. increases with an increase of drawbar pull. 4.6.4]. and 77. Usually.2 Tractive Efficiency To characterize the efficiency of an offroad vehicle in transforming the engine power to the power available at the drawbar.5. 4. the expression for tractive efficiency becomes where 77. reduction ratio of the transmission. Fig. The efficiency of slip characterizes the power losses.5.i. 4. as shown in Fig. The theoretical speed is the speed of the vehicle if there is no slip (or skid). Since slip increases with an increase of tractive effort and drawbar pull. slip is . to the corresponding power delivered by the engine P: The power delivered by the engine may be expressed in terms of the power available at the driven wheel (or sprocket) and the transmission efficiency vt: Substituting Eq. For motion resistance having a constant value. It also provides the operator with the required information to achieve proper matching of the tractor with the working machinery. The efficiency of motion indicates the losses in transforming the tractive effort at the driven wheels to the pull at the drawbar. Usually.1.4 shows the measured drawbar performance of an MF165 tractor on tarmacadam [4. the efficiency of slip decreases as the drawbar pull increases. is the efficiency of motion equal to F J F . is the efficiency of slip equal to 1 . 4. 4.300 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES vehicle. the variation of drawbar power with drawbar pull in each gear is also shown in the drawbar performance diagram. 4. the efficiency of motion 7. It is defined as the ratio of drawbar power P. and the radius of the tire (or sprocket). and also the reduction in speed of the vehicle due to the slip of the running gear. respectively.
4.) Fig.4 Drawbar performance of an MF165 tractor on tarmacadam. .4.5 Variation of tractive efficiency with drawbar pull. 4. (Reproduced with permission of the Journal of Agricultural Engineering Research from reference 4.4.1 DRAWBAR PERFORMANCE 0 10 20 30 40 DRAWBAR PULL 301 kN Fig.
5. of practical significance in increasing the operational efficiency of offroad vehicles.1 An offroad wheeled vehicle is equipped with an engine having the torquespeed characteristics given in Table 4.85. The vehicle speed can be determined using Eq. Example 4.2. efficiency of motion. 3. Solution. the slip at a particular thrust can be determined. 4.31 in Chapter 3: For a given engine operating point. as shown in Fig. the tractive efficiency is the product of the efficiency of transmission.2. Therefore. Reducing the slip is. As can be seen from Eq.1. and the rolling radius of the tire is 0. therefore. the slip at a particular theoretical speed can be determined. The thrust can be calculated using Eq.5 is engaged. and TABLE 4. the vehicle speed and thrust are related. Determine the drawbar power and tractive efficiency of the vehicle when the fourth gear with a total reduction ratio of 6. it exhibits a peak at an intermediate value of drawbar pull.76 m (2. 3.5 ft). = 20. 4.30 in Chapter 3: From Table 4. To increase the tractive efficiency. the terramechanics described in Chapter 2 plays an important role.1 Engine Characteristics Engine Speed Engine Torque Me .8.a major source of power losses in the operation of offroad vehicles over unprepared terrain. and efficiency of slip. In this respect.23 kN (500 lb). The transmission efficiency is 0. The total motion resistance is 2. In general. The vehicle is to operate on a soil with the thrustslip characteristics given in Table 4. optimization of the form and size of the vehicle running gear is of importance.
5: and the tractive efficiency can be calculated using either Eq.3. The results of the calculations for F and V are tabulated in Table 4. In agriculture. 4.6 or Eq. earthmoving. When the engine characteristics over the operating range of the governor (i.4.3.1 DRAWBAR PERFORMANCE 303 TABLE 4.2 ThrustSlip Characteristics Slip Thrust F (%I the actual speed of the vehicle can be calculated. there has been a . there is a growing demand for higher productivity.3. logging. Consequently. which indicates that 34% of the engine power is lost in the transmission. The drawbar power can be determined using Eq. and crosscountry transport. It should be mentioned that engines for offroad vehicles are often equipped with a governor to limit its maximum operating speed. the drawbar performance of the vehicle in that range can be predicted in the same way as that described above. between the full load and no load settings of the governor) are known.8: The results of the calculations for Pd and qd are tabulated in Table 4. 4. and the results are given in Table 4.e. the drawbar pull can be calculated. It can be seen that the maximum drawbar efficiency of the vehicle under the operating conditions specified is approximately 66%. in overcoming the motion resistance.. and in vehicle slip. The drawbar pull is given by Since the total motion resistance is given. 4.
3 Drawbar Performance Engine Speed n.7 Tractive Efficiency Vd (%) 61.4 85 85 85 85 85 85 95. (rpm) 800 1200 1600 2000 2400 2800 Thrust F Slip Vehicle speed v 1 (%I Drawbar Pull Fd Drawbar Power p'i Transmission Efficiency q.1 88.6 65.7 15.2 36.6 91.9 24.5 18.1 65.8 65.0 6.5 12.7 9.7 89.0 89.8 22.8 91. kmlh mph (%I (%) 10.5 .9 30.4 15.7 65.3 19.TABLE 4.6 65. Efficiency of Slip 77.
On the wet. Assuming that the performances of the two front tires are identical and so are those of the two rear tires. For a fourwheeldrive tractor to achieve the optimum tractive efficiency. it is necessary to examine the tractive efficiency. a fourwheeldrive tractor has the potential of developing higher thrust than an equivalent twowheeldrive vehicle at the same slip. particularly the efficiency of slip. the drawbar pull of the fourwheeldrive tractor at 30% slip is as much as 57% higher and at 50% slip is 44% higher than the corresponding values of the twowheeldrive tractor. whereas only about 6070% of the total weight is applied on the driven wheels of a twowheeldrive vehicle. thus reducing their motion resistance.6]. the power losses due to slip occur at both the front and rear driven wheels. Furthermore. Figure 4. and if and ir are the slip of the front and rear wheels. are the theoretical speed of the front and rear wheels. respectively. w f and w. Ff and F. fourwheeldrive has gained increasingly wide acceptance since the total weight of a fourwheeldrive tractor is utilized for the development of thrust. of a fourwheeldrive vehicle is determined by [4. clayey loam. the slip efficiency q.7] where M f and M . It can be seen that on the dry loam. To define these requirements quantitatively. The relationship can be expressed by .. For a fourwheeldrive vehicle.4. are the driving torque at the front and rear wheels. stubble field.6(a) and (b) show a comparison of the drawbar performance of a twowheeldrive and a fourwheeldrive tractor on a dry loam.6]. The values of the peak tractive efficiency of the fourwheeldrive and twowheeldrive tractor are 5 1 and 40%. over soft terrain. are the tractive effort of the front and rear wheels.. Vrf and V. of a fourwheeldrive offroad vehicle. certain requirements have to be met. respectively [4. are the angular speed of the front and rear wheels.1 DRAWBAR PERFORMANCE 305 steady increase in the installed power of new vehicles. For wheeled tractors to fully utilize the high engine power available and to maintain high tractive efficiency. respectively [4. respectively. a fourwheeldrive vehicle with the same size tires for the front and rear axles usually has a lower overall coefficient of rolling resistance than an equivalent twowheeldrive vehicle. The peak tractive efficiency of the fourwheeldrive tractor and that of the twowheeldrive tractor are 77 and 70%. clayey loam. This is because its rear tires run in the ruts formed by the front tires. stubble field and on a wet. the drawbar pull of the fourwheeldrive tractor at 20% slip is 27% higher and at 50% slip is 20% higher than the corresponding values of the twowheeldrive tractor. There is a relationship between the translatory speed of the front wheel and that of the rear wheel of a fourwheeldrive vehicle in a straight line motion. Consequently.
306
PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES
I
0
I
I
I
I
I
1000 2000 3000 4000 5000 6000 Ib
DRAWBAR PULL
Fig. 4.6 Comparison of drawbar performance between a fourwheeldrive and a rearwheeldrive tractor on (a) dry loam, stubble field and (b) wet clayey loam. (Reproduced
with permission from reference 4.6.)
Vlf (1

i f ) = Vl,.( 1  i,.) = V
Where K, is the ratio of the theoretical speed of the front wheels to that of
the rear wheels, which is usually referred to as the theoretical speed ratio; rf
and r,. are the freerolling radius of the front and rear wheels, respectively.
4.1 DRAWBAR PERFORMANCE
307
This is due to the fact that the front and rear wheels are connected with
the same frame, and the actual translatory speeds of the front and rear wheels
must be the same in a straight line motion.
Therefore,
qs4 = 1

1

=
i f ( l  i,)  ( i f  i,) K,
( 1  ir)  ( i f  ir) K,
(4.11)
where K, is the coefficient of thrust distribution and is equal to F,I(Ff + F,).
Equation 4.11 shows that, in general, the efficiency of slip of a fourwheeldrive vehicle depends not only on the slips of the front and rear wheels, but
also on the distribution of thrust between them. From Eq. 4.11, it is clear that
under a particular operating condition, there is an optimum thrust distribution
that can make the efficiency of slip reach its peak. To find this optimum thrust
distribution, the first partial derivative of n4with respect to K, is taken and
set equal to zero:
This condition can only be satisfied if the slip of the front wheels or that
of the rear wheels is loo%, or the slip of the front wheels is equal to that of
the rear wheels. When the slip of either the front or the rear wheels is loo%,
the vehicle cannot move forward at all, and the tractive efficiency is equal to
zero. Therefore, under normal operating conditions, only when the slip of the
front wheels equals that of the rear wheels will the first partial derivative be
zero. This is the necessary condition for achieving the maximum efficiency
of slip.
Substituting the theoretical speed ratio K, for (1  i,)l(l  i f )in Eq. 4.1 1,
the efficiency of slip qS4may be expressed in an alternate form:
Taking the first partial derivative of q,,,with respect to K, and setting it to
zero, one obtains
0
(4.14)
This leads to a similar conclusion that when the value of the theoretical
308
PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES
speed ratio K, is equal to 1.0, which is equivalent to the slips of the front
and rear wheels being equal, the first partial derivative drl,,ldK, will be equal
to zero and the necessary condition for achieving the maximum efficiency of
slip is established.
The above analysis leads to an interesting conclusion, which indicates that
for the most efficient operation of a fourwheeldrive vehicle, the slip of the
front wheels must be the same as that of the rear wheels. In other words, the
optimum thrust distribution is that which will make the slips of the front and
rear wheels equal. Only in this case can the efficiency of slip reach its peak.
It is interesting to point out that when the slips of the front and rear wheels
are equal, if = i,, the efficiency of slip, %, is simply equal to 1  if or 1 i,, and the coefficient of thrust distribution no longer has an effect on the
efficiency of slip (see Eq. 4.1 1 or Eq. 4.13). As an example, Fig. 4.7 shows
the variation of the efficiency of slip with the coefficient of thrust distribution
of a fourwheeldrive vehicle on a farm soil [4.7].
Since the thrust distribution affects the tractive efficiency of a fourwheeldrive vehicle considerably, it is of importance to analyze the factors that in
practice affect the thrust distribution. Generally speaking, there are two basic
factors: first, the type of coupling between the front and rear axles, which
may be rigid coupling, interaxle differential, overrunning clutch, viscous coupling, etc.; and second, the difference in theoretical speed (wheel speed when
no slip or skid occurs) between the front and rear wheels.
A difference in theoretical speed often exists under operating conditions,
and is usually caused by the variation of the radii of the front or rear tires,
owing to differences in tire inflation pressure, uneven wear of tires, or load
transfer. It has been shown that the difference in theoretical speed between
the drive axles of an allwheeldrive offroad vehicle could be as much as
0
l
0.4
I
I
I
I
I
I
0.8
1.2
COEFFICIENT OF THRUST DISTRIBUTION Kd
I
1
o
I
0.4
Fig. 4.7 Effect of thrust distribution between driven axles on the slip efficiency of a
fourwheeldrivetractor.
4.1 DRAWBAR PERFORMANCE
309
10% in practice. When the sizes of the front and rear tires are not the same,
sometimes it is difficult to provide the right gear ratio that exactly matches
the sizes of the tires, and this also causes the difference in theoretical speed
between them.
The most common configuration of fourwheeldrive tractors has rigid coupling between the front and rear drive axles. For this type of vehicle, the ratio
of the angular speed of the front wheel to that of the rear wheel is fixed. The
relationship between the slip of the front wheel and that of the rear wheel in
a straight line motion is therefore a function of the theoretical speed ratio,
K,:
The variation of i, with if and K, is shown in Fig. 4.8. When the theoretical
speed ratio K, is equal to 0.85 (i.e., the theoretical speed of the front wheel
is 85% of that of the rear wheel) and i, is less than 15%, the front wheel
skids and develops negative thrust (braking force). On the other hand when
K, is equal to 1.15 (i.e., the theoretical speed of the front wheel is 15% higher
than that of the rear wheel) and if is less than 13%, the rear wheel skids and
also develops negative thrust. In both cases, the maximum forward thrust of
the vehicle is reduced, and torsional windup in the transmission inevitably
occurs. This results in an increase of stress in the components of the driveline
and a reduction of transmission efficiency. Figure 4.9 shows the torques on
the front and rear axles of a fourwheeldrive vehicle on a dry concrete surface
in forward motion as well as in reverse [4.8]. It shows that when the radius
of the front wheel is smaller than that of the rear wheel, then in forward
motion, after the initial startup period, the torque on the front axle is negative,
while that on the rear axle is positive. This indicates that the front wheel skids
and develops a braking force, while the rear wheel slips and develops a for
Fig. 4.8 Effect of theoretical speed ratio on
the slim of the front and rear tires of a four20
0
20
40
609b wheelhrive tractor with rigid interaxial cou
FRONT WHEEL SLIP i,
pling,
310
PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES

1 (FORWARD)
L
2 (REVERSE)
'f
< 'r
Fig. 4.9 Torque distribution between the front and rear axles of a fourwheeldrive
tractor with rigid interaxial coupling when the dynamic radius of the front tire is
smaller than that of the rear tire. (Reproduced with permission from reference 4.8.)
ward thrust. Under these circumstances, torsional windup occurs. When the
vehicle is in reverse, a similar situation can be observed.
In a turning maneuver, the wheels on the front and rear axles usually follow
different paths with different turning radii, which requires the front and rear
wheels to have different translatory speeds. If the front and rear axles are
rigidly coupled, the front wheel will skid and develop a braking force. Figure
4.10 shows the torques on the front and rear axles of a fourwheeldrive
vehicle during a turning maneuver on dry concrete [4.8]. It can be seen that
when the vehicle is in forward motion, after the initial startup period, the
torque on the front axle is negative, while that on the rear axle is positive.
This indicates that the front wheel skids and develops a braking force, while
the rear wheel slips and develops a forward thrust. Under these circumstances,
torsional windup again occurs.
Since wheel slip is related to thrust as described in Chapter 2, the thrust
distribution between the front and rear drive axles depends on the theoretical
speed ratio. Figure 4.1 1 shows the relationship between the coefficient of
thrust distribution K, and the theoretical speed ratio K,, of a fourwheeldrive
vehicle having equal weight distribution between the axles at various values
of thrustlweight ratio, F I W , in a straight line motion on a farm soil [4.7]. It
is shown that when the value of the thrustlweight ratio is high (i.e., the vehicle
is pulling a heavy load), the difference in the theoretical speed has less effect
on the thrust distribution. It is interesting to note that when the thrustlweight
4.1 DRAWBAR PERFORMANCE
S
Fig. 4.10 Torque distribution between the front and rear axles of a fourwheeldrive
tractor with rigid interaxial coupling during a turn. (Reproduced with permission from
reference 4.8.)
2I
I
COEFFICIENT OF
THRUST DISTRIBUTION
K,
Fig. 4.11 Variation of coefficient of thrust distribution with theoretical speed ratio of
a fourwheeldrive tractor with rigid interaxial coupling.
312
PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES
ratio is 0.2 and the theoretical speed ratio K, is 0.9, the coefficient of thrust
distribution K, is equal to 1.0. This indicates that the vehicle is essentially a
rearwheeldrive vehicle, and that the potential advantage of fourwheeldrive
has not been realized.
Since the theoretical speed ratio K, affects the relationship between the
slip of the front wheel and that of the rear wheel, and hence the thrust distribution between the drive axles, the slip efficiency rl,, is a function of the
theoretical speed ratio. Figure 4.12 shows the variation of the slip efficiency
with the thrustlweight ratio for a fourwheeldrive vehicle at various theoretical speed ratios in a straight line motion. It can be seen that when the theoretical speed ratio K, is equal to 1.0, the slip of the front wheel equals that
of the rear wheel, and the slip efficiency is an optimum.
A series of field tests were carried out to verify the abovenoted analytical
findings that for a fourwheeldrive vehicle to achieve the maximum efficiency
of slip, the theoretical speed ratio K, must be equal to 1.0. An instrumented
fourwheeldrive tractor with frontwheelassist, CaseIH Magnum, was used
as the test vehicle. When the frontwheeldrive is engaged, the two drive axles
were rigidly coupled with a gear ratio of 0.752 to 1. The drawbar performance
of the test vehicle, with seven combinations of front and rear tires of different
sizes and under various inflation pressures, was measured on a farm field.
The seven front and rear tire combinations were 13.6R28 and 20.8R38,
14.9R28 and 20.8R38, 16.926 bias and 20.8R38, 16.9R26 and 20.8R38,
16.9R28 and 20.8R38, 13.6R28 and 18.4R38, and 14.9R28 and 18.4R38. The
inflation pressure of the tires varied in the range of 82 kPa (12 psi) to 193
kPa (28 psi). The various combinations of front and rear tires produce a
variety of theoretical speed ratios ranging from 0.908 to 1.054. The theoretical
5
Fig. 4.12 Variation of slip efficiency
with thrustlweight ratio at various theoretical speed ratios of a fourwheeldrive tractor with rigid interaxial
coupling.
0.7
",
L.
0
0.2
0.6
0.4
THRUST/ WEIGHT
F
p~
4.1 DRAWBAR PERFORMANCE
313
speed ratio was calculated from the freerolling radii of the front and rear
tires and taking into account the gear ratio between the front and rear drive
axles. During field tests, the driving torques on the front and rear axles, slips
of the front and rear tires, drawbar pull, vehicle forward speed, and fuel
consumption of the tractor were monitored [4.9, 4.10, 4.1 I].
Field test data show that the thrustslip relations for all front tires under
various inflation pressures are quite similar and so are those for the two rear
tires. Thus, all performance data of approximately 350 sets obtained with the
seven sets of tires under various inflation pressures are combined together in
the evaluation of the effects of theoretical speed ratio K, on the efficiency of
slip, tractive efficiency, and fuel efficiency of the tractor.
Figure 4.13 shows the relationship of the measured efficiency of slip (defined by Eq. 4.11 or Eq. 4.13), total thrust (i.e., the sum of the thrusts of the
front and rear tires), and theoretical speed ratio. A threedimensional curved
surface, representing the efficiency of slip as a quadratic function of total
thrust and theoretical speed ratio, was fitted to the measured data, using the
method of least squares, as shown in Fig. 4.13. By slicing the curved surface
along a constant total thrust plane, the relationships between the efficiency of
slip and theoretical speed ratio at various values of total thrust can be obtained, as shown in Fig. 4.14. It can be seen that when the theoretical speed
ratio is close or equal to 1.0, the efficiency of slip of the fourwheeldrive
tractor is indeed at a maximum. Thus, the analytical finding that when the
theoretical speed ratio is equal to 1.0, the efficiency of slip will reach its peak,
is experimentally substantiated. It is also shown in Fig. 4.14 that if the the
Fig. 4.13 Measured relationship of slip efficiency, total thrust, and theoretical speed
ratio of a fourwheeldrive tractor on a clayey loam.
314
PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES
0.90
0.94
0.98
1.02
THEORETICAL SPEED RATIO
1.06
0'90
0.94
0.98
1.02
THEORETICAL SPEED RATIO
1.06
0.90
0.94
0.98
1.02
THEORETICAL SPEED RATIO
1.06
Fig. 4.14 Relationships between slip efficiency and theoretical speed ratio at various
values of total thrust.
4.1 DRAWBAR PERFORMANCE
315
oretical speed ratio is either higher or lower than 1.0, the efficiency of slip
will be lower than the maximum.
Figure 4.15 shows the relationship of the measured tractive efficiency (defined as the ratio of the drawbar power to the sum of the power at the front
and rear driven tires), total thrust, and theoretical speed ratio. Again, by
slicing the fitted curved surface shown in Fig. 4.15 along a constant total
thrust plane, the relationships between the tractive efficiency and theoretical
speed ratio at various values of total thrust can be obtained, as shown in Fig.
4.16. It can be seen that when the theoretical speed ratio is close or equal to
1.O, the tractive efficiency of the fourwheeldrive tractor is also at its peak.
This is mainly due to the fact that the efficiency of slip is a major component
of the tractive efficiency.
Figure 4.17 shows the relationship of the measured fuel efficiency (defined
as the drawbar power per unit volume of diesel fuel consumed per hour),
total thrust, and theoretical speed ratio. Again, by slicing the fitted curved
surface shown in Fig. 4.17 along a constant total thrust plane, the relationships
between the fuel efficiency and theoretical speed ratio at various values of
total thrust can be obtained, as shown in Fig. 4.18. It is shown that when the
theoretical speed ratio is close or equal to 1.0, the fuel efficiency of the fourwheeldrive tractor is also at a maximum.
The results of the above analytical and experimental studies indicate that
care must be taken in the design and operation of fourwheeldrive offroad
vehicles to achieve optimum efficiency. For a fourwheeldrive vehicle with
rigid coupling between the drive axles to achieve a high efficiency of oper
Fig. 4.15 Measured relationship of tractive efficiency, total thrust, and theoretical
speed ratio of a fourwheeldrive tractor on a clayey loam.
316
PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES

L
TOTAL THRUST = 12 kN(2,698 Ib)
1
.
1
.
1
.
1
.
1
.
1
.
1

.
0.90
0.94
0.98
1.02
THEORETICAL SPEED RATIO
1.06
0.90
0.94
0.98
1.02
THEORETICAL SPEED RATIO
1.06
70
0.90
TOTAL THRUST = 48 kN(10,791 Ib)
1
.
1
1
1
.
1
1
1
.
1
1
0.94
0.98
1.02
THEORETICAL SPEED RATIO
1
.
1.06
Fig. 4.16 Relationships between tractive efficiency and theoretical speed ratio at various values of total thrust.
.. 4.3 Coefficient of Traction In the evaluation of the drawbar performance of offroad vehicles. 4.. total thrust. and theoretical speed ratio of a fourwheeldrive tractor on a clayey loam. ation. This requires that the rolling radii of the tires be equal (when the front and rear tires are of the same size) under working conditions.17 Measured relationship of fuel efficiency. is a widely used parameter. the coefficient of traction of different vehicles should be compared at the same slip. an important matter that the vehicle operator must control. so that the slip of the front wheel and that of the rear wheel are the same under operating conditions.1.19 shows a comparison of the coefficient of traction of a twowheeldrive and a comparable fourwheeldrive tractor on a farm soil [4. . the ratio of the drawbar pull to the normal load on the driven wheels W. the theoretical speed of the front wheel and that of the rear wheel must be equal in a straight line motion.4.5]. which is usually referred to as the coefficient of traction p.1 DRAWBAR PERFORMANCE 317 Fig. It is expressed by It should be pointed out that since drawbar pull is a function of slip. Figure 4.
l .98 1.98 1.06 THEORETICAL SPEED RATIO LL . 1 . 1 .02 1.0 0. 1 . I .94 0.02 1.06 THEORETICAL SPEED RATIO 2 1. 1 1 U) . 1 . 0.94 0.90 I .18 Relationships between fuel efficiency and theoretical speed ratio at various values of total thrust. I . 1 . 0. I ~ 10. 1 1 .06 THEORETICAL SPEED RATIO Fig.318 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES h a h J I \  1 LL 0. I . 1 . .98 1. 4.  1 .10.02 1. I h l LL LL LL 3 .90 1 .4 I 0. 1 . 1 . 1 .  1 I .94 0. 1 .90 .60 0.
1. the value of K.) 4. the relationship between the vehicleweighttoenginepower ratio and the operating speed can be expressed by [4. f . is called the weight utilization factor and is the ratio of Wd to W.19 Variation of coefficient of traction with slip for a twowheeldrive and a fourwheeldrive tractor.FV. Figure 4. If there is load transfer from the implement to the vehicle. the weighttoenginepower ratio should be within a particular boundary. Equation 4.12] p = . = (Fd + C R)Vt and where W is the total vehicle weight.8 TRACTION COEFFICIENT Fig. is less than unity for a twowheeldrive tractor.5.4. 4. It is.2 0. From Eq.4 0.. is the coefficient of motion resistance. 4. a function of the operating speed.4 WeighttoPower Ratio for OffRoad Vehicles For offroad vehicles designed for traction.7. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 4. so that a specific level of tractive efficiency can be maintained. and is equal to unity for a fourwheeldrive or a tracked vehicle.1 DRAWBAR PERFORMANCE 319 i V) 10 0 0. the desirable weighttoengine power ratio is determined by the necessity for the optimum utilization of the engine power to produce the required drawbar pull.20 shows the variations of the desirable weighttoenginepower ratio .. therefore.18 indicates that for a vehicle designed to operate in a given speed range. and K. The weight utilization factor K.. may be greater than unity.
attempts are being made to achieve higher productivity in the field by increasing the operating speed of the tractorimplement system. (Reproduced with permission of the Council of the Institution of Mechanical Engineers from reference 4. an increase of the operating speed must be accompanied by a corresponding reduction of the tractor weighttoengine power ratio. and operating speed.12. When the resultant resisting force. drawbar .320 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES TWOWHEELDRIVE FOURWHEELDRIVE  u 0 0 2 4 5 6 10 8 10 mph 15 km/h SPEED Fig. It shows that to achieve optimum utilization of engine power and to maintain a high level of tractive efficiency. This would require the development of appropriate implements as well as tractors. but also on the transmission characteristics. external resisting forces. In agriculture. 4. internal resistance of the running gear.20 Variation of the optimum weighttopower ratio with operating speed for a twowheeldrive and a fourwheeldrive tractor.) with operating speed for a twowheeldrive and a fourwheeldrive tractor under a particular operating environment. 4. Equation 4. so that full advantage of highspeed operation can be realized.2 FUEL ECONOMY OF CROSSCOUNTRY OPERATIONS The fuel economy of offroad vehicles depends not only on the fuel consumption characteristics of the engine.18 provides guiding principles for the selection of the design and performance parameters of tractors designed for operation at increased speeds. drawbar pull.
3.634 Ib) From Table 2. h (or lbl hp .h (0.2 mph). Assume . the required engine output power P is determined by The fuel consumed per hour of operation u.47 + 45 = 51.3 in Chapter 2.75 kN (11.350 lb). Consequently. to a great extent. F. estimate the difference in fuel consumption of the two vehicles when traveling at a speed of 10 kmlh (6.2 FUEL ECONOMY OF CROSSCOUNTRY OPERATIONS 321 pull. equal to the sum of the resultant motion resistance and drawbar pull: F = xK + F. The motion resistance and slip of an offroad vehicle over a given terrain affect the power requirements. Referring to Example 2.. For changing operating conditions. = 3.47 kN (780 lb) a) To pull the load specified. (4. The internal resistance of the two vehicles traveling at 10 kmlh may be estimated using Eq. if vehicles A and B are to pull a load that requires a drawbar pull of 45 kN (10. vehicle A should develop a thrust. Example 4.41 lblhp . as discussed in Chapter 2. Solution.6. the basic equations given above can still be used to compute step by step the changing power requirements and fuel consumption.2.28 + 3. on the design of the running gear and vehicle configuration. Referring to Example 2.6 kN (585 lb). and operating speed are known.4. to develop this thrust. = Pu. the slip of vehicle A is 20. the tractive performance of the vehicle has a considerable impact on the fuel economy of crosscountry operations.117 lb). 4. h). h) for a diesel engine may be assumed. = W(222 + 3V) = 3.2: R. Both vehicles have a weight of 135 kN (30. an average specific fuel consumption of 0. This may be illustrated by the following example.25 kg/kW . the compaction resistance of vehicle A is 3.7%. and are dependent.20) where us is the specific fuel consumption of the engine in kg/kW . In the calculations.28 kN (738 lb) and that of vehicle B is 2. can then be calculated by u.
= Pu.3 kW (286 hp) The fuel consumption per hour of operation is u. u. For instance. may be used as a criterion: .322 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES that the transmission efficiency 7. to develop this thrust.2 mph) is P = 197.85.6.482 lb) From Table 2.: where Bm is the working width of the implement or machinery which the tractor pulls and Vmis the average operating speed.i h = 213. = 53. The required engine power for vehicle B traveling at 10 km/h (6.47 + 45 = 51.3 kglh (117.5%.3 lb/h) b) To pull the load specified. the slip of vehicle B is 15. the fuel consumption per unit drawbar power per hour u.9% more fuel than vehicle B because vehicle A has higher motion resistance and slip than vehicle B under the circumstances.6 + 3.17: P = (1 .07 kN (1 1. The engine power required for vehicle A traveling at 10 km/h (6.8 hp) The fuel consumption per hour of operation The results indicate that vehicle A consumes about 7.5 kW (264. The difference in tractive performance between the two vehicles is due to the difference in the dimensions of the tracks. for an agricultural tractor. The operational fuel economy of various types of crosscountry vehicle may also be evaluated using parameters reflecting the productive work performed by the vehicle.2 mph) can be calculated using Eq. 4. To evaluate the fuel economy of a tractor in developing drawbar power. is 0. the thrust that vehicle B should develop is F = 2. the operating fuel economy may be expressed in terms of fuel consumed for work performed in unit area.
u. P. This involves not only the performance and fuel consumption characteristics of the vehicle. In the University of Nebraska's test programs. is the specific fuel consumption of the engine. may be expressed in liters per tonne kilometer or gallons per ton . However. u.P. is the efficiency of motion. is used as an index for evaluating fuel economy: u. which is defined as the product of payload and the average crosscountry speed through a specific region. q. is the drawbar power. is the fuel consumed during time t. special fuel carriers have to be used to supply the payload carriers with the required fuel. 4.4. For crosscountry transporters. u.. is the payload.3 TRANSPORT PRODUCTIVITY AND TRANSPORT EFFICIENCY 323 where u. the total fuel consumption per unit payload transported should include the consumption of the fuel carriers [4. certain basic performance criteria exist that enable some assessment and comparison to be made in the preliminary stage of development. u. mile. may be used as a criterion for evaluating the performance of offroad transporters. the fuel consumption per unit payload transported over a unit distance.. the average speed may be measured experimentally. Transport productivity. q. per unit volume of fuel consumed. but also factors not known before a vehicle has been operated. For an existing vehicle. the energy obtained at the drawbar E. and r). Thus. When operating in areas where fuel is not readily available. u. However. E d  Me =  F'IV t . such as load factor and customer's preference.3 TRANSPORT PRODUCTIVITY AND TRANSPORT EFFICIENCY The absolute criterion for comparing one commercial offroad transporter with another is the relative cost of transporting a unit payload on a particular route.. Some of these are discussed below. may be used as a criterion for evaluating fuel economy:  where W. . where u.. is the fuel consumed per hour of operation. P is the engine power. is the transmission efficiency.t u.2]. is the efficiency of slip.
4.15]. To predict the maximum feasible speed. the prediction of its average operating speed through a particular region may be quite complex. and NATO Reference Mobility Model (NRMM). mobility in a rherine environment. the maximum feasible speed between two points in a given region may be used as a basic criterion [4. particularly among military strategic planners and military vehicle operators. the transport efficiency vr. namely. may also be used [4. 4.: The propulsive efficiency includes the transmission efficiency and slip efficiency of the vehicle. This criterion has found increasingly wide acceptance. a number of other factors. such as logistics vehicles and armored personnel carriers. The transport efficiency as defined has three basic components. such as the ability in obstacle negotiation.for a vehicle under development. as the terrain conditions may vary considerably from one patch to another. is the payload and P is the power input to the system. and propulsive efficiency rl. the liftldrag ratio C . The reciprocal of transport efficiency expressed in terms of power consumption per unit transport productivity may also be used to characterize the performance of a transport system.141: where W. In view of the variation of en . The maximum feasible speed is a highly aggregated parameter representing the net results of numerous interactions between the vehicle and the operational environment.154. In addition to vehicle tractive performance. (the ratio of the vehicle total weight to the resultant motion resistance).13. To characterize the efficiency of a transport system. such as the AMC71.4 MOBILITY MAP AND MOBILITY PROFILE To characterize the mobility of military vehicles. and vehicle vibrations excited by ground roughness.which is defined as the ratio of the transport productivity to the corresponding power input to the system. AMM75. have been developed [4.171. also affect the crosscountry speed of the vehicle. various computer simulation models. structural efficiency qsr(the ratio of the payload to the vehicle total weight).
the acceleration and deceleration between obstacles. obstacles.21 [4. within each of which the terrain is considered sufficiently uniform to permit the use of the maximum speed of the vehicle in a straight line motion to define its mobility. in addition to the speed limited by the motion resistance. 2. the driver's tolerance to ride discomfort when traversing rough terrain and to obstacle impacts. and the maximum attainable speed within a particular terrain patch is determined. 4. Vehicle geometric characteristics. The least of them is taken as the maximum feasible speed for the road or trail segment. inertia characteristics. and the driver are required as inputs. in these computer models. the characteristics of the terrain. such as stream cross section and water speed and depth. surface geometry. canal. the time required to enter and cross the segment and that required to egress from it are taken into consideration. For the computer models. ditch. recognition distance. or road curvature has to be taken into consideration. When the vehicle is traversing a linear feature segment. such as a stream. linear feature segment. the vehicle. within the limited visibility distance prevailing in that patch. appropriate models are used to determine the maximum attainable speed. visibility. the driver's reluctance to proceed faster than the speed at which the vehicle would be able to decelerate to a stop. escarpment. the terrain is classified into three categories: areal patch. and mechanical characteristics together with the driver's reaction time. have to be specified. The numbers in the map . and road or trail segment. and speed reduction due to maneuvering to avoid obstacles. the tractive effort available for overcoming the resisting forces due to sinkage. The speed limited by each of the above factors is calculated and compared. railroad. The results obtained from the analysis may be conveniently shown in a mobility map. such as a stream. Both include allowance for engineering effort. the area of interest is first divided into patches. manmade ditch. and linear geometry. tire characteristics. the maximum speed may be limited by one or a combination of the following factors: 1 .4 MOBILITY MAP AND MOBILITY PROFILE 325 vironmental conditions in the field. as illustrated in Fig. 4. whenever required. In the models.15]. vegetation. slope. and ride comfort limits also have to be defined. etc. vehicle maneuverability to avoid obstacles 5. 3. For these computer models. Terrain surface composition.4. To predict the maximum attainable speed of a vehicle on roads or trails. When a vehicle is crossing an areal terrain unit. and highway embankment. such as winching and excavating. the speed limited by ride discomfort. or embankment. vegetation.
the intercept . crosshatched area indicates where the vehicle is immobile. This provides the basis for selecting the optimum route for the vehicle to maximize the average speed through a given area. Number in the map designates the maximum achievable speed in miles per hour in a given patch. It indicates the speed at which the vehicle can sustain as a function of the percentage of the total area under consideration.15. 4.5 ton truck.Fig.) indicate the speed (in miles per hour) of which a particular vehicle is capable in each patch throughout the region under consideration. 4. (Reproduced with permission of the Society of Automotive Engineers from reference 4. For instance. The information contained in the mobility map may be generalized in a mobility profile shown in Fig.21 Mobility map of a 2.15].22 [4. which conveys a complete statistical description of vehicle mobility in a particular area.
with a powerto .4 MOBlLlN MAP AND MOBILITY PROFILE 327 mph AVERAGE SPEED 13. Figure 4. ranging from soft soils to hard.5 mph) over 90% of the area. The operational mobility is the ability of the tank to move in the zone of operations.5mph 0 20 40 60 80 100 % AREA Mobility profile of a 2. vehicle weight. as the higher it is. however. 4. such as operational planning and effectiveness analysis.3].4. The higher the powertoweight ratio of the vehicle. Leopard 2.15. Vehicle weight affects tractive performance over soft terrain.5 ton truck.) Fig. Vehicle reliability also has an effect on its operational mobility. as discussed in Chapter 2. Leopard 1 and 2. determines the acceleration and agility of the vehicle. It should be pointed out. The operating range of the vehicle affects the frequency of refueling stops from the origin to the destination. 4. and also restricts the type of road bridge that the vehicle can cross. the higher is its potential speed with which it can move from one area to another. It is related to the powertoweight ratio. rough ground. to a great extent. the greater is the probability that it will arrive at the destination on schedule. The weight and the design of the tracksuspension system of a fighting vehicle greatly affect its performance over soft terrain and its speed over rough ground. that they are not directly suitable for parametric analysis of vehicle design. such as a tank.7krn/h. This requires that it should be able to move over various types of terrain. (Reproduced with permission of the Society of Automotive Engineers from reference 4. and reliability. with different powertoweight ratios. and hence its ability to take evasive maneuvers under battlefield conditions. For a fighting vehicle. The powertoweight ratio. 8. operating range.7 kmlh (8.23 shows the relationships of the acceleration distance and time for two tanks. and hence its average speed. its mobility may be described in terms of its operational mobility and battlefield mobility when moving under its own power [4. The mobility map and mobility profile are suitable formats for characterizing vehicle mobility for many purposes. The battlefield mobility is the ability of the tank to move when engaging enemy forces in the battlefield. and to negotiate obstacles at the highest possible speed so as to minimize its exposure to enemy fire.22 of 90% point (point A ) in Fig.22 indicates that the vehicle can achieve an average speed of 13.
24 shows the time taken by a number of tanks with different powertoweight ratios to accelerate from standstill to 32 or 48 kmlh (20 or 30 mph) on hard road surfaces. Figure 4. size. With better armor protection. versus acceleration time of two main battle tanks.) weight ratio of 27 hpltonne (20 kwltonne). (Reproduced with permission of MTU Motorenund TurbinenUnion Friedrichshafen GmbH.5t (20. and it has improved battlefield survivability.23 Speed (top curves) and distance (bottom curves.328 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES CONDITIONS: FLAT CONCRETE ROAD VEHICLE WEIGHT: LEOPARD 1 42.3 kwltonne) [4. weight. This indicates that it is not effective to increase the powertoweight ratio beyond a certain level for a given operating condition. 4.3]. for instance.10 0 5 10 15 ACCELERATION TIME 20 S Fig. It can be seen. 4. Selection of vehicle configuration is primarily based on .2].5 SELECTION OF VEHICLE CONFIGURATIONS FOR OFFROAD OPERATIONS Vehicle configuration can generally be defined in terms of form. and power [4. it can move more freely under battlefield conditions.OHP/t) km/h mph 250 200  LEOPARD 2 .5 HP/t) m LEOPARD 2 55.5 hpltonne (15. that the time required to accelerate the vehicle to a speed of 32 kmlh (20 mph) approaches a more or less constant value when the powertoweight ratio is up to approximately 40 hpltonne (30 kwltonne). Armor protection also affects the battlefield mobility of a tank. can attain a given speed or travel a specific distance faster than Leopard I with 20.2t (27. Leopard 1 and 2. Germany.
and economy.M. The analysis of terrainvehicle systems usually begins with defining mission requirements. The operational characteristics and performance of the vehicle candidates are then analyzed and compared. cost. In addition. In the evaluations. the methods and techniques discussed in Chapter 2 and in the preceding sections of this chapter may be employed. 70 329 . safety. and it is not possible to define the optimum . including output rates.5 SELECTION OF VEHICLE CONFIGURATIONS FOR OFFROAD OPERATIONS :\ . based on past experience and future development trends. maintainability.) mission and operational requirements and on the environment in which the vehicle is expected to operate. 048 kmlh 030 mph 032 020 I 80 1 90 HPITONNE POWERIWEIGHT Fig. To define an optimum vehicle configuration for a given mission and environment. the kind of payload to be transported. .24 Variation of acceleration time from standstill to a given speed with vehicle powertoweight ratio. As a result of systems analysis. Jane's Information Group. reliability. from which an optimum vehicle configuration is selected [4. an order of merit for the vehicle candidates is established. Ogorkiewicz. 1991.2]. fuel economy. a systems analysis approach should therefore be adopted. and other factors have to be taken into consideration. 4. The physical and geometric properties of the terrain over which the vehicle is expected to operate are collected as inputs.4. such as the type of work to be performed. cost. (Reproduced with permission from Technology of Tanks by R. I 0 ' 0 1 10 I 20 I 30 I 40 I 50 I 60 . selection of vehicle configuration for a given mission and environment is a complex process. and the operational characteristics of the vehicle system. Thus. Competitive vehicle concepts with probability of accomplishing the specified mission requirements are chosen. impact on the environment.
The nominal ground pressure of the tracked vehicle (i. and hybrid vehicles. a more suitable choice than the tracked one when frequent onroad travel and high road speeds are required. the proper selection of vehicle configuration is of utmost importance. there are currently four basic types of ground vehicle capable of operating over a specific range of unprepared terrain: wheeled vehicles.27) This equation indicates that for a given terrain with specific values of cohesion and angle of internal shearing resistance. .. Tracked Vehicles Although the tracked vehicle has the capability of operating over a wide range of unprepared terrain. However.e. the slip of a tracked vehicle is usually lower than that of an equivalent wheeled vehicle for the same thrust. Consequently. the maximum drawbarpulltoweight ratio of a vehicle may be expressed by C =  P + tan 4  f. the higher is the maximum drawbarpulltoweight ratio. and hence the sinkage and external motion resistance of the tracked vehicle. Broadly spealung.330 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLE8 configuration without detailed analysis. Thus. a tracked vehicle has a longer contact length than a wheeled vehicle of the same overall dimensions. Furthermore. the mobility of the tracked vehicle is generally superior to that of the wheeled vehicle in difficult terrain. air cushion vehicles. As a result. careful attention must be given to the design of the track system. the ground contact pressure. The wheeled vehicle is. (4. however. some generalization of the merits and limitations of existing vehicle configurations may be made. Wheeled Vehicles Referring to the analysis of the tractive performance of offroad vehicles given in Chapter 2 and in the preceding sections of this chapter. For given overall dimensions and gross weight. the ratio of the vehicle gross weight to the nominal ground contact area) has been quite widely used in the past as a design parameter of relevance to soft ground performance. The lower the contact pressure and the coefficient of motion resistance. would generally be lower than that of an equikalent wheeled vehicle. the maximum drawbarpulltoweight ratio is a function of the contact pressure p and the coefficient of motion resistance f. based on the current state of the art of offroad transport technology. c and 4. to fully realize its potential. However. tracked vehicles.. a tracked vehicle will have a larger contact area than a wheeled vehicle. Since the contact pressure and the motion resistance are dependent on the design of the vehicle.
Pneumatic tracks and pneumatic cushion devices have also been proposed to provide a more uniform pressure distribution on the ground. Generally speaking. both in its neglect of the actual pressure variation under the track and in its inability to distinguish between track designs giving different soft ground mobility. depend on the maximum pressure exerted by the vehicle on the ground and not the nominal pressure. it is of prime importance that the design of the track system should give as uniform a contact pressure on the ground as possible under normal operating conditions. A detailed analysis of the characteristics of various steering methods for tracked vehicles will be given in Chapter 6. and obstacle crossing. while over snow or sandy terrain. AirCushion Vehicles A vehicle wholly supported by an air cushion and propelled by a propeller or fan air can operate over level terrain of low bearing capacity at relatively high speeds. Articulated steering also makes it possible for the vehicle to achieve a more rational form since a long. The overlapping roadwheel arrangement shown in Fig. and hence motion resistance. It has been shown that the vehicle sinkage. Existing air propulsion devices are relatively inefficient. 2. This would result in a rather nonuniform pressure distribution under the track. automatic transmission is preferred as it allows gear changing without interruption of power flow to the running gear. and could not generate sufficient thrust at low speeds. wide vehicle with the same contact area. slope traversing. articulated steering causes less damage to the terrain during maneuvering than sludsteering. Its maneuverability in confined space is generally poor without a ground contact device. For lowspeed tracked vehicles. the potential of the aircushion vehicle with air propulsion can only be fully exploited over relatively flat and smooth . narrow vehicle encounters less external resistance over soft ground than does a short. however. very limited capabilities in slope climbing. Experience and analysis have shown that the method of steering is also of importance to the mobility of tracked vehicles in difficult terrain. Over rugged terrain. The characteristics of the transmission also play a significant role in vehicle mobility over soft ground. visibility could be considerably reduced by a cloud of small particles formed around the vehicle. From an environmental point of view. It has. to minimize the vibration of the vehicle and of the track.53 provides a possible compromise in meeting the conflicting requirements for soft ground mobility and highspeed operations. relatively large diameter roadwheels with considerable suspension travel and short track pitch are required.5 SELECTION OF VEHICLE CONFIGURATIONS FOR OFFROAD OPERATIONS 331 the shortcomings in its general use are now evident. skirt damage could pose a serious problem. Articulated steering provides the vehicle with better mobility and maneuverability than skidsteering over soft terrain. With the current state of the art. For highspeed tracked vehicles. Therefore.4. fairly uniform ground contact pressure could be achieved by using a relatively rigid track with a long track pitch and a large number of small diameter roadwheels.
size.1 G. however. such as deep mud or semiliquid swamp. vol. Kolozsi and T. "Factors Affecting the Performance of Highspeed Track Layers. 167172." Proc. Bekker.T. London: Jane's Information Group. that the use of the wheel as a directional control device for the aircushion vehicle in overland operations is quite effective. 4." Proc. vol. the added weight. a track with suitable dimensions may provide the vehicle with the necessary thrust and mobility. 184. and cost of the aircushionassist device must be carefully evaluated against the benefits obtainable. However. and is more or less independent of the normal load." Journal ofAgricultura1 Engineering Research. 4. the aircushion assisttracked vehicle may have certain advantages from a technical standpoint. Ogorkiewicz. 4. The performance and characteristics of the aircushion assistedwheeled vehicle will be analyzed in detail in Chapter 8. Institution ofMechanical Engineers. Hybrid Vehicles Hybrid vehicles are those that employ two or more forms of running gear.E. This is because over this type of terrain. the use of the wheel as a traction device over difficult terrain has severe limitations. Since in a cohesive type of terrain. 2.2 M. no. "GroundDrive Systems for Highpowered Tractors.G. Ann Arbor.M. Cleare. and the aircushioned assisttracked vehicle. McCarthy. Over exceedingly soft and cohesive terrain. and the decision on the development of this hybrid vehicle configuration should be based on the results of a comprehensive costeffectiveness analysis. Technology of Tanks. pdrt 2A. the air cushion can be used to carry a high proportion of the vehicle weight. A detailed analysis of the performance of aircushion vehicles will be given in Chapter 8. such as the halftracked vehicle with front wheel steering. vol.5 L.332 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES terrain at high speeds.4 Z. as mentioned previously.3 R. 1974. REFERENCES 4. The tractive performance of a halftracked vehicle can be predicted using a combination of the methods developed for wheeled and tracked vehicles described in Chapter 2. Osborne. 178. It can be said. MI: University of Michigan Press. However. 1991. . the aircushion assistwheeled vehicle. the thrust is mainly a function of the track contact area and the cohesion of the terrain. 19691970. part 3Q. pp. "The Prediction of Tractor Field Performance. 19631964. The track could then be used solely as a propulsion device. thus minimizing the sinkage and motion resistance of the vehicle. 4. 19. Institution of Mechanical Engineers. Introduction to TerrainVehicle Systems. 1969.V.
Nuttall. Army Mobility Model (AMM75). Jianqiao Li. paper 700723.J.R. A. P. and SAE Journal of OffHighway Engineering. Wong. J. "System Energy in High Speed Ground Transportation. Wong. Conf of the International Society for TerrainVehicle Systems.B. Journal of Automobile Engineering. C. vol. Zhiwen Zhao." in Proc. 6. Dugoff.1 at various operating speeds when the third gear with a total reduction ratio of 33.Y. vol. 1970. Germany.B. D4. 1989. Burtt." Journal of Terrarnechanics. Wong. 23. 5th Int.Y. Con$ of the International Society for TerrainVehicle Systems. 2. "On the Application of Air Cushion Technology to Overland Transport. Jurkat.J.A. N. T h e motion resistance of the vehicle is 6.672 kN (1500 Ib). no. no. "Optimization of the Tractive Performance of FourWheelDrive OffRoad Vehicles. 3. "The Problems of MultiAxle Vehicle Drives. vol. 1986. N. vol. McLaughlin." SAE Transactions. McLaughlin. Burtt. J. no. 1975. J. Burtt. paper 740426. Munich. no. McLaughlin. 1. the slip of the running gear is 35%." Journal of Terramechanics. What percentage of the power is lost in converting engine power into drawbar power? . and P. vol. "Optimizing Tractive Performance of FourWheelDrive TractorTheory and Practice. Jianqiao Li. 212. J.. J.Y. PROBLEMS 4. 1998. Dudzinski. 13th Int. 4.8 is engaged.Y." High Speed Ground Transportation Journal. Detroit. vol. 1999." in Proc. Rula. Wong. "FourWheelDrive or RearWheelDrive for High Power Farm Tractors. 1972. part 3Q. Nuttall. M." Society of Automotive Engineers.Y.80. 9. Part D. Knezevic. vol. A. 4." High Speed Ground Transportation Journal.Y. Reece. Amsterdam. and S.A. 1968. Sohne. paper 2000012596. Institution of Mechanical Engineers. "Optimization of the Tractive Performance of FourWheelDrive Tractors: Theoretical Analysis and Experimental Substantiation.J. J. Wong.1 Calculate the drawbar power and tractive efficiency of the offroad vehicle described in Example 4. 79. "The Shape of the Farm Tractor. Wong. MI. Zhiwen Zhao.PROBLEMS 333 W. vol. "The U. J. and S. Institution of Mechanical Engineers. 19691970. 1974.Y. Z. Haley. C.B. vol." SAE Transactions.792 kN (4000 lb).S.W. "Optimization of the Performance of FourWheelDrive TractorsCorrelation between Analytical Predictions and Experimental Data. no. Wong. 1975." in Proc. The Netherlands: Elsevier Science Publishers. Terramechanics and OffRoad Vehicles. 2.2 A n offroad vehicle pulls a n implement that has a resistance of 17. 184." in Proc. Jr. "Computer Model for Comprehensive Evaluation of CrossCountry Vehicle Mobility. and S. 2000. N. T h e transmission efficiency is 0. 5 . and H. 3. February 2001. Under these circumstances.P.
Owing to differences in tire inflation pressure and uneven wear of tires.3 mph) and the average specific fuel consumption of the engine is 0. Both the transmission efficiency and the slip efficiency are 0. and are given in the following table. determine the thrust distribution between the drive axles and the slip efficiency of the vehicle when it pulls an implement that has a resistance of 14. the power consumption per unit productivity.000 lb) carries a payload of 17.4 5 10 15 20 25 30 40 If the fourwheeldrive offroad vehicle described in Problem 4.1. The motion resistance of the vehicle is 1. The motion resistance of the vehicle is 1. and that of the traction coefficient is 0. 4. and the transport efficiency of the vehicle system. Determine the appropriate range of the powertoweight ratio for the tractor.4.3 mph). The average value of the coefficient of motion resistance is 0. instead of a rigid coupling. The coefficient of motion resistance of the vehicle is 0. The thrustslip characteristics of the front and rear axles are assumed to be identical.51 kN (3712 lb).06 kN (3160 lb). ThrustSlip Relationship for the DriveAxle (Front or Rear) Slip (%) 4.67 kN (375 Ib).41 Iblhp .29.3 is equipped with an overrunning clutch. If the transporter travels at a speed of 15 kml h (9.h).85. .334 PERFORMANCE CHARACTERISTICS OF OFFROAD VEHICLES 4.67 kN (375 Ib). 4. the theoretical speed of the front tires is 6% higher than that of the rear tires. determine the fuel consumed in transporting 1 tonne of payload for 1 km. between the front and rear drive axles.25 kg1kW .5 A twowheeldrive tractor with a weight utilization factor of 75% is to be designed mainly for operation in the speed range 1015 kmlh (6.Also calculate the transport productivity.79 kN (4000 Ib). Both the transmission efficiency and the slip efficiency are assumed to be 85%. so that the front axle will not be driven until the slip of the rear tires is up to 1056. Determine whether or not torsional windup in the transmission will occur. Also determine the thrust distribution between the front and rear axles and the slip efficiency of the vehicle. The vehicle is to pull an implement that has a resistance of 16.48 kN (10.6 An offroad transporter with a gross weight of 44.15.3 A fourwheeldrive offroad vehicle has a rigid coupling between the front and rear drive axles.h (0.
e. translation along the x axis. the vehicle body rolls (i.. Furthermore. and forward speed. the inclusion of these motions in the analysis only becomes necessary when considering the limits of handling characteristics. the other is its ability to stabilize its direction of motion against external disturbances. The vehicle as a rigid body has six degrees of freedom. This chapter is intended to serve as an introduction to the study of the handling characteristics of road vehicles.CHAPTER 5 HANDLING CHARACTERISTICS OF ROAD VEHICLES The handling characteristics of a road vehicle refer to its response to steering commands and to environmental inputs.1. translation along the z axis and rotation about the y axis. Simplified linear models for the handling behavior of passenger cars and tractorsemitrailers in which suspension characteristics are not taken into account will be presented. and rotation about the z axis. y. rotating about the x axis). such as tire properties. thus affecting the handling behavior of the vehicle.e.e. The response of the vehicle to . respectively). The models demonstrate the effects on handling behavior of major vehicle design and operational parameters. bounce and pitch motions of the vehicle body (i.. 5. translation along the y axis. There are two basic issues in vehicle handling: one is the control of the direction of motion of the vehicle. and z axes. respectively) may also affect the steering response of the vehicle. In practice. location of the center of gravity. and lead to conclusions of practical significance concerning directional control and stability. However.. translations along the x. during a turning maneuver. as shown in Fig. that affect its direction of motion. and rotations about these axes. The primary motions associated with the handling behavior of a vehicle are longitudinal. This roll motion may cause the wheels to steer. such as wind gust and road disturbances. lateral. and yaw motions (i.
1) where B and L are the track (or tread) and wheelbase of the vehicle. steering input and its directional stability associated with a fixed steering wheel.cot 6. should satisfy the following relationship: cot 6. . This establishes the proper relationship between the steer angle of the inside front wheel 6. it can be readily seen that the steer angles 6. The prime consideration in the design of the steering system is minimum tire scrub during cornering. there is a simple relation between the direction of motion of the vehicle and the steering wheel angle. respectively. all tires should be in pure rolling without lateral sliding. For road vehicles.2.2. At low speeds. 5. = BIL (5. This requires that during the turn. as shown in Fig.1 is usually referred to as the Ackermann steering geometry. the wheels should follow curved paths with different radii originating from a common turn center.336 HANDLING CHARACTERISTICS OF ROAD VEHICLES PITCH VELOCITY R. although fourwheel steering has been introduced to passenger cars. From 5. which are usually referred to as fixedcontrol characteristics. and 6. To satisfy this requirement. will be analyzed. steering is normally effected by changing the heading of the front wheels through the steering system. .1 Vehicle axis system. ROLL VELOCITY Q. VELOCITY YAW 1 VELOCITY L Fig. 5.1 STEERING GEOMETRY In examining the handling characteristics of a road vehicle. 5. and that of the outside front wheel 8. 5. with the effect of the centrifugal force being neglected. it is convenient to begin with a discussion of the cornering behavior of the vehicle at low speeds. U\TERAL t (L.. The steering geometry that satisfies Eq.
This can be proved from the geometric relations shown in Fig. 5. first connect the midpoint of the front axle M with the center of the inside rear wheel F. that satisfies Eq.2. and 6. then angle LQCM is the steer angle of the inside front wheel 6. 5. 5. The relationship between 6. satisfy Eq.1. 5. . 5. Connect point Q with the center of the inside front wheel C.1 can be illustrated graphically.= B I L The results of the above analysis indicate that if the steer angles of the front wheels and 6. and cot 6. then by laying out the steer angles 6.2: cot 6.)le.cot 8. from the front axle. Referring to Fig. Line DO intersects line MF at Q. = (B12 + e2)le. = (Bl2  e.1 STEERING GEOMETRY Fig. 5.2 can then be rewritten as cot 6. that satisfies Eq. cot 6. cot 6.1. .5. = 2e21e.  Since triangle A MAQ is similar to triangle A MCF.2 337 Steering geometry. 5. Then lay out the steer angle of the outside front wheel 6. Eq.
3 shows the relationship between 6. 5. The intersection then defines the corresponding steer angle of the outside front wheel 6.4 will exhibit considerable tire scrub during cornering. from line M F is therefore an indication of the error of the steering geometry with respect to the Ackermann criterion. First. and 0.2). (i. By laying out the steer angles of the inside front wheel 6.56. the steer angles of the inside front wheel Si with suitable increment are laid out from the initial position of the steer arm CH. = 6. To evaluate the characteristics of a particular steering linkage with respect to the Ackermann steering geometry. and 6. Figure 5.3 Characteristics of various types of steering linkage. an arc is struck with a radius equal to the length of the tie rod HI. that satisfies Eq.4. as mentioned previously. and 6.. from the front axle. The deviation of the curve connecting 0.) and a typical steering geometry used in practice [5. will lie on the straight line MF.1 for a vehicle with BIL = 0. the intersections of the noncommon sides of 6. as shown in Fig. Steering geometry with an error curve that deviates excessively from line M F shown inFig. This intersects the arc generated by the steer arm of the outside front wheel DI. O.. the intersection of the noncommon sides of 6. 5. and the corresponding steer angles of the outside front wheel 6. a graphic method may be employed.. 5. This results in excessive tire wear and increased steering effort.. 5.. (Reproduced with permission from reference 5. as shown in Fig. as compared to a parallel steer curve (6. point Q in Fig..1.e. and 6. the noncommon sides of Si and 6. 5.. 5. will intersect at points 0.O. 5.2) will lie on the straight line connecting the midpoint of the front axle and the center of the inside rear wheel (i.and 6.4.e. from the front axle. from the pivot of the inside steer arm H . PARALLEL STEER CORRECT CURVE Fig.1].) . 5. line M F in Fig. If the steering geometry satisfies Eq.. Then.1. and O.
which is commonly used in vehicles with a front beam axle. The procedure. 5. For vehicles with front independent suspensions. is more involved. the front wheels may be steered via a threepiece tie rod or by a rack and pinion with outer tire rods. 5. however.2 STEADYSTATE HANDLING CHARACTERISTICS OF A TWOAXLE VEHICLE Steadystate handling performance is concerned with the directional behavior of a vehicle during a turn under nontimevarying conditions. An example of a steadystate turn is a vehicle negotiating a curve with constant radius at a .2 STEADYSTATE HANDLING CHARACTERISTICS OF A TWOAXLE VEHICLE 339 1 DIRECTION OF TURN ARM STEER ARM & i OUTSIDE Fig.4 Error curve of a steering linkage. 5.5.4. the steering linkage will be more complex. The approach for constructing steering error curves for these linkages is similar to that described above. Dependent on the type of independent suspension used. It should be mentioned that the graphic method described above is only applicable to the type of coplanar steering linkage shown in Fig.
To simplify the analysis. (5.  a. 5. the turning radius R. the effect of the centrifugal force (an inertia force arising from the normal component of acceleration towards the center of the turn) acting at the center of gravity can no longer be neglected. the four tires will develop appropriate slip angles. a side force acting on a tire produces a side slip angle. the wheel base L. When a vehicle is negotiating a turn at moderate or higher speeds. the inertia properties of the vehicle are not involved.5. and the slip angles of the front and rear tires af and a. on the relationship between the slip angles of the front and rear tires. To balance the centrifugal force. As discussed in Chapter 1. to a great extent. the tires must develop appropriate cornering forces. the pair of tires on an axle are represented by a single tire with double the cornering stiffness. = LIR + a. cq and a. as shown in Fig.3) This indicates that the steer angle Sf required to negotiate a given curve is Fig.340 HANDLING CHARACTERISTICS OF ROAD VEHICLES constant forward speed.5. The handling characteristics of the vehicle depend. when a vehicle is negotiating a turn at moderate or higher speeds. The steadystate response to steering input of a vehicle at moderate and higher speeds is more complex than that at low speeds. In the analysis of steadystate handling behavior. 5. the relationship among the steer angle of the front tire af. is approximately given by [5.5 Simplified steadystate handling model for a twoaxle vehicle. = LIR + ol.. From the geometry shown in Fig. 5. .2] af  af 6. Thus.
V is the vehicle forward speed. = Fyr 2Car  Wr V2 Car gR . are the cornering stiffness of each of the front and rear tires. the cornering forces acting at the front and rear tires are approximately given by where W is the total weight of the vehicle. and lateral force. can be determined from the dynamic equilibrium of the vehicle in the lateral direction. The slip angles a. are dependent on the side forces acting on the tires and their cornering stiffness.5 can be rewritten as Within a certain range. the cornering stiffness of a given tire varies with a number of operational parameters.5. as discussed in Section 1. tractive (or braking) effort. For small steer angles. respectively. 5. As described in Chapter 1. It may be regarded as a constant only within a limited range of operating conditions..1. . The cornering forces on the front and rear tires F. therefore are given by a. The normal load on each of the front tires W f and that on each of the rear tires Wr under static conditions are expressed by Equations 5.4 and 5...5. but also the front and rear slip angles a f and a. the slip angle and cornering force may be considered to be linearly related with a constant cornering stiffness. and F. and other parameters are shown in Fig..4.2 STEADYSTATE HANDLING CHARACTERISTICS OF A TWOAXLE VEHICLE 341 a function of not only the turning radius R.. where C. including inflation pressure. The slip angles a. g is the acceleration due to gravity. and a . and C. normal load. and a .
" Its handling characteristics for a constant radius turn are represented by a horizontal line in the steer anglespeed diagram shown in Fig. is usually referred to as the understeer coefficient and is expressed in radians. For a neutral steer vehicle. is the lateral acceleration. the turning radius remains the same. and a. = 0 . the steer angle S f required to negotiate a given curve is independent of forward speed and is given by Sf = LIR (5.2].3. 5. as illustrated in Fig. It indicates that the steer angle required to negotiate a given curve depends on the wheelbase. 5. 5. and Wf1Caf= W.8 and 5. understeer...e. turning radius. when it is accelerated in a constant radius turn. as shown in Fig.6.Substituting Eqs. 5. a f = a. and understeer coefficient of the vehicle. . the driver should maintain the same steering wheel position. elf = a . In other words.). or the relationship between the slip angles of the front and rear tires.8.9 into Eq.10 is the fundamental equation governing the steadystate handling behavior of a road vehicle. 5..2] where K. Equation 5. forward speed (or lateral acceleration).. when it is accelerated with the steering wheel fixed.1 Neutral Steer When the understeer coefficient K.e.lC.11) A vehicle having this handling property is said to be "neutral steer. When a neutral steer vehicle originally moving along a straight line is subjected to a side force acting at the center of gravity.. As a result. which is a function of the weight distribution and tire cornering stiffness.). and oversteer [5. the vehicle follows a straight path at an angle to the original. the steadystate handling characteristics may be classified into three categories: neutral steer.7. 5.2. equal slip angles will be developed at the front and rear tires (i. Dependent on the values of the understeer coefficient K. which is equivalent to the slip angles of the front and rear tires being equal (i. the expression for the steer angle Sf required to negotiate a given curve becomes [5..
understeer.6 Relationships between steer angle and speed of neutral steer. and oversteer vehicles. and oversteer vehicles at a fixed steer angle.4 f t L = 3m.118 in. 98. 5. . NEUTRAL STEER Fig.7 Curvature responses of neutral steer. l l l 1 0 l l l 50 l l l I 50 100 km/h 150 I 100 mph SPEED Fig. understeer.2 STEADYSTATE HANDLING CHARACTERISTICS OF A TWOAXLE VEHICLE CONSTANT RADIUS WHEELBASE rad 343 R = 3 0 m . 5.5. 2L UNDERSTEER I  o .
as shown in Fig.e. For an understeer vehicle. understeer. which is equivalent to the slip angle of the front tire af being less than that of the rear tire a.2. < 0.. a. Fig. and the vehicle turns away from the side force. the front tires will develop a slip angle greater than that of the rear tires (i.344 HANDLING CHARACTERISTICS OF ROAD VEHICLES NEUTRAL Directional responses of neutral steer.6. may be identified. af < a." Its handling characteristics for a constant radius turn are represented by a parabola in the steer anglespeed diagram shown in Fig. and oversteer vehicles to a side force at the center of gravity.2 Understeer When the understeer coefficient K. 5. as illustrated in Fig. For an understeer vehicle.. From Eq. 5. It is the speed at which the steer angle required to negotiate a turn is equal to 2LIR. a yaw motion is initiated. the turning radius increases. (i. the driver must increase the steer angle... 7 5.8 5. and . 5. when it is accelerated in a constant radius turn.e.. In other words.the steer angle iSf required to negotiate a given curve increases with the square of vehicle forward speed (or lateral acceleration). which is equivalent to the slip angle of the front tire af being greater than that of the rear tire a..6. (i. as shown in Fig.8. As a result. A vehicle with this handling property is said to be "understeer. 5.3 Oversteer When the understeer coefficient K. when it is accelerated with the steering wheel fixed.. a characteristic speed V. 5.2. 5. and WfICaf > WrICar).e. When a side force acts at the center of gravity of an understeer vehicle originally moving along a straight line. af > a.). At the same steering wheel position and vehicle forward speed.7.10. > (1.. > 0. the turning radius of an understeer vehicle is larger than that of a neutral steer vehicle.
1].9 shows the measured turning behavior of a fourwheeldrive car. Changes in load distribution will alter the handling behavior of a vehicle.). on the other hand. When a side force acts at the center of gravity of an oversteer vehicle originally moving along a straight line. can be identified. For an oversteer vehicle. For an oversteer vehicle. 5. On the other hand. < W.. during deceleration when the lateral accelera .3]. when it is accelerated with the steering wheel fixed..10. due to longitudinal load transfer from the front to the rear. It should be noted that for an oversteer vehicle. rearwheeldrive car with a large proportion of the vehicle weight on the rear tires. From Eq." The relationship between the required steer angle and forward speed for this kind of vehicle at a constant radius turn is illustrated in Fig.7. the turning radius decreases.IC.e. the vehicle tends to exhibit oversteer behavior. 5.).6.6. and the vehicle turns into the side force. 5. 5. Figure 5. as shown in Fig. a yaw motion is initiated. the slip angles of the front tires increase while those of the rear tires decrease. the vehicle tends to exhibit understeer characteristics. As a result. frontwheeldrive vehicle with a large proportion of the vehicle weight on the front tires may tend to exhibit understeer behavior. On the other hand. the driver must decrease the steer angle. required to negotiate a given curve decreases with an increase of vehicle forward speed (or lateral acceleration). the front tires will develop a slip angle less than that of the rear tires (i. a critical speed V. the turning radius of an oversteer vehicle is smaller than that of a neutral steer vehicle. Consequently.. A vehicle with this handling property is said to be "oversteer.. with an equal distribution of driving torque between the front and rear axles.2 STEADYSTATE HANDLING CHARACTERISTICS OF A TWOAXLE VEHICLE 345 WJC. the slip angles of the front tires decrease while those of the rear tires increase. 5. the understeer coefficient K U . due to load transfer from the rear to the front.1. For instance. af < a. The prime factors controlling the steadystate handling characteristics of a vehicle are the weight distribution of the vehicle and the cornering stiffness of the tires. A rearengined. As a result. when a vehicle is accelerating during a turn. at a fixed steering wheel position during acceleration and deceleration [5. For the same steering wheel position and vehicle forward speed.5. the steer angle 8. may tend to have oversteer characteristics [5. It shows that the car exhibits increased understeer behavior during acceleration. as discussed in Section 1.8. as illustrated in Fig. when it is decelerating. A frontengined. as illustrated in Fig.in the above equation has a negative sign...4. It will be shown later that the critical speed also represents the speed above which an oversteer vehicle exhibits directional instability. In other words. when it is accelerated in a constant radius turn. It is the speed at which the steer angle required to negotiate any turn is zero.
pp. as a driving or braking torque modifies the cornering properties of the tire. It should also be mentioned that the effects of roll steer (the steering motion of the front or rear wheels due to the relative roll motion of the sprung mass . g Fig. Lowering the inflation pressure in the rear tires can have similar effects. (From Shibahata. as mentioned in Chapter 1. A number of design and operational parameters affect the cornering stiffness of the tires. Mixing of radialply with biasply tires in a vehicle may have serious consequences in its handling characteristics. Installing laterally stiff radialply tires on the front and relatively flexible biasply tires on the rear may change an otherwise understeer vehicle to an oversteer one. and thus the handling performance of the vehicle.) tion is up to approximately 0. 465481. the vehicle demonstrates oversteer characteristics. producing an oversteering effect. the application of tractive effort during a turn reduces the effective cornering stiffness of the rear tires. for a frontwheeldrive car. Used with permission. lateral load transfer will affect the handling behavior of the vehicle. The application of a driving or braking torque to the tire during a turn will also affect the cornering behavior of the vehicle. as the cornering stiffness of a tire usually decreases with a decrease of inflation pressure. Thus. O Swets & Zeitlinger. thus introducing an understeering effect. Y. 5. Vehicle System Dynamics 22. For a rearwheeldrive vehicle. The lateral load transfer from the inside tire to the outside tire on an axle during a turn will increase the slip angle required to generate a given cornering force.346 HANDLING CHARACTERISTICS OF ROAD VEHICLES LONGITUDINAL ACCELERATION LATERAL ACCELERATION. On the other hand. et al.9 Variation of turning radius with lateral acceleration of a fourwheeldrive car at various longitudinal accelerations. as discussed in Chapter 1. the application of tractive effort during a turn reduces the effective cornering stiffness of the front tires. (1993).7 g.
oversteer is not desirable from a directional stability point of view. I a conventional front engine/ rearwheeldrive car. the suspension and steering linkages) would be significant under certain circumstances. It is considered desirable for a road vehicle to have a small degree of understeer up to a certain level of lateral acceleration. and forces on. and Eq. which will be discussed later in this chapter.5. Curve 1 represents the characteristics of a conventional frontenginelrearwheeldrive car. It shows that the understeer coefficient increases sharply with an increase of lateral acceleration. 5. 3a European rear engine/rearwheeldrive car. however.4. In summary.4]. 5. Curve 2 represents the behavior of a European frontenginelfrontwheeldrive car. For a practical vehicle. and hence its handling characteristics. and compliance steer (the steering motion of the wheels with respect to the sprung mass resulting from compliance in. with increasing understeer beyond this point [5.5 g. The characteristics of a European rearengine1 rearwheeldrive car are represented by curve 3. still holds. The behavior of an American rearenginelrearwheeldrive compact car is represented by curve 4. such as 0. The effect of these factors can.. Figure 5.2 STEADYSTATE HANDLING CHARACTERISTICS OF A TWOAXLE VEHICLE 347 with respect to the unsprung mass).10 Variation of understeer coefficient with lateral acceleration of various types of car. Among the three types of steadystate handling behavior. with lateral acceleration for four different types of passenger car [5. (Reproduced with permission from reference 5. It shows that the vehicle exhibits oversteer characteristics in the operating range shown. and that they should be taken into account in a more comprehensive analysis of vehicle handling.4 g. roll camber (the change in camber of the wheels due to the relative motion of the sprung mass with respect to the unsprung mass).. expressed in degrees. the understeer coefficient would vary with operating conditions.4]. above which it tends to become oversteer. which describes the steadystate handling performance. It exhibits similar characteristics. 4an American rear enginelrearwheeldrive car. there are a number of design and operational factors that would affect the understeer coefficient of a vehicle. This would have the advantages of sensitive steering response associated with a small degree LATERAL ACCELERATION Fig. be included in a modified form of the understeer coefficient K. 2a European front engine/frontwheeldrive car.10 shows the changes in the understeer coefficient. It indicates that the vehicle exhibits understeer behavior up to lateral acceleration of approximately 0.10.) .
Sf). (measured using a rategyro) and the forward speed V of the vehicle (R = VIR. 5. R is the turning radius. 5. and Sf is the average front tire steer angle. on the other hand. . the vehicle lateral acceleration in gunits. If the slope is negative. From Eq. Con NEI Fig.1 1. where L is the wheelbase. it can be readily determined from the yaw velocity iR. aylg. 5. The increased understeer at higher lateral accelerations. During a turning maneuver. Therefore. is often plotted as a function of (R. In this diagram.Sf).1 1) is given by This indicates that the handling behavior of a road vehicle can be identified by the slope of the curve shown in the handling diagram. However. would provide greater stability during tight turns.. the relationship between a. the lateral acceleration in gunits. is plotted as a function of the parameter (LIR .11 Handling diagram. To illustrate the changes in the handling behavior of road vehicles with operating conditions.LIV . the turning radius R may be difficult to measure directly.LIV . as shown in Fig.348 HANDLING CHARACTERISTICS OF ROAD VEHICLES of understeer during the majority of turning maneuvers. a handling diagram is often used.lg and (R. 5.Sf) is expressed The slope of the curve shown in the handling diagram (Fig. a y l g (V21gR). in the handling diagram. then it implies that the understeer coefficient K.). is positive.10.
LIV .920 2 x 38. is zero and that the vehicle is neutral steer.5.92"). 2 in.105 x 0.7 m (8 ft.1389 radls (7. b) If the front tires are replaced by a pair of radialply tires..016 rad (0. and the rear tires remain unchanged.105 x 0.6. is negative and that the vehicle is oversteer.535 .465 2 x 38.535 2 x 47.5 mls = 149 kmlh (93 mph) K U S b) When a pair of radialply tires with higher cornering stiffness are installed in the front axle.250 = The vehicle is oversteer.96 degl s). An error of k5% in these values will result in an error in the value of (R./@ = 41.).. If the slope is infinite..8 m (9 ft. V.5% under static conditions. On the other hand. a) If the cornering stiffness of each of the front tires is 38.465 2 x 38. V.LIV . and that on the rear axle is 46.92 kN1rad (8750 lblrad) and that of the rear tires is 38. Ca..1. The weight distribution on the front axle is 53.45 deg). may result in a significant error in the value of the parameter (0. 50 kmlh (31 mph).) ranging from 29.7%. It should be noted that the value of the parameter (RzLIV .LIV .6. and the nominal values of a.750 lblrad). For instance. A small error in the values of 114..' = 20. determine the steadystate handling behavior of the vehicle under these circumstances. C.). A passenger car has a weight of 20. each of which has a cornering stiffness of 47. the vehicle exhibits understeer behavior.2 STEADYSTATE HANDLING CHARACTERISTICS OF A TWOAXLE VEHICLE 349 sequently.105 x 0. determine the steadystate handling behavior of the vehicle.. and 0. V. a) The understeer coefficient of the vehicle is K W. and the critical speed is 0.56") .105 kN (4520 Ib) and a wheelbase of 2.20. Example 5.105 x 0. if the wheelbase L of a vehicle is 2. and the characteristic speed is 'char  .6.0427 rad (2. Solution. and Sf are 0.820  20. 10 in.).25 kN/rad (8600 Iblrad). respectively. then it implies that the understeer coefficient K. 6% in the value of (R.5%.0097 rad (0.. if the slope is positive. == us = 20. then an error of t 1% in these values will result in an error of approximately +.82 kN1rad (10. then it indicates that the understeer coefficient K.250 W. 0.Sf) is sensitive to the errors in the measurements of R. and 6. The vehicle is understeer.). the understeer coefficient of the vehicle is Ku.9% to +31. and 6..
5.. is given by Equation 5. lateral acceleration.1 ~ I =S191 kmlh (1 19 mph) U S 5. is positive. During a turning maneuver. the denominator of Eq.. the understeer coefficient K. may be regarded as outputs. 5.3 STEADYSTATE RESPONSE TO STEERING INPUT A vehicle may be regarded as a control system upon which various inputs are imposed. a vehicle with neutral steer characteristics .. is negative. and reaches a maximum at a particular speed. It can be proved that the maximum yaw velocity gain occurs at the characteristic speed V. For a neutral steer vehicle. For an oversteer vehicle.. the value obtained from Eq.15 should be divided by the steering gear ratio. The ratio of the yaw velocity. 5.. is zero. and the motion variables of the vehicle. or curvature to the steering input can then be used for comparing the response characteristics of different vehicles [5. as shown in Fig. at a particular speed. such as yaw velocity.12.1 Yaw Velocity Response Yaw velocity gain is an often used parameter for comparing the steering response of road vehicles. the understeer coefficient K. and in turn. 5.12.12. and the yaw velocity gain approaches infinity.10. and curvature. lateral acceleration. is negative. For an understeer vehicle. mentioned previously. 5. It is defined as the ratio of the steadystate yaw velocity to the steer angle. the understeer coefficient K. of the vehicle under steadystate conditions is the ratio of the forward speed V to the turning radius R. The yaw velocity gain first increases with an increase of forward speed.. From Eq.. the steer angle induced by the driver can be considered as an input to the system.3. 5. The results of the above analysis indicate that from the point of view of handling response to steering input.. as shown in Fig.350 HANDLING CHARACTERISTICS OF ROAD VEHICLES Vcrit = \igL = K 53.2]. If the yaw velocity gain with respect to the steering wheel angle is desired. the yaw velocity gain increases with the forward speed at an increasing rate.15 is zero. as shown in Fig. This speed is the critical speed VCr. the yaw velocity gain increases linearly with an increase of forward speed. an oversteer vehicle is more sensitive than a neutral steer one. 5. the yaw velocity gain G. Yaw velocity R..15 gives the yaw velocity gain with respect to the steer angle of the front wheel. Since K. of an oversteer vehicle discussed previously.
5. 1 1 8 in. it is understeer.e. is given by where a.12 Yaw velocity gain characteristics of neutral steer. 5. the lateral acceleration gain G. .3. For instance. understeer. defined as the ratio of the steadystate lateral acceleration to the steer angle. is another commonly used parameter for evaluating the steering response of a vehicle. if the yaw velocity gain of a vehicle is found to be greater than the forward speed divided by the wheel base (i. neutral steer response). is more responsive than an understeer one. OVERSTEER I WHEELBASE L '3 m . the value obtained from Eq.16 should be divided by the steering gear ratio. the vehicle is oversteer. and oversteer vehicles... the yaw velocity gainspeed characteristics can be obtained from tests. ~ ~ u a t i o5.16 n gives the lateral acceleration gain with respect to the steer angle of the front wheel. 5. 5.10. NEUTRAL STEER ( Ku. is the lateral acceleration.2 Lateral Acceleration Response Lateral acceleration gain.5. Since the yaw velocity of a vehicle is an easily measured parameter. and if it is less.. By rearranging Eq. The handling behavior of a vehicle can then be evaluated from the yaw velocity gain characteristics. If the acceleration gain with respect to the steering wheel angle is desired.=O 50 SPEED Fig.3 STEADYSTATE RESPONSE TO STEERING INPUT I ' rad/s/ rad deg/s/deg 20 r 351 .
the oversteer vehicle has the most sensitive handling characteristics. and the lateral acceleration gain approaches infinity. 5.. For an understeer vehicle. the understeer coefficient K. 5. This speed is. For an understeer vehicle.13(b). At very high speeds. 5.. the value of the understeer coefficient K. If the curvature response with respect to the steering wheel angle is desired.3.. the denominator of Eq. 5. of an oversteer vehicle discussed previously.2.16 is much smaller than the second term. For a neutral steer vehicle. the value obtained from Eq. as shown in Fig. is negative. as shown in Fig. For an oversteer vehicle. the lateral acceleration gain is proportional to the square of forward speed. the curvature response decreases as the forward speed increases.10. this parameter is expressed by Equation 5. The results of the above analysis illustrate that from the steering response point of view. while the understeer vehicle is the least responsive. and the lateral acceleration gain approaches a value of 1/K. It can be shown that this speed is the critical speed of an oversteer vehicle. the curvature response increases with the forward speed. Example 5.. For an oversteer vehicle. 5.3 Curvature Response The ratio of the steadystate curvature 11R to the steer angle is another parameter commonly used for evaluating the response characteristics of a vehicle. A vehicle has a weight of 20. in fact. the critical speed V. 5. 5.13(b).. the value of the understeer coefficient K.13(a). asymptotically. 5. 5. 5. the first term in the denominator of Eq. This means that the turning radius approaches zero and the vehicle spins out of control. as shown in Fig. The ratio of the distance between the center of gravity of . as shown in Fig. the curvature response approaches infinity. At a particular speed.. as the denominator of Eq. 5. the curvature response is independent of forward speed.13(a). the understeer coefficient K. From Eq.17 gives the curvature response with respect to the steer angle of the front wheel. the lateral acceleration gain increases with speed.13(b). is zero. is zero. the value of the understeer coefficient K. as shown in Fig.2 m (10.16 decreases with an increase of speed.105 kN (4520 lb) and a wheelbase of 3.352 HANDLING CHARACTERISTICS OF ROAD VEHICLES For a neutral steer vehicle.13(a). 5...17 should be divided by the steering gear ratio. At a particular speed. is positive..5 ft). the understeer coefficient K. The lateral acceleration gain increases with an increase of forward speed at an increasing rate..16 becomes zero. as shown in Fig. is positive. is negative.
rad NEUTRAL STEER 1 K. (b) Curvature responses of neutral steer. understeer. understeer.353 5. and oversteer vehicles. K.3 STEADYSTATE RESPONSE TO STEERING INPUT 40 OVERSTEER 20  50 I 0 100 150 50 km/h 1 0 0 mph SPEED (a) OVERSTEER WHEELBASE l / m . O l X rad ( lo) 1 L 0 50 100 50 150 kmth 1 0 0 rnph SPEED (b) Fig. 5.13 (a) Lateral acceleration gain characteristics of neutral steer. and oversteer vehicles. . =0 UNDERSTEER = O .
C.14.92") From Eq. 5. Solution. == US W.465. the yaw velocity gain with respecl to the steering wheel angle is where & is the steering gear ratio.92 kN/rad (8750 lblrad) and that of the rear tires is 38.354 HANDLING CHARACTERISTICS OF ROAD VEHICLES the vehicle and the front axle to the wheelbase is 0.465 2 X 38.016 rad (0.14 Yaw velocity gain and lateral acceleration gain characteristics of a passenger car. The cornering stiffness of each of the front tires is 38. 20. The understeer coefficient of the vehicle is K Wf C. From Eq..105 X 0.25 kN/rad (8600 lblrad). Determine the yaw velocity gain and the lateral acceleration gain of the vehicle with respect to the steering wheel angle. 5. The average steering gear ratio is 25.15. 5. 5.16.535 2 X 38.920  20. .250 = 0. the lateral acceleration gain with respect to the steering wheel angle is 0 0 10 20 20 30 40 40 60 50 80 60 mph 100 km/h SPEED Fig.. The yaw velocity gain of the vehicle as a function of forward speed is shown in Fig.105 X 0.
The steer angle af or the angle of the steering wheel required to maintain the vehicle on course at various forward speeds together with the corresponding lateral acceleration are measured. the slope of the curve is given by This indicates that the slope of the curve represents the value of the understeer coefficient.15 [5.. The handling behavior of the vehicle can then be determined from the slope of the steer anglelateral acceleration curve.5. various types of test can be conducted on a skid pad.10. 5. 5. The steadystate lateral acceleration can also be deduced from the vehicle forward speed and the known turning radius.4 TESTING OF HANDLING CHARACTERISTICS To measure the handling behavior of a road vehicle under steadystate conditions. and yaw velocity (or lateral acceleration) of the vehicle are usually measured. 5. If the steer angle required to maintain the vehicle on a constant radius turn is the same for all forward speeds (i. the vehicle is driven along a curve with a constant radius at various speeds.14. 5. as shown in Fig.4. 5. which indicates the value of the under .e. The results can be plotted as shown in Fig. and the constant steer angle test. The vehicle is considered to be understeer when the slope of the steer anglelateral acceleration curve is positive. From Eq. 5. Lateral acceleration can be measured by an accelerometer or determined by the yaw velocity multiplied by vehicle forward speed. Yaw velocity can be measured by a rategyro or determined by the lateral acceleration divided by vehicle forward speed.15. the handling characteristics of the vehicle can be evaluated. Based on the relationship between the steer angle and the lateral acceleration or yaw velocity obtained from tests. the vehicle is neutral steer.1 Constant Radius Test In this test.4 TESTING OF HANDLING CHARACTERISTICS 355 The lateral acceleration gain of the vehicle as a function of forward speed is also shown in Fig. the steer angle. forward speed. the constant forward speed test. for a constant turning radius. which in essence is a large. the slope of the steer anglelateral acceleration curve is zero). During the tests. flat.5]. paved area. Three types of test can be distinguished: the constant radius test.
15 Assessment of handling characteristics by constant radius test..t * O V E R S T E E R [I W .15.15.4. and the effects of tractive (or braking) effort. 5. Business Books. (Reproduced with permission from Vehicle Dynamics by J. For a practical vehicle. for a constant speed turn.16 [5. varies with operating conditions. . Ellis. the slope of the curve is given by If the vehicle is neutral steer.15. The steer angle and the lateral acceleration are measured. 5.) steer coefficient K. being greater than zero. From Eq. as shown in Fig. which indicates the value of the understeer coefficient K. The results can be plotted as shown in Fig. the value of the understeer coefficient K. the vehicle is driven at a constant forward speed at various turning radii. The vehicle is considered to be oversteer when the slope of the curve is negative. as shown in Fig. as shown in Fig. The handling behavior of the vehicle can then be determined from the slope of the steer anglelateral acceleration curve. the value of the understeer coefficient Ku.2 Constant Speed Test In this test.10.UNDERSTEER BECOMING OVERSTEER AT HIGH LATERAL ACCELERATIONS Fig. 5. being less than zero.y will be zero and the slope of the steer anglelateral acceleration line will be a constant of gLIV2. load transfer. 5. 1969.5]... as illustrated in Fig.5].16 [5... owing to the nonlinear behavior of tires and suspensions. 5.R. 5. 5. A curve rather than a straight line to represent the steer anglelateral acceleration relationship is usually obtained. 5. It is possible for a vehicle to have understeer characteristics at low lateral accelerations and oversteer characteristics at high lateral accelerations.356 HANDLING CHARACTERISTICS OF ROAD VEHICLES R = CONSTANT UNDERSTEER .
during the tests.R. gLIV2). 5..e.. Ellis.16 Assessment of handling characteristics by constant speed test... is positive. If. then the slope of the steer angleyaw velocity curve can also be used to evaluate the steadystate handling behavior of the vehicle in a similar way.16.16.. (Reproduced with permission from Vehicle Dynamics by J. 5. gLIV2). 5. is negative. The vehicle is considered to be oversteer when the slope of the curve is less than that for the neutral steer response at a given forward speed (i.  = 0 and This indicates that the oversteer vehicle is operating at the critical speed. as shown in Fig. and that the vehicle is at the onset of directional instability. 1969. Business Books. as shown in Fig.4 TESTING OF HANDLING CHARACTERISTICS LATERAL ACCLERATION UNDERSTEER 357 V'IR~ BECOMING OVERSTEER AT HIGH LATERAL ACCELERATIONS Fig.) The vehicle is considered to be understeer when the slope of the steer anglelateral acceleration curve is greater than that for the neutral steer response at a given forward speed (i.5. which indicates that the value of the understeer coefficient K.e. the steer angle and yaw velocity are measured. . When the slope of the curve is zero gL v2+ K... which indicates that the value of the understeer coefficient K.
5. 5. which can be calculated from the measured lateral acceleration and forward speed by 1IR = aylV2. From the test results. for a constant steering wheel angle.17. The handling behavior can then be determined by the slope of the curvaturelateral acceleration curve. The characteristics of a neutral steer vehicle are therefore represented by a horizontal line. is negative. as the steadystate lateral acceleration can be deduced from vehicle forward speed and the given turning radius.is plotted against lateral acceleration. the curvature 1/R. From Eq. the vehicle is driven with a fixed steering wheel angle at various forward speeds.7 will be zero. as shown in Fig..4.= CONSTANT UNDERSTEER BECOMING OVERSTEER AT HIGH LATERAL ACCELERATIONS d W u 3 \ NEUTRAL STEER \\ /' 6.3 Constant Steer Angle Test In this test. The vehicle is considered to be understeer when the slope of the curvaturelateral acceleration curve is negative. the value of the understeer coefficient Ku.. 5. as shown in Fig. which indicates that the value of the understeer coefficient K. the slope of the curve is given by If the vehicle is neutral steer. 5.V/g Fig. . 5. as shown in Fig.17 Assessment of handling characteristics by fixed steer angle test. and the slope of the curvaturelateral acceleration curve is zero. The lateral accelerations at various speeds are measured.10. The steer angle of the front tire (or the steering wheel angle) and forward speed are the only essential parameters to be measured during the test. the constant radius test is the simplest and requires little instrumentation. The vehicle is considered to be oversteer when the slope of the curvaturelateral acceleration curve is positive. The constant speed test is more representative of the actual road behavior of a vehicle than the constant radius 6.n. In general. I 3 a L 3 0 LATERAL ACCELERATION v 2 / g ~ . which indicates that the value of the understeer coefficient K. is positive.17.17.358 HANDLING CHARACTERISTICS OF ROAD VEHICLES 5.
In analyzing the transient response. be the components of the velocity V of the center of gravity along the axesox and oy. it is convenient to use a set of axes fixed to and moving with the vehicle body because.5 TRANSIENT RESPONSE CHARACTERISTICS 359 test. The constant steer angle test. To formulate the equations of transient motion for a vehicle during a turning maneuver. however. and V. to a great extent.. it is necessary to express the absolute acceleration of the center of gravity of the vehicle (i. on the other hand. as shown in Fig. the mass moments of inertia of the vehicle are constant. the acceleration with respect to axes fixed to earth) using the reference frame attached to the vehicle body [5. on its transient behavior. with respect to these axes. The behavior of the vehicle in this period is usually referred to as "transient response characteristics. Both the constant speed and constant steer angle tests would require. and let V.5." The overall handling quality of a vehicle depends. To describe its motion. During a turning maneuver. whereas with respect to axes fixed to earth. Let ox and oy be the longitudinal and lateral axes fixed to the vehicle body with origin at the center of gravity. at time t.5 TRANSIENT RESPONSE CHARACTERISTICS Between the application of steering input and the attainment of steadystate motion. is easy to execute. respectively. 5. the vehicle is in a transient state..18.18 Analysis of plane motions of a vehicle using axes fixed to vehicle body. 5. I\ . the inertia properties of the vehicle must be taken into consideration. as the driver usually maintains a more or less constant speed in a turn and turns the steering wheel by the required amount to negotiate the curve. The optimum transient response of a vehicle is that which has the fastest response with a minimum of oscillation in the process of approaching the steadystate motion. the vehicle is in translation as well as in rotation. the measurement of the lateral acceleration or yaw velocity. the mass moments of inertia vary as the vehicle changes its position.e. As the vehicle is in both translation and u Fig. 5.6].
 (V.. Combining the corresponding components of a. The change of the velocity component parallel to the ox axis is (V.360 HANDLING CHARACTERISTICS OF ROAD VEHICLES rotation during a turn. where R is the turning radius. dV.. at time t + At. cos P = V.) = cos A0 .Q and that (V2/R) cos P = Vfl. The normal component a. a. . as shown in Fig.V. can be resolved into two components. the component along the lateral axis of the absolute acceleration of the center of gravity of the vehicle a. and the component VydO/dt (or V. directed along ox and oy axes.19(a). is The acceleration components ax and a.il. and a normal component a.AV. as shown in Fig.) is due to the rotation of the velocity component V. respectively. as shown in Fig./dt (or v. along . the absolute acceleration a of its center of gravity may be expressed in terms of a tangential component a. is in the same direction as that of the resultant velocity V of the center of gravity and is at an angle p with the longitudinal axis ox of the vehicle.).21) Consider that A0 is small.V. In the limit. sin P = V. respectively. V. P is usually referred to as the vehicle sideslip angle. When the vehicle is moving along a curved path. (V2/R) sin P and (V2/R) cos P. and a.) and dV.O.ldt (or is due to the change in magnitude of the velocity component V. 5. It should be noted that (V2/R) sin /3 = VO. is dGected toward the turn center and its magnitude is equal to V2/R. 5.)  sin A0 V./dt (or V. as shown in Fig. 5. this gives t) The component dV.. The tangential component a. Following a similar approach.19(a). and is directed along the ox axis.. the above expression becomes The component along the longitudinal axis of the absolute acceleration of the center of gravity of the vehicle can be obtained by dividing the above expression by At.19(a). sin A0 (5. cos A0 + AV. It can be resolved into two components. cos A0 + AV. + AV. directed along ox and oy axes. and neglect secondorder terms. of the center of gravity of the vehicle may be derived in an alternate way. the direction and magnitude of the velocity of the center of gravity as well as the orientation of the longitudinal and lateral axes of the vehicle change.18. 5. sin A0 .
ox and oy axes. 5.) + V$. 1. + F... and the lateral and yaw motions of the vehicle are governed by Eqs.5..26) sin Sf (5.  F.) = F..e.F. If the vehicle is not accelerating or decelerating along the ox axis.25) a.19 Simplified vehicle model for analysis of transient motions..5 TRANSIENT RESPONSE CHARACTERISTICS 361 (4 Fig. Eq.liZZ = L.. 5.. and that roll motion of the vehicle body is neglected. In deriving the above equations.Referring to Fig. The slip angles a.. as those given by Eqs.. sin + L.Fy. 5... and a. cos 6.25 may be neglected.fl.26 and 5. 5.23 and 5.19(b). the xoz plane in Fig.. one obtains the same expressions for a..1).F. and V. and a.19(a). = F. 5.. respectively. Referring to Fig. it is assumed that the vehicle body is symmetric about the longitudinal plane (i. can be defined in terms of the vehicle motion variables fl.27) where Iz is the mass moment of inertia of the vehicle about the z axis (see Fig..24.1).sin Sf + F. and using the usual small angle assumptions.cos Sf . . 5. (5.27.l. + F. for a vehicle having plane motion. (5. the equations of motion with respect to the axes fixed to the vehicle body are given by rn (v. 5. cos 6. 5.  rn (< V.
362
HANDLING CHARACTERISTICS OF ROAD VEHICLES
The lateral forces acting on the front and rear tires are a function of the
corresponding slip angle and cornering stiffness, and are expressed by
Combining Eqs. 5.265.31, and assuming that the steer angle is small and
Fe is zero, the equations of lateral and yaw motions of a vehicle with steer
angle as the only input variable become
In the above equations, S f ( t ) represents the steer angle of the front wheel
as a function of time. If, in addition to the steer angle, external forces or
moments, such as aerodynamic forces and moments, are acting on the vehicle,
they should be added to the righthand side of Eqs. 5.32 and 5.33 as input
variables.
When the input variables, such as the steer angle and external disturbing
forces, and the initial conditions are known, the response of the vehicle, expressed in terms of yaw velocity R, and lateral velocity V, as functions of
time, can be determined by solving the differential equations. As an example,
Fig. 5.20 shows the yaw velocity responses to a step input of steer angle of
0.01 rad (0.57") for a station wagon with different types of tire traveling at
96 krnlh (60 mph) [5.7]. Figure 5.21 shows the yaw velocity responses to a
step input of aerodynamic side force of 890 N (200 lb) for the same vehicle.
5.6 DIRECTIONAL STABILITY
363
rad /s
ER:NG,
t
STIFFNESS
0
W
>
0,025
5
0
STANDARD STATION WAGON
2
1
3 s
TlME
5.6
Fig. 5.20 Yaw velocity response of
a station wagon to a step input of
steer angle of 0.01 rad at 96 kmlh (60
mph). (Reproduced with permission
of the Society of Automotive Engineers from reference 5.7.)
DIRECTIONAL STABILITY
5.6.1 Criteria for Directional Stability
The directional stability of a vehicle refers to its ability to stabilize its direction of motion against disturbances. A vehicle is considered to be directionally
stable if, following a disturbance, it returns to a steadystate regime within a
finite time. A directionally unstable vehicle diverges more and more from the
original path, even after the disturbance is removed. The disturbance may
arise from crosswind, momentary forces acting on the tires from the road,
slight movement of the steering wheel, and a variety of other causes.
With a small perturbation about an equilibrium position, a vehicle may be
regarded as a linear dynamic system. The equations of lateral and yaw motions are a set of linear differential equations with constant coefficients, as
shown in Eqs. 5.32 and 5.33. Following a disturbance, the lateral and yaw
velocities, V, and R,, will vary with time exponentially, V, = A,e*' and R, =
A,e*'. The stability of the vehicle is determined by the value of t,!J. If rF, is a
real number and positive, the values of lateral and yaw velocities will increase
exponentially with time, and the vehicle will be directionally unstable. A real
and negative value of $I indicates that motions of the vehicle converge to a
TlME
Fig. 5.21 Yaw velocity response of a station wagon to a step input of lateral force
of 890 N (200 lb) at 96 km/h (60 mph). (Reproduced with permission of the Society
of Automotive Engineers from reference 5.7.)
364
HANDLING CHARACTERISTICS OF ROAD VEHICLES
steady state in a finite time, and that the vehicle is directionally stable. If cC,
is a complex number with a positive real part, the motions will be oscillatory
with increasing amplitudes, and thus the system will be directionally unstable.
A complex value of $ with a negative real part indicates that the motions are
oscillatory with decreasing amplitudes, and thus the vehicle is directionally
stable.
To evaluate the directional stability of a vehicle, it is, therefore, necessary
to determine the values of cC,. Since only the motions of the vehicle following
a disturbance are of interest in the evaluation of stability, the steering input
and the like are taken to be zero. This is equivalent to the examination of the
free vibrations of the vehicle in the lateral direction and in yaw following the
the following solutions to the
initial disturbance. To obtain the values of
differential equations for lateral and yaw motions (i.e., Eqs. 5.32 and 5.33)
are assumed:
+,
Then
On substituting these values into Eqs. 5.32 and 5.33, and setting the righthand sides of the equations to zero, the equations become
The above equations can be rewritten as
where
5.6 DIRECTIONAL STABILITY
365
Equations 5.40 and 5.41 are known as the amplitude equations, which are
linear, homogeneous, algebraic equations. It can be shown that to obtain a
nontrivial solution for $, the determinant of the amplitudes must be equal to
zero. Thus,
Expanding the determinant yields the characteristic equation
m1z92 + ( I z a , + ma,) rC,
+ (a ,a,

a ,a,)
=
0
(5.43)
It can be shown that if (I,a, + ma,) and (a,a,  a2a,) are both positive,
then $ must be either a negative real number or a complex number having a
negative real part. The terms I,a, and ma, are clearly always positive; hence,
it follows that the vehicle is directionally stable if a,a,  a2a, is positive. It
can be shown that the condition for a,a,  a2a, > 0 is
where K,, is the understeer coefficient defined previously. This indicates that
the examination of the directional stability of a vehicle is now reduced to
determining the conditions under which Eq. 5.44 is satisfied. When the understeer coefficient K,, is positive, Eq. 5.44 is always satisfied. This implies
that when a vehicle is understeer, it is always directionally stable. When the
366
HANDLING CHARACTERISTICS OF ROAD VEHICLES
understeer coefficient K,, is negative, which indicates that the vehicle is oversteer, the vehicle is directionally stable only if the speed of the vehicle is
below a specific value:
This specific speed is, in fact, the critical speed V,,, of an oversteer vehicle
discussed previously. This indicates that an oversteer vehicle will be directionally stable only if it operates at a speed lower than the critical speed.
The analysis of vehicle handling presented in this chapter is based on a
simplified vehicle model. For a practical vehicle, the lateral and yaw motions
are coupled with the motions in fore and aft (translation along the x axis
shown in Fig. 5.1), roll (rotation about the x axis), pitch (rotation about the
y axis), and bounce (translation along the z axis). The coupling is through
mechanisms such as changes in cornering properties of tires with the application of tractive or braking effort, longitudinal and lateral load transfer during a turning maneuver, and changes in the steering characteristics of the
vehicle due to motions of the vehicle body relative to the unsprung parts.
More complete evaluations of the handling behavior of road vehicles, in which
the interactions of lateral and yaw motions with those in the other directions
are taken into consideration, have been made [5.5, 5.85.131.
It should also be pointed out that, in practice, the handling of a vehicle
involves the continuous interaction of the driver with the vehicle. To perform
a comprehensive examination of vehicle handling qualities, the characteristics
of the human driver therefore should be included. This topic is, however,
beyond the scope of the present text.
5.6.2 Vehicle Stability Control
In a turning maneuver where tire forces are approaching or at the limit of
road adhesion, the vehicle may deviate significantly from its intended direction of motion and path. While the antilock brake system can prevent the
wheel from locking during braking and the traction control system can prevent
the driven wheel from spinning during acceleration, as discussed in Sections
3.7.4 and 3.7.5, respectively, they are incapable of actively controlling the
directional behavior of the vehicle. With the increasing emphasis on road
vehicle safety, a variety of systems designed for vehicle directional control
have emerged. They are intended to enhance vehicle stability and tracking
performance in all operating conditions, including severe turning maneuvers.
This type of system for enhancing active safety of road vehicles is hereinafter
referred to as the vehicle stability control system, although a variety of other
names have been used, such as vehicle dynamics control (VDC), electronic
stability program (ESP), vehicle stability assist (VSA), advanced stability
5.6 DIRECTIONAL STABILITY
367
control (ASTC), direct yaw moment control (DYC), etc. [5.145.191. The
vehicle stability control system is normally integrated with the brake system
and powertrain and usually shares components with the antilock brake system
and traction control system.
While the design features may vary from one make to another, the basic
operating principles of these systems are quite similar. In general, the intended
(nominal or desired) motion of the vehicle is first established from driver's
input, such as steering wheel angle, accelerator pedal position, and brake
pressure, as well as certain vehicle motion variables, such as angular speed
of the wheels. The actual directional behavior of the vehicle is deduced from
measured motion variables, such as yaw rate, lateral and longitudinal accelerations of the vehicle, etc. The intended motion is then compared with the
actual behavior of the vehicle. If a noticeable difference between them is
found, the vehicle stability control system will regulate the brake pressure on
select tires andlor reduce engine torque transmitted to the driven wheels, so
as to generate a restoring yaw moment to minimize the deviation from the
intended motion. A block diagram illustrating the operating principles of vehicle stability control system is shown in Fig. 5.22.
In many current systems, vehicle yaw rate Rzand vehicle sideslip angle P
shown in Fig. 5.19 are used as basic parameters for identifying the directional
VEHICLE STABILITY CONTROL SYSTEM
SENSING DRIVER INPUTS AND VEHICLE MOTIONS
I
I
ESTIMATING
INTENDED (NOMINAL)
VEHICLE BEHAVIOR
DETERMINING
VEHICLE BEHAVIOR
COMPARING THE INTENDED AND ACTUAL
VEHICLE BEHAVIOR
ESTIMATING THE RESTORING YAW MOMENT
REQUIRED TO MINIMIZE THE DIFFERENCE BETWEEN
THE INTENDED AND ACTUAL VEHICLE BEHAVIOR
I
REGULATING INDIVIDUAL WHEEL BRAKE
PRESSURE ANDIOR ENGINE OUTPUT TORQUE
1
Fig. 5.22 Operating principles of a vehicle stability control system.
368
HANDLING CHARACTERISTICS OF ROAD VEHICLES
behavior of the vehicle. Consequently, they are the parameters that the stability control system is designed to control. Yaw rate control will enable the
vehicle to maintain the desired rate and direction of rotation about its vertical
axis. However, yaw rate control alone is inadequate for keeping the vehicle
moving along the intended path. For instance, on a slippery road, exercising
yaw rate control together with steering correction can only maintain the vehicle in the desired orientation, but the vehicle sideslip angle may increase
significantly. As a result, the vehicle may deviate considerably from its intended path, as shown in Fig. 5.23 r5.141. This indicates that controlling both
the yaw rate and sideslip angle is required.
In a vehicle stability control system currently in use, the steering wheel
angle, accelerator pedal position, brake pressure, wheel angular speeds, yaw
rate, and lateral acceleration of the vehicle are continuously monitored [5.14].
The nominal values of yaw rate and sideslip angle, which represent the intended motion of the vehicle, are derived from the steering wheel angle,
1 STEP INPUT AT STEERING WHEEL
2 ON HIGH FRICTION ROAD
3 ON SLIPPERY ROAD WlTH STEERING
CORRECTION AND YAW RATE CONTROL
4 ON SLIPPERY ROAD WlTH BOTH YAW
RATE AND SIDE SLIP ANGLE CONTROL
Fig. 5.23 Comparison of the handling behavior of a vehicle with yaw rate control to
that with both yaw rate and sideslip angle control. (Reprinted with permission from
SAE paper No. 950759, 0 1995 Society of Automotive Engineers, Inc.)
accelerator pedal position (representing the engine torque desired by the
driver), brake pressure, and estimated vehicle longitudinal speed. The estimated longitudinal speed may be derived from the measured wheel angular
speeds and steering wheel angle. It should be noted that the nominal yaw rate
may be deduced from the estimated vehicle forward speed and the turning
radius, which is related to steering wheel position. The vehicle sideslip angle
may be estimated from the longitudinal and lateral speed of the vehicle.
The actual value of the yaw rate is directly measured, while the actual
value of vehicle sideslip angle is derived from the measured yaw rate, lateral
acceleration, and steering wheel position, as well as estimated values of longitudinal speed of the vehicle and braking efforts on the tires [5.14]. In some
systems, to determine the actual value of vehicle sideslip angle, the lateral
acceleration is first integrated with respect to time to obtain vehicle lateral
speed. The sideslip angle is then determined from the lateral speed and the
estimated longitudinal speed of the vehicle [5.18].
After determining the nominal and actual yaw rates and vehicle sideslip
angles, they are then compared. If the differences between them are found to
be higher than prescribed values, the control unit of the vehicle stability control system will send command signals to the actuators to modulate the brake
pressures on select tires and/or reduce engine torque so that a restoring yaw
moment is generated to keep the vehicle on the intended direction and path.
For instance, if a rearwheeldrive vehicle on a lefthand turn is detected
at the verge of losing directional stability due to the driven rear tires sliding
outward, the vehicle stability control system will then apply appropriate brake
pressure on the outside front tire. At the same time, the driving torque transmitted to the driven rear tires may be reduced by means of adjusting the
throttle valve or spark retardation of the engine or shutting off fuel supply to
a certain number of cylinders. This will generate a yaw moment to restore
the vehicle to its intended direction and path, as illustrated in Fig. 5.24(a)
[5.19]. On the other hand, if a frontwheeldrive vehicle on a lefthand turn
is found to be at the verge of losing directional control due to the driven front
tires sliding outward, the vehicle stability control system will then apply appropriate brake pressure on the inside rear tire and at the same time may
reduce the driving torque on the front tires. This will generate a yaw moment
to bring the vehicle back to its intended direction and path, as shown in Fig.
5.24(b) [5.19]. It should be noted that the response of vehicle stability control
to brake pressure modulation on the tire is much faster than that to engine
intervention.
5.7 STEADYSTATE HANDLING CHARACTERISTICS OF A
TRACTORSEMITRAILER
An approach similar to that for the analysis of a twoaxle vehicle described
in Section 5.2 can be followed to evaluate the steadystate handling charac
370
HANDLING CHARACTERISTICS OF ROAD VEHICLES
WITH CONTRO
(b)
Fig. 5.24
Comparison of the handling behavior of a car with and without vehicle
stability control system on the verge of (a) lateral sliding of rear tires and (b) lateral
sliding of front tires. (Reproduced by permission of Toyota Motor Corporation from
"Toyota Vehicle Stability Control System," Automotive Engineering, page 34, August
1995.)
teristics of a tractorsemitrailer with three axles, as shown in Fig. 5.25. For
the tractor, the equation governing its steadystate handling behavior is similar
to Eq. 5.10 and is expressed by
5.7 STEADYSTATE HANDLING CHARACTERISTICS OF A TRACTORSEMITRAILER
371
Fig. 5.25 Simplified steadystate handling model for a tractorsemitrailer.
where L, is the wheelbase of the tractor and K,,,., is the understeer coefficient
of the tractor.
For most of the tractorsemitrailers, the fifth wheel is located slightly
ahead of the center of the tractor rear axle. In the following simplified analysis, the fifth wheel, however, is assumed to be located above the center of
the tractor rear axle. With this assumption, the tractor rear tire may be considered as the "steered tire" for the semitrailer, and the articulation angle r
between the tractor and the semitrailer may be expressed by
where L, is the wheelbase of the semitrailer, W , and C,, are the load and
cornering stiffness of each of the tires on the semitrailer axle, respectively,
and K,,, is the understeer coefficient for the semitrailer.
The ratio of the articulation angle r to the steer angle of the tractor front
tire cSf is usually referred to as the articulation angle gain, and is given by
An examination of the above equation reveals that five different types of
steadystate handling behavior of a tractorsemitrailer are possible [5.20].
1. Both the tractor and semitrailer are understeer. In this case, both K,,,
and K,,, are positive, and the articulation angle gain is finite and positive for all values of forward speed, as shown in Fig. 5.26. Consequently, the tractorsemitrailer is directionally stable.
2. The tractor is understeer, while the semitrailer is oversteer. In this case,
K,,, is positive, whereas K,,, is negative, and the articulation angle gain
remains finite for all values of forward speed, as shown in Fig. 5.27.
However, when the forward speed V is greater than V,, given below, the
articulation angle gain changes from positive to negative:
Fig. 5.26 Steadystate handling characteristics of a tractorsemitrailer with K,, , > 0
and Ku,T,> 0.
jackknifing will occur. It can be seen that when the forward speed approaches the critical speed V. In this case.. 5. while the semitrailer is understeer.. In this case.< 0... the denominator in Eq..IL.> 0 and Ku.. 5. 3. 4..50... is positive. the articulation angle r approaches zero. and the ratio of the understeer coefficient of the semitrailer to that of the tractor is less than the ratio of the semitrailer wheelbase to the tractor wheelbase. Both the tractor and semitrailer are oversteer. and when V > V.$.. Both the tractor and semitrailer are oversteer. given below.) < (L.. Similar to case 3..5.. K. resulting in jackknifing.7 STEADYSTATE HANDLING CHARACTERISTICS OF A TRACTORSEMITRAILER 373 I Fig... This indicates that when the forward speed V approaches V.. the variation of the articulation angle gain with forward speed is shown in Fig. when the forward speed approaches the critical value defined by Eq.IK.29.27 Steadystate handling characteristics of a tractorsemitrailer with K. 5.25. 5..28: This indicates that when the forward speed V approaches VCri.is negative and K. K.. The tractor is oversteer. 5.. K.s... 5. In this . and (Ku.. 5... < 0 . the orientation of the semitrailer with respect to the tractor will be opposite that shown in Fig.)..48 approaches zero and the articulation angle gain approaches infinity. and the ratio of the understeer coefficient of the semitrailer to that of the tractor is greater than the ratio of the semitrailer wheelbase to the tractor wheelbase...the tractor longitudinal axis becomes increasingly oriented towards the center of the turn. as shown in Fig.. < 0 .
. Fig.. K. and K... < 0.'.. 5..JK.. 5. < 0 and K.. < L.28 Steadystate handling characteristics of a tractorsemitrailer with K. ...29 Steadystate handling characteristics of a tractorsemitrailer with K... > 0..IL.. < 0..374 HANDLING CHARACTERISTICS OF ROAD VEHICLES Fig.
defined by Eq.49. In this case. 5.sIKu.. 5. > LJLr . Kuss < 0. K.. it is required that the ratio of the understeer coefficient of the semitrailer to that of the tractor be greater than the ratio of the semitrailer wheelbase to the tractor wheelbase.JKu.5.. Jackknifing can occur when the semitrailer is either understeer or oversteer.50. Fig. < 0. With a further increase in the forward speed..)> (LJL.. and (K. may be found in references C5.221.. 5. for trailer swing to occur... 5.. the variation of the articulation angle gain with forward speed is shown in Fig. defined by Eq.. and Ku.. 5. The results of the above analysis indicate that for any form of directional instability (jackknifing or trailer swing) to occur. < 0. the tractor must be oversteer. including trucktrailers. It can be seen that the articulation angle gain decreases with increasing forward speed. 5. However.5. the semitrailer longitudinal axis becomes increasingly oriented towards the center of the turn.30 Steadystate handling characteristics of a tractorsemitrailer with K. When the forward speed V approaches V..r. < 0.7. resulting in trailer swing.21. the gain becomes negative and approaches minus infinity as the forward speed approaches V.. the gain approaches zero..7 STEADYSTATE HANDLING CHARACTERISTICS OF A TRACTORSEMITRAILER 375 case. K. Further analysis of the steering response of articulated vehicles. in addition to the condition that the semitrailer must be oversteer.).30.
It was developed at the University of Michigan Transportation Research Institute (UMTRI). the vehicle is assumed to travel at a constant forward speed. and articulation takes place about vertical axis. There are no significant tire forces present in the longitudinal direction (either tractive or braking). which consist of a tractor unit and one or more semitrailers or full trailers. the roll dynamics of the vehicle is neglected. A brief description of the basic features of some of the models is given below [5. Pitch and roll motions of the sprung masses are small. [5. c.271. The cornering (lateral) force and aligning moment (torque) generated at the tireroad interface are assumed to be linear functions of the slip angle of the tire. and hence neglected. . a.24]. originally for the purpose of analyzing the directional behavior of doublebottom tankers. f. 2. An interactive computer program based on Leucht's model was developed by Moncarz et al.376 HANDLING CHARACTERISTICS OF ROAD VEHICLES 5. A number of computer simulation models have been developed. TBS Model TBS is a simplified nonlinear mathematical model. concerns for their safety in operation have been growing.235. e. and the unsprung masses are assumed to be rigidly attached to their respective sprung masses. b. The following are the major assumptions made in deriving the equations of motion.28]. The degrees of freedom considered in the model are limited to the lateral and yaw motions of the tractor and articulation in the horizontal plane of the other sprung masses of a multiple articulated vehicle. d. The Linear Yaw Plane Model This model is a linear mathematical model for studying the directional behavior of multiple articulated vehicles. Furthermore. Each unit of the articulated vehicle is assumed to be a rigid body. originally formulated by Leucht [5. In developing the equations of motion for the model.8 SIMULATION MODELS FOR THE DIRECTIONAL BEHAVIOR OF ARTICULATED ROAD VEHICLES With the increasing use in road transport of heavy articulated vehicles or road trains. g. The motion of the vehicle takes place on a horizontal surface. All joints are frictionless. This has stimulated intensive theoretical and experimental studies of the directional control and stability of this type of vehicle. Articulation angles made by the various units of the vehicle train are small. 1.
Each sprung mass is treated as a rigid body with up to five degrees of freedom (dependent upon the constraints at the hitch): lateral. and triples. b. pintlehook. a. tractorsemitrailers. roll. and kingpin. the basic assumptions made are similar to those for the linear yaw plane model. The Phase 4 Model This model was originally developed at UMTRI in 1980 for simulating the braking and steering dynamics of trucks. The cornering force and aligning moment produced by a given tire is a nonlinear function of the slip angle and vertical load. e. Nonlinearities in the forcedisplacement relationship of a suspension. The influence of wheel camber on lateral force generation is neglected. However. such as suspension lash. The model permits the analysis of articulated vehicles which are equipped with any of the four coupling mechanisms. 3.8 SIMULATION MODELS FOR DIRECTIONAL BEHAVIOR 377 In developing the equations of motion for the model. and it requires a large amount of input data.5. In the model. . and the effects of the steering system compliance are taken into account. namely. and pitch. 4. c. the forward speed of the lead unit is assumed to remain constant during the maneuver. d. inverted fifth wheel. yaw. A nonlinear tire model is used to represent the cornering forceslip angle relationship of a tire. a. The dynamic load transfers (both longitudinal and lateral) have been taken into account in determining the normal load on each tire. doubles. Both closedloop (defined path input) and openloop (defined steer angle input) modes of steering input can be accommodated. The basic assumptions for this model are as follows. YawlRoll Model The yaw/roll model was developed at UMTRI for the purpose of predicting the directional and roll responses of articulated vehicles in turning maneuvers which approach the rollover condition. conventional fifth wheel. The relative roll motion between the unsprung and sprung masses takes place about roll centers. The running time of this model is about five times that of the linear yaw plane model. The axles are treated as beam axles which are free to roll and bounce with respect to the sprung mass to which they are attached. b. It is a comprehensive computer model for simulating the braking and steering response of commercial vehicles. are taken into account. the following improvements have been introduced. which are located at fixed distances beneath the sprung masses. vertical.
as shown in Fig. the Phase 4 model incorporates up to 71 degrees of freedom. a handling diagram for the vehicle is drawn. 5. The steadystate steering response and the lateral dynamic behavior in a lanechange maneuver of a representative fiveaxle tractorsemitrailer have been predicted using the Sour models and compared with available experimental data. b. the measured data are also shown. On the other hand.26. e. For the simulation of lateral dynamic behavior.31 shows the lateral acceleration responses to steering input of the tractorsemitrailer in steadystate turns at a forward speed of 69 kmlh (43 mph) on a dry. The capabilities and limitations of the simulation models described above have been examined [5.271. It can be seen that these models vary greatly in capability. dependent upon vehicle configuration. It should be noted that the square symbol in the figure represents the value calculated from the . and only requires up to 35 lines of input data. Figure 5. and in the amount of input data required. in the number of degrees of freedom considered. The mathematical model incorporates up to 71 degrees of freedom. The measured values are also shown in the figure. d. 5.32. c. the linear yaw plane model only includes the lateral and yaw motions of the tractor and articulation in the horizontal plane of the other sprung masses of the articulated vehicle. three rotational degrees of freedom for the semitrailer (the other three translational degrees of freedom of the semitrailer are effectively eliminated by dynamic constraints at the hitch). in complexity. and on roads of specified grade or crossslope. and requires up to approximately 2300 lines of input data. Based on the predicted lateral accelerations and yaw rates of the tractor. For instance. For comparison. six degrees of freedom (three translational and three rotational) for the truckltractor sprung mass. a semitrailer. The number of degrees of freedom is dependent upon vehicle configuration and is derived from the following: a. two degrees of freedom (bounce and roll) for each of the 13 axles allowed. the model incorporates realistic representations of the truck tire cornering force characteristics and vehicle suspension properties of significance to cornering behavior.The Phase 4 model is a timedomain mathematical simulation of a truck/ tractor. The motions of the vehicles are represented by differential equations derived from Newtonian mechanics that are solved for successive time increments by digital integration. a wheel rotational degree of freedom for each of the 26 wheels allowed. and up to two full trailers. five degrees of freedom for each of the two full trailers allowed. smooth asphalt surface predicted using the four models. The program can be operated openloop or closedloop.
5.25 0 0.69kmlh (43mph) I23 E0 8 m MEASURED PHASE 4 .0 deg 6f Fig.O 1.69kmlh (43mph)  b A ma MEASURED PHASE 4 YAWIROLL TBS LINEAR YAW PLANE I " 0.32 Comparison of handling characteristics of a tractorsemitrailers predicted by various models.SEMITRAILER ftls* mls* 4 SPEED .5 1.5 2.YAWJROLL LINEAR YAW < u: t m" 4 0 0 0.5 deg RzLt/V6f Fig.25 I 0. .8 SIMULATION MODELS FOR DIRECTIONAL BEHAVIOR 379 5AXLE TRACTOR . 5. 5AXLE TRACTOR .SEMITRAILER a u: SPEED .31 Comparison of steadystate lateral acceleration response to steering input of a tractorsemitrailer predicted by various models.5 0.5.
For lateral accelerations greater than 0. whereas the triangular symbol represents the value taken from reference [5. while the measured one is approximately 0. Based on the data shown in Fig. 2.32 illustrates the steadystate handling characteristics of the vehicle as predicted by the four computer simulation models.1.7%. For lateral accelerations higher than 0.2 g. it appears that for lateral accelerations below 0.3. the yawl roll. predicted using the Phase 4 model. and 7. referred to as the "transition acceleration.2 g. Furthermore.0". the TBS model.2 g.2 g. the Phase 4 model gives a better prediction of the trend of yaw divergence than the other three models in comparison with the measured values. whereas the TBS . 13. However. and the TBS model. It can be seen that the lateral acceleration at which the vehicle changes from understeer to oversteer. the load transfer and its effects on tire characteristics have been entirely neglected. the linear yaw plane model gives the highest error of prediction among the four models. Figure 5.2 g). This is primarily due to the fact that in the linear yaw plane model. It can be noted that at an average front wheel steering angle 8 = 1. This indicates that the Phase 4 model gives a better prediction of lateral acceleration than the other three models when the lateral acceleration is greater than about 0. and the linear yaw plane model are 17. the differences between the measured lateral acceleration and the predicted ones using the Phase 4 model. the TBS model.3 g). 1. the four computer simulation models give similar predictions.3%. respectively. and 22.8.3. Below the transition acceleration. and the cornering stiffness of the tire obtained at zero slip angle is used in the predictions. the yawlroll model. while the yawlroll model and the TBS model underestimate it.5" (equivalent to a lateral acceleration of approximately 0.2 g. and the predicted values agree reasonably well with the measured ones." predicted using the Phase 4 model is just under 0.29]. 5.25 g and 0. respectively. 13.3 g.2. are considerably lower than the measured one reported in reference [5. the Phase 4 model underestimates the understeer level (or understeer coefficient) as compared with the measured data.31 that the lateral accelerations of the tractor predicted using the linear yaw plane model. there is a significant difference between the lateral accelerations predicted using the Phase 4 model and those predicted using the other three models for front wheel steering angles greater than 1. The transition accelerations predicted using the yawlroll model and the TBS model are approximately 0. a linear tire model is adopted. However. 5. the Phase 4 model overestimates the response.2 g. respectively. the corresponding differences are 10.380 HANDLING CHARACTERISTICS OF ROAD VEHICLES measured yaw rate of the tractor at a forward speed of 69 kmlh (43 mph).5. and the yawl roll model are reasonably close within the range up to 2" of front wheel steering angle (equivalent to a lateral acceleration of approximately 0.29]. It should also be mentioned that the lateral accelerations which cause an inside tire to lift off the ground.31. At an average front wheel steering angle of 6 = IS0. It can be seen from Fig.
10. the TBS model.. the Phase 4 model gives the best overall prediction of the variation of handling behavior with lateral acceleration for the fiveaxle tractorsemitrailer examined. although there is still a noticeable difference between the predicted and measured values. 5. .8 SIMULATION MODELS FOR DIRECTIONAL BEHAVIOR 381 model and the linear yaw plane model overestimate the understeer level to varying degrees.5. and 46%.SEMITRAILER MEASURED PHASE 4 . and the liner yaw plane model are approximately 16. yaw rate. the yawlroll model. the differences between the measured peak value of tractor lateral acceleration and those predicted using the Phase 4 model. 5.335. . and the predicted understeer level remains a constant.33 Variation of tractor lateral acceleration with time in a lanechange maneuver predicted by various models. 5. 5. the linear yaw plane model is unable to predict any variation of the handling behavior of the vehicle with lateral acceleration. It can be seen that the responses of the tractor and semitrailer predicted by the four models generally follow the same trend as that measured. among the four models studied. as can be seen from Fig. there are differences between the predicted peak values and the measured ones. the yawlroll model. . The 5AXLE TRACTOR . It should be mentioned that since a linear tire model is used. For instance.32. as shown in Fig.. YAWIROLL . The agreement between the measured peak value of semitrailer lateral acceleration and those predicted is better than that for the tractor lateral acceleration. respectively. 33.30]. In general..37. the TBS model. The simulated results were compared with the measured data reported in reference [5. and the linear yaw plane model. The lateral acceleration.TBS LINEAR YAW PLANE Fig.33. and are shown in Figs. and articulation angle of the tractorsemitrailer in a lanechange maneuver were predicted using the Phase 4 model..  11 o+ 3 0 . However.
respectively. the TBS model. For instance.9. respectively.3. 15.8. and the linear yaw plane model are approximately 13. 5. the yawlroll model. 5.3%. there is a noticeable difference between the measured and predicted peak values of articulation angle. and 13. 0. as shown in Fig. The differences between the measured peak value of the semitrailer yaw rate and those predicted using the Phase 4 model. 4. the difference between the measured and the predicted peak value of articulation angle using the Phase 4 model is approximately 22%.36. respectively. 5.35.9%. It should also be noted from the figures that there is a phase shift between the measured and predicted responses. The articulation angle responses predicted using the four models are reasonably close.3. and the linear yaw plane model are approximately 9. However. 3. and the linear yaw plane model are approximately 20.8.differences between the measured peak value of semitrailer lateral acceleration and those predicted using the Phase 4 model. the yawlroll model. 5. The differences between the peak values of articulation angle predicted using the four models are within 10%.SEMITRAILER . and 21. The measured semitrailer yaw rate response and those predicted using the four models again show reasonable agreement. and that there is a significant difference 5AXLE TRACTOR . as can be seen from Fig. the TBS model. and 20%.37.34 Variation of semitrailer lateral acceleration with time in a lanechange maneuver predicted by various models. as can be seen from Fig. . the yawl roll model.34. YAWIROLL TBS LINEAR YAW PLANE Fig. The agreement between the measured tractor yaw rate response and those predicted using the four models appears to be reasonable. 12. the TBS model. 8. 5. The differences between the measured peak value of tractor yaw rate and those predicted using the Phase 4 model. as can be seen from Fig.
35 Variation of tractor yaw rate with time in a lanechange maneuver predicted by various models.PHASE 4 . . 5.8 SIMULATION MODELS FOR DIRECTIONAL BEHAVIOR 383 5AXLE TRACTOR .5..36 Variation of semitrailer yaw rate with time in a lanechange maneuver predicted by various models.SEMITRAILER .. YAWIROLL LINEAR YAW PLANE Fig.  YAWIROLL TBS LINEAR YAW PLANE Fig.. 5AXLE TRACTOR .SEMITRAILER degls 10 8 6 0 b a cr t$ 4 0 S 2 4 6 8 10 MEASURED . 5.
DADS.25 g. etc. however. that the predictions made by these three models are still noticeably different from the measured data available. the Phase 4 model. however. these three models can predict changes in handling behavior with lateral acceleration. have become commercially available. 5. a variety of multibody dynamics software packages. the steadystate steering responses of the representative tractorsemitrailer predicted using the four simulation models all have varying degrees of discrepancy. it is not capable of predicting changes in handling behavior with lateral acceleration. the yawlroll model. Consequently. and the TBS model take into account the effects of load transfer and the nonlinear behavior of tires to varying degrees.32). there are noticeable discrepancies between the measured and predicted values. significant differences in the handling characteristics predicted using the four simulation models in most cases.SEMITRAILER deg r LINEAR YAW PLANE Fig.. It should be noted.384 HANDLING CHARACTERISTICS OF ROAD VEHICLES 5AXLE TRACTOR . the responses of the representative tractorsemitrailer predicted by the four simulation models generally follow the same trend as that measured. such as ADAMS. as shown in the handling diagram (Fig.37 Variation of articulation angle with time in a lanechange maneuver predicted by various models. it appears that in comparison with the measured data. On the other hand. In recent years. 5. However. They can be . In summary. There are. and that there are no significant differences in the steadystate steering responses predicted using the four models in the lateral acceleration range up to approximately 0. between the measured and predicted responses during the period from 3 to 4 s. For a lanechange maneuver. Since the linear yaw plane model does not take into account the effects of load transfer and uses a linear tire model.
Tomari." Society of Automotive Engineers. "Theoretical and Practical Approaches to Motor Vehicle Steering Mechanisms. Automotive Technology Series. June 1963." Society of Automotive Engineers.L. Pollock. the Vehicle Dynamics Control System of Bosch. Segel. 1995. 2nd ed. Bundorf. D.G. nos." in J." Society of Automotive Engineers. Cole. Steering." Society of Automotive Engineers. "Design Implications of a General Theory of Automobile Stability and Control. 1968. Bunker. London. London. Society of Automotive Engineers.J. Jr. Pacejka. 1996 J. J. J. A. van Zanten. van Zanten.T. 1969. Bartels... K. 1993. Radt and H. W. D. Shibahata. Pfaff." in Proc. Hattori. A. Dixon. 56. Suspension and Handling. 1971.W. paper 960486.F. Milliken.T. Fenton.C.E. Bundorf." Vehicle System Dynamics. 1. Handbook of Automotive Design Analysis. 1996. Society of Automotive Engineers. Ann Arbor.E.. "Theoretical Prediction and Experimental Substantiation of the Response of the Automobile to Steering Control. and T. vol. 76. London. Erhardt.R. Ed. "VDC. Tires. D.C. vol. Neuwald. Yasui. and M. England: Iliffe & Sons. June 1963. Steeds. London. and M. Milliken and D. Sugisawa. 19561957. University of Michigan.. 22. R. Elementary Vehicle Dynamics. R. R. Y. England: Butterworths. paper 960485. Erhardt. Institution of Mechanical Engineers. K. Institution of Mechanical Engineers. W. Giles. Suspension and Tyres. and H. England: Butterworths. Y. Ellis. 1960. "Improvement of Vehicle Maneuverability by Direct Yaw Moment Control." in Proc. Ed." in Proc. Hardin. Vehicle Dynamics.REFERENCES 385 used to simulate in detail the behavior of road vehicles and their subsystems under various maneuvers. Institution of Mechanical Engineers. 1996. 19561957. Symposium on the Control of Vehicles During Braking and Cornering.F. Automobile Division. and G. "The Influence of Vehicle Design Parameters on Characteristic Speed and Understeer. Shimada. 1996. paper 950759. R. REFERENCES K. W. "Vehicle Handling Response to Aerodynamic Inputs. England: Business Books. "Simulation for the Development of the BoschVDC. L. Automobile Division. paper 716B. vol. "Analysis of the Steady State Turning Behavior of an Automobile. Whitcomb and W. Milliken. Department of Mechanical Engineering. H. "Improvement of Vehicle Directional Stability for Transient Steering Maneuvers Using Active Brake Control. .T.B. Race Car Vehicle Dynamics. 1995. Lutz. A. N." SAE Transactions.T. Mechanics of Road Vehicles. Tozu.S. 1968.
"Simulation of the Directional Response Characteristics of TractorSemitrailer Vehicles.Y. Road and Transportation Association of Canada. paper 960487. C.M. M. Wong.S. MacAdarn. 1970. R.Y. Part K . Ervin and C. "A Comparison of Various Computer Simulation Models for Predicting the Lateral Dynamic Behavior of Articulated Vehicles. Moncarz. Koibuchi. National Technical Information Service. Mallikarjunarao. "A Simplified. and S.S." Technical Report 3. C. Nisonger. C. vol. The University of Michigan Highway Safety Research Institute. R." Report UMHSRI799. July 1986.Y. PB 80189632. J. nos. . vol. Fancher.T. Y.C. ElGindy and J.D. "The Directional Dynamics of the Commercial TractorSemitrailer Vehicle During Braking. Roads and Transportation Association of Canada." Society of Automotive Engineers. Fukada. "Vehicle Stability Control in Limit Cornering by Active Brake.D." Society of Automotive Engineers.E. Winkler. paper 852335. Amsterdam. PB80116775. Wong and M." Report UMHSRIPF758. Yamamoto. "A Comparison of Various Computer Simulation Models for Predicting the Directional Responses of Articulated Vehicles. M. 213. no. Ervin. Department of Commerce.Y. June 1979. P. and C. Institution of Mechanical Engineers. Bernard. U. Automotive Engineering. Wong. "Steering Response of Articulated Vehicles in SteadyState Turns. ElGindy. ElGindy and J.B. Leucht." Technical Report of Vehicle Weights and Dimensions Study. Interactive Simulation for Predicting the Braking and Steering Response of Commercial Vehicles." in Proc. The Netherlands: Swets & Zeitlinger." Society of Automotive Engineers. "Computer Simulation of Heavy Vehicle Dynamic Behavior. ElGindy.L. vol. Inagaki. J. Department of Commerce. 16.386 HANDLING CHARACTERISTICS OF ROAD VEHICLES K. Fancher. 4. August 1995. June 1985. 1985. U S . 56. 1987. M. April 1981. ElGindy and J. "SteadyState Steering Response of an Articulated Vehicle with a MultiAxle Steering Dolly. P. and T. "Toyota Vehicle Stability Control System. 1996. Mallikarjunarao. Nisonger. 16. 7th IAVSD Symp. paper 850537." in Proc. Wong. M. H. "Vehicle Dynamics and Control for Improving Handling and Active Safety: From FourWheelSteering to Direct Yaw Moment Control.L. Wong and M. Abe. R. "Analytical Test Plan: Part IDescription of Simulation Models for Parameter Analysis of Heavy Truck Dynamic Stability. "A Study of the Yaw Stability of TractorSemitrailer Combinations. "The Yaw Stability of TractorSemitrailers During Cornering. Vehicle Weights and Dimensions Study.Y. 1999. National Technical Information Service. Mallikarjunarao." Society of Automotive Engineers. and R. on Dynamics of Vehicles on Roads and Tracks. Mallikarjunarao. Journal of Miltibody Dynamics. 1982. Gillespie. 1985. and P. August 1975." Report of the University of Michigan Transportation Research Institute. C. J." Report DOT HS805 141. March 1979.S. paper 700371." Vehicle System Dynamics. M. User's Guide to the UMTRI Models.D." Technical Briefs.
The center of gravity is 1. Determine the steadystate handling behavior of the vehicle when the inflation pressure on the front tires is 276 kPa (40 psi) and that on the rear tires is 220 kPa (32 psi).919 kN (2230 Ib) and has a wheelbase of 2.4 ft). are installed in the front. Determine the steadystate yaw velocity gain and lateral acceleration gain of the vehicle in the forward speed range of 10160 kmlh (6.) behind the front axle.36 kN1rad (280 lbldeg). If a pair of radialply tires. The sports car described in Problem 5.2 has a mass moment of inertia about a vertical axis passing through its center of gravity of 570 kg . Also calculate the characteristic or critical speed of the vehicle as appropriate.88 kN1rad (180 lbldeg).5 kmlh (50 mph).4 mph). The front and rear tires of the passenger car described in Problem 5.). each of which has a cornering stiffness of 45. and a pair of biasply tires.29.299.26 m (7.13 kN1rad (130 lbldeg). of which the relationship between cornering coefficient and inflation pressure is shown in Fig. The steering gear ratio is 20:l.02 kN (4500 lb) and has a wheelbase of 279.4 cm (1 10 in. If the car is given a step input of steering wheel angle of 30" at a speed of 80. determine the rise time for the yaw velocity response.62 kN1rad (230 lbldeg) and that of each rear tire is 71. are installed in the rear. What would happen to the steadystate handling characteristics of the vehicle. determine whether the vehicle is understeer or oversteer. each of which has a cornering stiffness of 33. The cornering stiffness of each front tire is 58. if the front and rear tires are interchanged? A sports car weighs 9.1 are replaced by radialply tires of the same type. m2 (420 slug ft2). 1. .22 m (4 ft) behind the front axle. The center of gravity is 127 cm (50 in.PROBLEMS 387 PROBLEMS A passenger car weighs 20.
so as to create a turning moment to overcome the moment of turning resistance due to the skidding of the tracks on the ground and the rotational inertia of the vehicle in yaw. 6. Furthermore. Another method for directional control of tracked vehicles is that of curved track steering. the laterally flexible track is laid down on . For tracked vehicles consisting of two or more units. A separate treatment of the steering of tracked vehicles is therefore required.2 [6. as shown in Fig.CHAPTER 6 STEERING OF TRACKED VEHICLES The handling characteristics of tracked vehicles have certain unique features and are quite different from those of wheeled vehicles. Over weak terrain. steering by articulation.1. This results in a reduction of the maximum resultant forward thrust that the vehicle can develop. In articulated steering. turning is initiated by activating the steering joint between the two units. particularly over soft ground. Articulated steering can therefore provide tracked vehicles with better mobility during turning maneuvers than skidsteering.1]. and curved track steering. the thrust of one track is increased and that of the other is reduced. In skidsteering. Since the moment of turning resistance is usually considerable. significantly more power may be required during a turn than in a straight line motion. To initiate a turn. and no adjustment of the thrusts of'the outside and inside tracks is required. These include skidsteering. braking of the inside track is often required in making a turn. There are a number of possible methods that can accomplish the steering of a tracked vehicle. steering may be accomplished by rotating one unit against the other using a steering joint to make the vehicle follow a prescribed. as shown in Fig. curved path. 6. the resultant forward thrust of the vehicle can be maintained during a turn. Thus. this often leads to immobilization.
1 Principles of skid steering. reproduced with permission of the University of Michigan Press.) . owing to the limitations of the lateral flexibility of the track. This can be achieved using various kinds of mechanical arrangement. as shown in Fig.2].3 [6. (From Theory of Land Locomotion by M. the mini Fig.3. copyright O by the University of Michigan. 1956. 6. In this particular arrangement. one of which is illustrated in Fig.G. (Reproduced with permission from reference 6.2]. 6. Bekker.Fig. 6. Steering movement of the roadwheels may be activated by a conventional steering wheel through racks and pinions and individual push rods [6. However. each of the roadwheels of the track can rotate around an axis inclined at a suitable angle from the vertical in a longitudinal plane so that rotation around these axes displaces the lower part of the wheels to form a curved track. The main advantage of this steering method is that less power is required in making a turn as compared with skidsteering.1.2 Articulated steering. 6.) the ground in a curve.
dt2 2 rn .3 Curved track steering.1 SIMPLIFIED ANALYSIS OF THE KINETICS OF SKIDSTEERING The turning behavior of a tracked vehicle using skidsteering depends on the thrusts of the outside and inside tracks F.. To achieve a smaller turning radius. dt2 d2e B I.= .1.. has to be provided. the moment of turning resistance M . The simple case of steering at low speeds on a level ground will be examined first. and F. the centrifugal force may be neglected. and the behavior of the vehicle can be described by the following two equations of motion: d2s + F. 6. such as skidsteering. .R.= F.) mum turning radius of the vehicle is quite large. not only does the complexity of design of the vehicle increase. . Thus. but also the potential advantages of curved track steering in power saving may not be fully realized. Among the various steering methods available for tracked vehicles.2. 6. exerted on the track by the ground. The principles of these two steering methods will therefore be discussed in detail in this chapter.. the resultant resisting force R. (Reproduced with permission from reference 6. The problem of steering tracked vehicles at high speeds will be discussed later. a supplementary steering mechanism..(F.. where s is the displacement of the center of gravity of the vehicle. the skidsteering and articulated steering are commonly used.Fig. 13 is the . 6. .Fi). At low speeds.M. and vehicle parameters as shown in Fig...
3]. Over soft terrain. but also on the design of the track.3) The thrusts of the outside and inside tracks required to achieve a steadystate turn are therefore expressed by where f. the lateral resistance of a track may also depend on the skid of the track in the lateral direction and the turning radius [6. respectively. and F. and the tracks together with the grousers will be sliding on the surface. depends not only on the terrain. . + F.  RtOt= 0 (6. and m are the mass moment of inertia of the vehicle about the vertical axis passing through its center of gravity and the mass of the vehicle.1 shows the average values of pr for steel and rubber tracks over various types of ground [6. and the trajectory of the center of gravity and the orientation of the vehicle can be determined as discussed by Bekker [6. and I.6. as well as displacing the soil laterally during turning maneuvers.4]..1 SIMPLIFIED ANALYSIS OF THE KINETICS OF SKIDSTEERING 391 angular displacement of the vehicle. It has been shown that under certain circumstances. The lateral forces acting on the tracks and the grousers due to displacing the soil laterally form part of the lateral resistance. the spacing between the centerlines of the two tracks). This can be determined experimentally or analytically. Under steadystate conditions.5]. Table 6. the above two differential equations can be integrated. The value of p. is the coefficient of motion resistance of the vehicle in the longitudinal direction and W is the vehicle weight. To determine the values of the thrusts F. the vehicle sinks into the ground. the moment of turning resistance M . If the normal pressure is uniformly distributed along the track.e. there are no linear and angular accelerations: F'. can be expressed by where p. With known initial conditions.. is the coefficient of lateral resistance and I is the contact length of each of the two tracks. B is the tread of the vehicle (i. must be known. the lateral resistance per unit length of the track R.
(i.1 1 0.4) xdx 21 ~tW1 =  4 Accordingly.871.14 Source: Reference 6.e.6 can be rewritten in the following form: 11111111111 * L * Fig.500.58 0.671.1 Values of Lateral Resistance of Tracks Over Various Surfaces Coefficient of Lateral Resistance p. moment of turning resistance) can be expressed by (Fig..5 and 6. Material Track Concrete Hard Ground (not paved) Grass Steel Rubber 0. is a constant.900. 6. 6. the resultant moment of the lateral resistance about the centers of the two tracks M . Assuming that the coefficient of lateral resistance p.5 1 0.4 Moment of turning resistance of a track with uniform pressure distribution. .550.66 0.9 1 0.TABLE 6. 6. Eqs.5.650.
Equations 6. the value of 1/B should be less than 1.5.10 are of fundamental importance. 6. In other words. 6. f. Substituting Eq. 4 = 300.6.W 2 + W tan 4 +2 PtWl 5 cbl (F+ 2 tan 4 4B and I B 5 I Pr  2f.6. For the outside track. 5 cbl W tan 4 +2 where b is the track width and c and 4 are the cohesion and angle of internal shearing resistance of the terrain. On a sandy terrain with c = 0. Methods for predicting the moment of turning resistance of a track with a trapezoidal or triangular shape of normal pressure distribution or with normal loads concentrated under the roadwheels have been proposed or developed [6. F. the maximum thrust of a track is limited by terrain properties and vehicle parameters. 6.71. pr = 0. 6.9 into Eq. As discussed in Chapter 2. ) where A is the contact area of one track. which is equal to Wl 2A. if the ratio of contact length .1. and f.9. must satisfy the following condition: where p is the average normal pressure on the track.8 is for a vehicle with a uniform normal pressure distribution. and they lead to conclusions of practical significance regarding the steerability of a tracked vehicle. the ratio of track length to tread of the vehicle. respectively. as calculated by Eq. lIB.9 and 6.1 SIMPLIFIED ANALYSIS OF THE KINETICS OF SKIDSTEERING 393 It should be emphasized that the value of M. turning at low speeds on level ground. This indicates that to enable a tracked vehicle to steer without spinning the outside track.1 1. = 0.
5. 4 = 10".5 Effect of lateral resistance coefficient on the maximum thrust available during a turn.4.1.. will be negative. and thus the mobility of the vehicle over weak terrain will be adversely affected. . p = 6.5 operating over a terrain with c = 0. Figure 6. and IIB = 1. This implies that to achieve a steadystate turn. pt = 0. From Eq.45 kPa (0.1.394 STEERING OF TRACKED VEHICLES to tread of a tracked vehicle is greater than 1. with c = 3. and f. the value of ZIB must be less than 2.5. it can also be seen that if 4 1 2 B > f. On a clayey terrain. the resultant of the longitudinal and lateral forces acting on a track during a turn may be assumed to obey the law of Coulomb friction.2 to 0. It can be seen that as the value of p. These examples show the importance of the ratio of contact length to tread of a tracked vehicle to its steelability. braking of the inside track is required. the maximum resultant forward thrust available during a steadystate turn decreases from approximately 74 to 35% of that when traveling in a straight line.1 1. 6..Z12B will be greater than that of f. Fig. the application of a braking force to the inside track during a turn reduces the maximum resultant forward thrust of the vehicle. which indicates that a braking force has to be applied to the inside track.10. = 0.5 psi). 4 = 30". the vehicle will not be able to steer on the terrain specified. the value of p.1.9. := 0. the thrust of the inside track F. For instance.5. with pr = 0. increases from 0. On hard grounds.9 kPa (1 psi). 6. Since the forward thrust of the outside track of a given vehicle is limited by terrain properties as shown in Eq.5 shows the ratio of the maximum resultant forward thrust as limited by the trackterrain interaction during a turn to that when in a straight line motion as a function of the coefficient of lateral resistance p* for a tracked vehicle with ZIB = 1. f r = 0. and f. 6.88.
1. b) Determine the required thrusts of the outside and inside tracks during a steadystate turn.5 psi) and an angle of internal shearing resistance 4 = 25".10: F = L + . a) Determine the steerability of the vehicle over the terrain specified if the skidsteering method is employed. that predictions based on Steeds' analysis deviate significantly from field observations. A tracked vehicle weighs 155. however. a) From Eq. is 0. 6. the coefficient of motion resistance f.000 lb) and has a tread of 203. The new theory offers significant improvement on the prediction of steering behavior of tracked vehicles over Steeds' method.12.5. is 0. and acts in the opposite direction to the relative motion of the track with respect to the ground. b) The thrusts of the outside and inside tracks required during a steadystate turn can be determined using Eqs.4. the limiting value for the ratio of track length to tread is Since the ratio of track length to tread of the vehicle LIB is 1. Each of the two tracks has a contact length of 304.kWL " 2 4B  40.).67. Solution.8]. .2 cm (30 in. Based on these assumptions.87 kN (9188 lb) The results indicate that a braking force has to be applied to the inside track during the turn.68 kN (35.8 cm (120 in.).6.15 and the average coefficient of lateral resistance p.2 cm (80 in. which will be discussed in detail in Section 6. therefore. The vehicle travels over a terrain with a cohesion c = 3.45 kPa (0.) and a width of 76. Over this terrain. 6. which is less than the limiting value of 1. The contact pressure is assumed to be uniform.1 SIMPLIFIED ANALYSIS OF THE KINETICS OF SKIDSTEERING 395 The resultant shear force on the trackground interface is limited by the coefficient of friction and the normal load on the track. been developed.. Example 6.9 and 6. the vehicle is steerable over the terrain specified. A general theory for skidsteering on firm ground has. the steering characteristics of tracked vehicles have been analyzed in detail by Steeds [6.5. It is found.
To illustrate the effect of track slip on the steering characteristics of a tracked vehicle. and other factors as defined by Eq.io) + ( I . are the slip of the outside track and that of the inside track.ii)] rwo(1 .B(Ks + 1) 2 ( r o . the inside track may develop a forward thrust or a braking force. If the sprocket of the outside track is rotating at an angular speed of w.i.rw. the track will either slip or skid.i. t rw. depending on whether a forward thrust or a braking force is applied. respectively. When the slip (or skid) of the track is taken into consideration. and ii depend on the thrusts F.)] 2[K. + rw. the ratio of the turning radius with track slipping R' to that . and i. The relationship between thrust and slip (or skid) can be determined using the methods described in Chapter 2. Equations 6. the turning radius R and the yaw velocity of the vehicle 0.) + rq(1  ii) 2R' where i. .16 still hold. the values of i. = rw..7(1. the turning radius R' and yaw velocity 0. For a given vehicle over a particular terrain. The outside track always develops a forward thrust.. On the other hand. as described previously. however.1) B where r is the radius of the sprocket and K.15 and 6. are given by B(Ks(I . 6.i.1) =  n. and that of the inside track is rotating at an angular speed of oi and the tracks do not slip (or skid)./w. is the angular speed ratio w. ii will have a negative value.2 KINEMATICS OF SKIDSTEERING Figure 6. and F. can be expressed by R B (rw. depending on the magnitude of the turning resistance moment M . When a braking force is applied to the inside track. that during a turning maneuver. the track skids. and therefore it slips.6. It should be pointed out. an appropriate thrust or braking force must be applied to the track.13) rwi(Ks . As a consequence.6.) .(1 . 2R  (6.) 2(Ks .) . however.1 shows a tracked vehicle turning about a center 0.
when the outside track slips and the inside track sluds. lowspeed operation is assumed. Assume that the normal pressure distribution along the track is uniform.3]: Fig. the center of turn must lie at a distance so in front of the transverse centerline of the trackground contact area AC. The distance s. Thus. 6. It is shown that the value of R'IR is always greater than unity. When a tracked vehicle is turning at moderate and higher speeds. Consider that a tracked vehicle is in a steadystate turn on level ground. and the effect of the centrifugal force is neglected.6. Curve 1 shows the relationship between R ' I R and Ks when the outside track slips at 20% and the inside track is disconnected from the transmission by declutching.. as shown in Fig.3 SKIDSTEERING AT HlGH SPEEDS In the above analysis of the mechanics of skidsteering. as shown in Fig. Curve 2 shows the variation of the value of R'IR with K. 6. or with a relatively small turning radius. and its effect should be taken into consideration.3 SKIDSTEERING AT HlGH SPEEDS 397 without slipping R is plotted against the speed ratio K .6 K~ radius. This occurs when the outside track develops a forward thrust and a braking force is applied to the inside track.7.6. the effect of track slip (or skid) is to increase the turning radius for a given speed ratio K. the resultant lateral force exerted on the track by the ground must be equal to the centrifugal force. is a constant. . the centrifugal force may be significant. and that the coefficient of lateral resistance p.6. 6. then to satisfy the equilibrium condition in the lateral direction. 6.7. in Fig. can be determined by the following equation [6. To achieve equilibrium in the lateral direction. Effect of track slip on turning . = w J w .
and the other is the moment of the centrifugal force about 0': . the equivalent moment of turning resistance M . reproduced with permission of the University of Michigan Press. 1956. copyright O by the University of Michigan.7 Forces acting on a tracked vehicle during a tun1 at high speeds. 6.398 STEERING OF TRACKED VEHICLES Fig.) so = lV2 cos p 2MR' = la Acos p 2 ~ 1 ~ (6. Bekker. is the lateral acceleration of the center of gravity of the vehicle. cos P may be assumed to be equal to 1. Equation 6. (From Theory of Land Locomotion by M.G. will have two components: one is the moment of the lateral resistance exerted on the tracks by the ground about O f .17 can be rewritten as follows: As a consequence of the shifting of the center of turn. Since the turning radius R' is usually large compared with the contact length of the track 1. p would be small.17) where a. and accordingly.
18 into Eq. Therefore.6.8 illustrates the required ratios of the thrust to vehicle weight for .19. becomes The above equation indicates that when the centrifugal force is taken into consideration. the thrusts required to maintain the vehicle in a steadystate turn are expressed by [6. the centrifugal force has a component along the longitudinal axis of the vehicle. the longitudinal motion resistances of the outside and inside track R .lgR'2. 6. the equivalent moment of turning resistance is reduced. Furthermore.3 SKIDSTEERING AT HIGH SPEEDS 399 Substituting Eq. and Ri will not be identical: where h is the height of the center of gravity of the vehicle. The centrifugal force also causes lateral load transfer. This component has to be balanced by the thrusts developed by the tracks. WV2s.3] Figure 6. 6. when the centrifugal force is taken into account. Thus. the equivalent moment of turning resistance M.
Equations 6. and sprocket speeds.15: . To do this.23 and 6. to achieve a specific turning radius and vehicle speed.23 and 6. the ratio of the thrust to vehicle weight for the outside track F.0. As a consequence. To determine the required sprocket speeds for a specific turning radius and vehicle speed. for a given turning radius R' can be determined from Eq.400 STEERING OF TRACKED VEHICLES I 0 Fig. the slips of the outside and inside tracks i. 6. However. vehicle speed. This is mainly due to the fact that the moment of the centrifugal force about the center of turn increases with an increase of lateral acceleration. for a given vehicle on a particular terrain. Then from the relationship between thrust and slip discussed in Chapter 2.8 Thrusts on the outside and inside tracks required during a turn as a function of lateral acceleration. F.4' 0. track slips.10 u0.5 Fi / W  the outside and inside tracks.I W and FiIW. The required angular speed ratio K. as the lateral acceleration increases.15 I 0. It can also be noted that the ratio of the thrust to vehicle weight for the inside track FiIW is usually negative. It can be seen that as the lateral acceleration increases. and Fi should first be calculated using Eqs. the required thrusts F. 6.24.. as a function of lateral acceleration in gunits. and i. should be determined.24 specify the thrusts of the outside and inside tracks required under a steadystate turn for a given vehicle speed and turning radius. the values of i. which implies that braking of the inside track is required to maintain a steadystate turn. These include the relationship among turning radius.I W decreases. certain kinematic relationships have to be satisfied. 1 0. 6. however. This is again mainly due to the decrease of the equivalent moment of turning resistance with the increase of lateral acceleration. The magnitude of the braking force of the inside track decreases. aJg. and ii can be obtained. the equivalent moment of turning resistance decreases with an increase of lateral acceleration.3 3 .
A general theory for the mechanics of skidsteering on firm ground has.io) + (1  ii)] and o. as shown in Fig. For rubber belt . It is based on the following assumptions: 1.4 A GENERAL THEORY FOR SKIDSTEERING ON FlRM GROUND 401 The angular speeds of the sprockets w. as soon as a small relative movement between the track and the ground is initiated. been developed [6.9]. It can be seen that when the effect of the centrifugal force is taken into consideration.4. Experimental evidence shows that the shear stress developed on the trackground interface is dependent on the shear displacement. different values of coefficient of friction are assigned to the longitudinal and lateral directions of the track. and oirequired to achieve a specific vehicle forward speed V can then be obtained from Eq. The friction may be considered to be either isotropic or anisotropic.16: w '. measured from its initial contact with the ground.3. Field tests show that considerable discrepancy exists between the steering behavior of tracked vehicles on paved road predicted using Steeds' method and that measured.8]. Consequently. In his analysis. The shear stress developed at a given point on the trackground interface during a turn is dependent upon the shear displacement at that point. The ground is firm. the analysis of the turning maneuver of a tracked vehicle becomes more involved. 6.9. The Coulomb law of friction implies that the resultant shear stress on a track element acts in a direction opposite to that of the relative motion between the track element and the ground. = K. It indicates that the shear stress will reach its maximum value only after a certain shear displacement has taken place.4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND The mechanics of skidsteering of tracked vehicles on firm ground where track sinkage is negligible has been studied by Steeds.w. It also assumes that the shear stress reaches its maximum value instantly. the shear stress developed on the trackground interface is assumed to obey the Coulomb law of friction. track sinkage and the associated bulldozing effect of the track in the lateral direction during a turning maneuver are neglected. In the latter case. as noted previously [6. therefore. 6.6. as described in Section 2. 2.= 2v r[Ks(l . 6.
be the origin of a frame of reference x. tracks or steel link tracks with rubber pads.10(a).1 Shear Displacement on the TrackGround Interface As noted previously. Let 0 . 6. 4.y.4. so is determined from the dynamic equilibrium of the vehicle in the lateral direction during a turn.9 Comparison between the shear stress and shear displacement relationship measured in the field and that based on Coulomb's law of friction.as shown in Fig. the shear stress developed on a track element is related to its shear displacement measured from its initial contact point with the ground.ACCORDING TO COULOMB'S LAW ACTUAL SHEAR CURVE SHEAR DISPLACEMENT Fig. Consequently. As the vehicle . fixed to and moving with the vehicle hull and located on the longitudinal centerline of the outside track at a distance so from the center of gravity (CG) of the vehicle. 6. The component of the shear stress along the longitudinal direction of the track constitutes the tractive or braking effort. An outline of the general theory is given below. the shear stress is that developed between the rubber and the ground. 6. it is essential to analyze the development of shear displacement of a track element during a turning maneuver. The moment of the lateral resistance about the turn center of the track constitutes the moment of turning resistance. Consider that a tracked vehicle with track width b is in a steadystate turn about 0.3. while the lateral component forms the lateral resistance of the track. 3. As noted in Section 6. The direction of the shear stress at a point on the trackground interface is opposite to that of the sliding velocity between the track and the ground at that point.
4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND I (b) HULL 403 I (c) Fig. 6. .10 Motion of a track element on the trackground interface during a turning maneuver.6.
where r and w. and B is the tread.10(a) and (b).) on the outside track in contact with ground. 6.. as shown in Fig.... of point otl on the ground along the longitudinal direction of the outside track is expressed by Consider an arbitrary point defined by (x.. c.R. direction can be expressed by [Fig. is the lateral distance between the vehicle CG and longitudinal centerline of vehicle hull (or the lateral offset of the center of gravity with respect to the geometric center of the vehicle). R' is the turning radius of the vehicle.x.. 6. are pitch radius and angular speed of the outside track sprocket. = B (R" + 7 + c') 4 where R" is the lateral distance between the center of turn 0 and center gravity of the vehicle and is equal to R' cos P (or as shown in Fig. = [(I?" sin 0 I.<>: (6. 6..cos 8 V.y. + x. Y component of sliding velocity sin 0 .. respectively. respectively.. y.roo sin Yo: 8 . .10(b) and Fig. with respect to 0 .10(c)] on the outside track in contact with the ground coincident with 0. the sliding velocity V. the relative velocity components of point (x..V . can be expressed by [Fig.. the sliding velocity V. y. Based on the above analysis.. cos 0 + B5 + c. and y. y. which is expressed by wz)..Q. of 0.10(a) and (b)] V. sin 0 . the absolute velocity V.) with respect to of.R. [Fig.R. .in the y.1 11 X component of sliding velocity yxo= .. (Fig. 6... 6. with respect to the frame of reference XY fixed to the earth (hereinafter referred to as the fixed frame of reference)..1 1) of the point defined by (x. 6. on the plane view has a relative velocity V.R. As a result. which is the distance betvveen the centerlines of the outside and inside tracks.y. in the longitudinal and lateral directions of the track are given by x.404 STEERING OF TRACKED VEHICLES hull is rotating about turning center 0 with an angular speed (yaw velocity) R.. A point o.) on the outside track in contact with the ground.30) .. 6.. Since the track is rotating with the vehicle about the turn center 0 at an angular speed R.10(a).
.11 Kinematics of the outside and inside tracks during a steadystate turn.RZcos 6 . = Vo .rw. cos 8 + x. or the longitudinal offset of the center of gravity with respect to the geometric center of the vehicle [see Fig.10(a) and (b) is the angular displacement of the vehicle and can be determined by the integration of yaw velocity 0. sin 8 It should be noted that 0' and Ofshown in Fig.8]. . 6.so). 6.) travels from the initial point of contact at the front of the track (at y. cos 8 ..4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND 405 Fig. as discussed by Steeds [6.y. = 112 + c. y.R.that is and where c. .1 1 are the instantaneous centers for the parts of the outside and inside tracks in contact with and sliding on the ground. 6.10(a)]. The angle 6 shown in Fig. V.6. is longitudinal distance between CG and lateral centerline of the vehicle hull.. 6. with respect to time t that it takes for the point (x. y .
 so  y. The absolute velocity V. a.'2+cTs0 {[(R.) on the outside track in contact with the ground is given by Similarly. with respect to the fixed frame of reference XY. ) on the outside track in contact with the ground along the X direction.so roo  1 y. in the y..v. .fl. of the point at (x..)a I so .. I &)a. can be determined by = (R" + B5 + C.. direction can be expressed by . [Figs.406 STEERING OF TRACKED VEHICLES As a result. let 0. 6.y. along the Y direction is given by jyo = 1.10(a) and 6. sin '"0 [ (112 + C. + + y.. y .. sin (112 + c. }: B ++ cx + x.  So  ' " 0 y. the shear displacement j.)LRz The resultant shear displacement j. cos 1 (112 + c. 1 11 and shear displacement j .. + X I ) { [ (112 COS + C. I cos 6 y. 2 )  rm.)Cl. at the point (x. of 0.1 11 be the origin for a frame of reference x2y2 fixed to and moving with the vehicle hull and located on the longitudinal centerline of the inside track. y.  = dt = J'. sin 8  (R* + B5 + c.
The contact time t elapsed for the point defined by (x.4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND 407 Following a similar approach.so .R. y. the sliding velocity V.. Therefore.f17 cos 0 Y component of the sliding velocity V. cos 0 sin 6 .R.38) V.R..: + x. JXz = V sin 0 = [(R"  + rwi sin 8  = V.(Fig. sin 0 B B  rw. y2) on the inside track in contact with the ground with respect to the fixed frame of reference XY can be expressed by X component of the sliding velocity v.y.y.39) where q is the angular speed of the inside track sprocket.. along the Y direction is given by ..R. sin 2 (112 + c.) will be equal to (112 + c.. .1 1) of a point (x. on the inside track of the vehicle along the X direction with respect to the fixed frame of reference XY can be determined by  y..y. 6.R. sin 0 I rwi cos 0 . R. sin 0 (6.)lrwi. cos 0)  y.. the shear displacement j.  y.R.  cos 0  y. Yi: (6.. cos 0 1 + + x2 C. = [(R" 5 + cX + X ..  so  '64 and shear displacement j.. cos 0  x.6.
e . = :} y2R. r wi 1 The resultant shear displacement ji of the point at (x2.3. For different types of terrain.  [ (112 + C .43) where u is the normal pressure. . if the shear stressshear displacement relationship is described by Eq. and K is the shear deformation modulus.4. 6. then it may be expressed by T = u tan +(I  e'IK) = vp(l .] rwi so . the relationships between shear stress and shear displacement take different forms.y+ x.4.S. cos (112 + sin C. p is the coefficient of friction between the track and the ground. y.56 and the effects of sliding velocity and adhesion on the trackground interface are negligible.  .yJR. 2.)n. sin 0  B 5 + c. the shear stress developed at a given point on the trackground interface is dependent upon the shear displacement at that point. Therefore. For instance. as discussed in Section 2.) on the inside track in contact with the ground is given by 6.1 1) on the outside track ~ aAo p ( l dFo = T ~ = on the inside track  ejJK ) dA .) (R"  + y. the shear force developed on an element dA of the track in contact with the ground can be expressed by (Fig. The sliding velocity between the track and the ground may also affect these relationships under certain circumstances.2 Kinetics in a SteadyState Turning Maneuver As noted above.v. j is the shear displacement.~ l K ) (6.
43. axes). This indicates that Eq.. dx. This is equivalent to the value of K in Eq. and ui are normal pressures.e. respectively.. ~ . cos (rr + 6. 6.4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND 409 where r. and F. dy..) I Fxi= dFi cos (rr + 6. (6./. shown in Fig. and MLi due to the longitudinal shear forces .) I + 6. sin (rr gip(l  e''IK) sin 6.1 1 are the angles between the resultant sliding velocities of the points on the outside and inside tracks and the lateral directions of the tracks (i.12.43 is a more general representation of the characteristics of the shear force between the track and the ground. acting on the As shown in Fig. = I + 6. sin (rr FVi = dF.47) where 6. uip(l   e''IK) cos 6.. respectively. a. = J dF.) / / 2 + ~ . and j. and j. It should be noted that the assumption used in Steeds' model that the shear force between the track and the ground obeys Coulomb's law of friction is a special case of Eq.43 being equal to zero. x. dx. and 7.are the shear stresses. 6. 6. It should be noted that following Coulomb's law of friction.49) The turning moments M . the longitudinal forces FYo outside and inside tracks can be expressed respectively by F.6. and x.( ~h12 = I. and 6. (6. the shear force acting on the track will be in the opposite direction of the resultant sliding velocity. 6. 6. The lateral forces Fxoand Fxiacting on the outside and inside tracks are given respectively by F. are shear displacements of the elements of the outside and inside tracks. Coulomb's law assumes that full frictional force is reached as soon as a small relative motion between the track and the ground takes place. dy.) d F .
the longitudinal sliding velocities . 6.. dy. turn. b12 I.51) The moments of turning resistance M ..12) can be expressed respectively by I l12+c. 6. acting on the outside and inside tracks with respect to 0.. and Mri due to the lateral shear forces acting on the outside and inside tracks with respect to 0 . (Fig.vop(l  eJ0IK)cos 8.. (6.+.so =  112+cyso ri2(: b12 v.so =  I//. and 0. dy. and a. (Fig.p(1   e%IK)sin 8.. (6. dx.52) In order to determine 8. dx. y.410 STEERING OF TRACKED VEHICLES Fig.12) can be expressed respectively by //2+c.
. and 6. angles 6 . 6.1 1): The lateral sliding velocities V. + x 2 ) 0 .ryI2 + ( y 2 f l J 2 = y xo VV. + V&  (R" ..12 + (~. ) n Z..y. =  sin 6. can be defined. 6.4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND 411 V. .6.and yViof the elements on the outside and inside tracks with respect to the moving frames of reference x. (R" + B / 2 + c. by the following equations: sin 6 .Bl2 + c. cos 6 .12): . + x . and x2y.rwi V[(R". From the above analysis. respectively are first calculated as follows (see Fig..fl.B/2 + c. = YYo Vvzr0+ V&.)~ yyi dv. .and of the track elements on the outside and inside tracks can be expressed respectively by Therefore. . + x2)ll. V[(R"+ B I +~ C.rw. respectively..rw.. one can derive the equilibrium equations for the tracked vehicle during a steadystate turn as follows (Fig." + v&. + x I ) f l .
Eqs. Hug. respectively. r o .64.64.075 m (3 in. forward speed V. 6. are external motion resistance on the outside and inside tracks. They include normal loads on the tracks concentrated under the roadwheels. normal loads supported only by the track links immediately under the roadwheels. + M. The circumferential speed of the sprocket on the outside track ro. the steering behavior of a military tracked vehicle. 6.. shear deformation modulus K. turning radius R'. the three simultaneous equations. With the other parameters known or given. Using the vehicle design parameters given in reference [6.. track width b. trackground contact length I. such as the coefficient of friction p.. and R. tread B.11]. Thus all the forces and moments during a given steadystate turn can be completely defined. known as the Jaguar [6.3 Experimental Substantiation To demonstrate the application of the general theory described above.. Various normal pressure distributions under the tracks can be accommodated in the general theory.10]. was simulated and the results were compared with available measured data obtained on paved road and reported by Ehlert. and that on the inside track roi. It should be noted that the forces and moments are functions of the theoretical speeds roo and r y and the offset s.64) where R. and CG height h.9 and K = 0. 6. can be determined by solving the three simultaneous equations. normal loads distributed continuously over the entire track contact length and so on. of the center of gravity with respect to geometric center of the vehicle. .) deduced from reference [6. coefficient of motion resistance f.626. and Schmid [6. governing the steadystate turning behavior of the tracked vehicle are solved. weight W. Figure 6.10] and ground parameters. and lateral offset c. Eqs. the three unknown parameters.11].13 shows the variations of the predicted sprocket torques for the outside and inside tracks with theoretical . p = 0. and the offset so defining the longitudinal location of the turn center are obtained. roi and s.4. longitudinal offset c. The sprocket torques and moments of turning resistance as functions of turning radius can then be determined.626.wv2 = M.. sin p) gR (6. + (so cos p + c.
.16.. . . For comparison.. It is shown that predictions obtained using the general theory bear a strong resemblance to the measured data.. on paved road.. 26  SPEED RANGE: 5. I 10 100 J I I .10.2 kmlh (3... 0 u > SPEED RANGE: 18.6 14. turning radius (derived from the circumferential speeds rw.4 1 . the measured data for the tracked vehicle. and r q of the outside and inside tracks) at various vehicle forward speeds with different types of normal load distribution. Both show that the magnitudes of the ..3 mph) .2 kmlh ( 16 20 mph) .. IOOOm 4 40 ft 400 THEORETICAL TURNING RADIUS I I ' 10 I """'I ' 100 I " 1 4 40 400 ft THEORETICAL TURNING RADIUS  NORMAL LOADS DISTRIBUTED OVER THE ENTIRE TRACK  NORMAL LOADS SUPPORTED BY THE TRACK LINKS UNDER THE ROADWHEELS ..413 6...m r ...5 kmlh . \rr :'> \.9 (7. . .7 mph) SPEED RANGE: 11.. .I 20000   / V) W su F 0 Y IW 10000 .6 9.4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND IbR 20000 kN.. C..'"'I ' ' """I  SPEED RANGE: 25.0  . INSIDE TRACK . \* 26  " . . .11] are also shown.1 3 0 .. . .6 24 kmlh (11.. reported in reference [6. Jaguar. 6.. .13 Comparison of the measured and predicted relationships between sprocket torques and theoretical turning radius for a tracked vehicle at various forward speeds using the general theory..8 32.9 mph) 26 ... 10000 . . =:'... .6 .. / OUTSIDE TRACK .5. the predictions obtained using Steeds' theory are presented as well. In the figure.1 3  20000  . ... I 1000 rn NORMAL LOADS CONCENTRATED UNDER THE ROADWHEELS STEEDS' MODEL UNDER TRAPEZOIDAL LOAD DISTRIBUTION ( K = 0 ) MEASURED Fig... .
particularly at low speeds. at various turning radii. .R=SO m R4O m "R=lSM) m Rm100m kPa I 6 I 3 1 I I 0 3 6 LONGITUDINAL LOCATION I R 6 I I I I 3 0 3 6 R LONGITUDINAL LOCATION Fig. as shown in Fig. Since the moment of the lateral shear force about the turn center REAR . psi OUTSIDE TRACK  FRONT . the lateral shear stress at the front contact point of the outside and inside tracks is zero. It is noted that even at the front contact point where a track element just comes into contact with the ground. respectively.15(a) and (b).. The sprocket torques predicted by Steeds' method remain essentially constant over a wide range of turning radius. predictions from Steeds' theory differ greatly from the measured data. In contrast. the lateral stress is at its maximum.14(a) and (b:) show the lateral shear stress distributions along the longitudinal centerline of the outside and inside tracks. The reason for the poor predictions using Steeds' theory is primarily the assumption that the shear stress on the trackground interface reaches its maximum value instantly. In contrast.. 6.14 Lateral shear stress distributions along the longitudinal centerline of (a) the outside track and (b) the inside track with different turning radii according to Steeds' theory. Figure 6. based on the general theory. 6. 6. It should also be pointed out that the lateral shear stress distributions on the outside and inside tracks predicted using Steeds' theory remain essentially the same when the turning radius is larger than a certain value. such as 50 m (164 ft) shown in Fig.14.414 STEERING OF TRACKED VEHICLES sprocket torques generally decrease with the increase of theoretical turning radius. as soon as a small relative movement between the track and the ground takes place. respectively..
0 .15 Lateral shear stress distributions along the longitudinal centerline of (a) the outside track and (b) the inside track with different turning radii according to the general theory. in Fig. 6.15. 6. as shown in Fig. As a result. 6.13 that the normal load distribution on the track does not have a significant effect on sprocket torques.13.e. as shown in Fig. Consequently.. of the track (i. based on the general theory. the sprocket torques for the outside and inside tracks remain essentially constant when the turning radius is larger than a certain value. During a steadystate turn. which form a turning moment for the tracked vehicle to overcome primarily the resultant moment of turning resistance caused by the lateral sliding of the tracks on the ground.RSO m ..R1500 m kPa V) V) z ti 5  O V) J 3 5 5 10  1 6 1 I I I 3 0 3 6 R LONGITUDINALLOCATION 1 1 I 8 I 6 3 0 3 6 R LONGITUDINALLOCATlON Fig. It is also interesting to note from Fig. or 0. The . the magnitude of the lateral shear stress decreases with the increase of turning radius. the sprocket torques at the outside and inside tracks are to generate the required tractive and braking efforts. This shows that the general theory provides much more realistic and accurate predictions of steering behavior of tracked vehicles than Steeds' theory. 6.415 6. 6. this leads to essentially constant moments of turning resistance for the outside and inside tracks over a wide range of turning radius. the magnitudes of the sprocket torques for the outside and inside tracks decrease with the increase of turning radius.4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND  I REAR OUTSIDE TRACK  R10 m R100 m psi 10   I  FRONT REAR R50 m R1500 m   INSIDE TRACK R10 m R=IOOm * FRONT .12) constitutes the moment of turning resistance.. as shown in Fig. 6. In contrast. based on Steeds' theory.13. based on Steeds' theory.
6. are very close. 6..52 and 6. As these equations contain a number of empirical coefficients. A number of empirical equations have been proposed to correlate pr with turning radius [6. a coefficient of lateral resistance p1(also known as the coefficient of lateral friction) is introduced in predicting the lateral force and moment of turning resistance acting on a track during a turning maneuver. and Mr. namely. 6. normal loads concentrated under the roadwheels. 6.8 indicates that the turning resistance moment M. In fact the equivalent coefficient of lateral resistance p t in Eq.53.1. The above analysis demonstrates that if the simplified method (i.4. if normal pressure is assumed to be uniformly distributed along the track. The corresponding variations of the equivalent coefficient of lateral resistance derived from the experimental data reported by Ehlert. the moments of turning resistance for the outside and inside tracks can be predicted analytically using Eqs. it is not necessary to introduce a coefficient of lateral resistance pI in predicting the moment of turning resistance.e. experimental evidence shows that in practice M.11]. It is shown that there is a reasonably close agreement between the measured and predicted results obtained using the general theory. the relationship between pI and turning radius can be derived from the general theory for a . the moment of turning resistance Mr due to track sliding laterally on the ground is given by Eq. Eq.52 and 6. However. Jaguar.64.4. 6. As an expedient. it is uncertain whether these empirical relations can be generally applied. It should be noted that in predicting the moments of turning resistance using these equations.11] are also shown in the figure.8. 6. and normal loads distributed continuously over the entire track contact length with trapezoidal pressure distribution. and Schmid [6. Consequently.8 be expressed as a function of turning radius.4 Coefficient of Lateral Resistance In the simplified analysis of skidsteering given in Section 6. 6.2. As described in Section 6. normal loads supported only by the track links immediately under the roadwheels.8. is not related to turning radius. respectively. using the general theory. are shown in Fig. varies with turning radius. 6. Equation 6. The variations of the equivalent coefficient of lateral resistance pr derived from this method with theoretical turning radius at various vehicle forward speeds for the tracked vehicle. in Eq.. the only ground parameters required are the coefficient of friction p and the shear deformation modulus K. 6. They are obtained using Eq. with measured data on sprocket torques and external track motion resistance and calculated centrifugal force based on vehicle forward speed and turning radius. 6.8 can be derived quantitatively by equating the sum of the moments of turning resistance M . This means that using the general theory.416 STEERING OF TRACKED VEHICLES sprocket torques predicted under three different types of normal load distribution.16.53 to M. Hug.8) is used to predict the moment of turning resistance. calculated from Eqs. it has been suggested that pl in Eq.
075 m).9 and shear deformation modulus K = 0.20.16 Comparison of the measured and predicted relationships between coefficient of lateral resistance and turning radius for a tracked vehicle at various forward speeds ( p = 0.8 SPEED RANGE: 11.7 mph) under different ground conditions.9 . at a speed of 7. This means that by applying the general theory.4 A GENERAL THEORY FOR SKIDSTEERING ON FIRM GROUND .2 kmlh (3.24 kmlh 417 .9.10.3 to 0. 6.1 mph) 1 Fig.2 kmlh (16 .075 m (3 in. with the value of coefficient of friction p varying from 0.6 . Jaguar.6 .6.MEASURED DATA SPEED RANGE: 5.3 mph) SPEED RANGE: 25. given ground condition.).16. Fig.5 kmlh (4. = 0.PREDICTED r*. It is shown that the equivalent .5.7 mph) SPEED RANGE: 18. and turning radius can be eliminated.9 0. As an example.9 and K = 0.8 .17 shows the variations of the equivalent coefficient of lateral resistance p t with theoretical turning radius for the tracked vehicle. the timeconsuming field experiments for defining the relation between p. 6. with known coefficient of friction p and shear deformation modulus K.8 .32.4 .5 kmlh (7.
. 6.. It should be mentioned that power loss due to slip of the vehicle running gear may also be significant over unprepared terrain. however.11]..17 Variations of coefficient of lateral resistance with turning radius predicted using the general theory for a tracked vehicle on grounds with different values of coefficient of friction.5 POWER CONSUMPTION OF SKIDSTEERING When a tracked vehicle is traveling in a straight line. . coefficient of lateral resistance decreases with the increase of theoretical turning radius. it appears that the general theory presented above provides a unified approach to the study of the mechanics of skidsteering of tracked vehicles. neglected in order to simplify the analysis. is the vehicle speed in a straight line motion. due to the motion resistance R. This trend is consistent with experimental observations reported in reference [6. is where V. In the following analysis of power consumption during a turning maneuver. In summary. the power loss due to slip is.418 STEERING OF TRACKED VEHICLES THEORETICAL TURNING RADIUS Fig.. the power consumption P. 6.
and wb is the relative angular velocity of the frictional elements (or the relative velocity of the driving element with respect to the driven element) in the brake (or clutch). of some typical steering systems for tracked vehicles will be discussed in the next section. can be expressed by [6.18. The outside track is driven by the engine and generates a forward thrust. and the brake is usually applied. to a great extent. M. This steering system is very simple. To initiate a turn.WV. 6. on the characteristics of the steering system used.IP. which in turn are dependent. The characteristics and the corresponding power ratio P.6... the moment of turning resistance. power is consumed by the motion resistance. and the braking torque in the steering system. The ratio of the power consumption during a steadystate turn to that in straight line motion can be expressed by For a given tracked vehicle on a particular terrain.WR. Mb is the frictional torque of the brake (or clutch) in the steering system.6 STEERING MECHANISMS FOR TRACKED VEHICLES There are various types of steering mechanism available for tracked vehicles using the principles of skidsteering.. the power ratio P. 6. and Mboblf.1 ClutchIBrake Steering System This system is shown schematically in Fig. 6.12] where V is the speed of the center of gravity of the vehicle during a turn. the inside track is disconnected from the driveline by declutching..IP. When the brake is fully applied (or the clutch is fully engaged) and there is no relative motion between the frictional elements.6.I f. the power loss in the brake (or clutch) will be zero. The clutchlbrake steering system is therefore mainly . The thrust on the outside track and the braking force on the inside track form a turning moment that steers the vehicle. depends on the ratios of VIV.6 STEERING MECHANISMS FOR TRACKED VEHICLES 419 When a tracked vehicle is making a steadystate turn. but the steering brake usually absorbs considerable power during a turn. The power required during a turn P.
will be equal to Bl2. It should be mentioned that under certain circumstances. the forward speed of the center of gravity of the vehicle at the minimum turning radius will be half of that prior to turning. Reversed steering can be eliminated by arranging the disengagement of the steering clutch and the application of the brake to overlap so that the disengaging of the clutch will be immediately followed by a braking action on the sprocket. there will be no power loss in the brake. having UB = 1. and Eq. 6..e. the clutchlbrake steering system may cause the socalled reversed steering (i. the disengaging of the steering clutch on one side will free the associated track. 6.420 STEERING OF TRACKED VEHICLES Fig. The power ratio P. for a tracked vehicle with a clutch/ brake steering system at the minimum turning radius is therefore given by Assume that the normal pressure under the track is uniformly distributed and the vehicle is turning at low speeds. if the vehicle is descending a slope with the throttle closed. the engine is running at the same speed as that prior to turning.68 can be rewritten as follows: For a tracked vehicle with a clutchlbrake steering system.. at the instant of steering. 6. Consider a turning maneuver in which the inside track of the vehicle is disconnected from the driveline by declutching and the brake is fully applied. It is obvious that with the clutch/brake steering system. is given by Eq. while the retarding torque from the engine applies on the other track (if.. during the turn. Assume that. the initial vehicle speed is faster than that corresponding to the engine speed with the throttle closed). this will cause the vehicle to make a skid turn in the direction opposite that intended. The inside track thus has zero forward speed.5 . used in lowspeed tracked vehicles such as farm tractors and construction vehicles. Since the brake of the inside track is fully applied. and the minimum turning radius R. If the coefficient of lateral resistance is low.5. but the vehicle actually turns to the left or vice versa).8. For instance. and V/Vst = 0.18 Schematic view of a clutchbrake steering system. The moment of turning resistance M. The vehicle will be turning about the center of the inside track./P.. the controls are set to initiate an intended righthand turn.
respectively... C. and B. the forward speed of the center of gravity of the vehicle during a turn will be the same as that in a straight line motion for a given engine speed.. is the angular speed of the brake drum B. in the differential. and w. Eq.19. . and D.N. For steering. 6. = 0.IN. 6.375 times that when the vehicle is traveling in a straight line. the brake of the inside track. the power consumption during a steadystate turn at the minimum turning radius will be 2. Thus. form an ordinary differential. D l ..19 Schematic view of a controlled differential steering system.. 6. is the gear ratio of the differential and is equal to N.. and gears C. where N. A kinematic analysis of the controlled differential will show that the relationship between the angular speed of the sprocket of the outside track w. = 0... If the power loss due to track slip is included.6 STEERING MECHANISMS FOR TRACKED VEHICLES 421 and operating over a terrain with a coefficient of lateral resistance k . and N.. are the number of teeth of the gears C.... Gear A is driven through a gearbox by the engine. to that of the inside track w. N. D l .6.. are not applied. This results in a reduction of the speed of the inside track and a corresponding increase of the speed of the outside track... If brake B. 6.5 and a coefficient of motion resistance f ..6... brakes B. and D. C. is applied. In a straight line motion. can be expressed by where K.70 can be rewritten as follows: Fig. such as B..1.. is fully applied and the drum does not slip. the total power consumption during a turn will be even higher. N.2 Controlled Differential Steering System This type of steering system is shown schematically in Fig. This indicates that considerably more power is required during a turning maneuver as compared to that in a straight line motion.N.
6.0.875 times that when the vehicle is traveling in a straight line. 6. to the sprockets of the tracks. If the normal pressure under the track is uniformly distributed.It should be noted that when brake B. and the vehicle is turning at low speeds. 6.73 can be rewritten as For a vehicle with LIB = 1. both clutches are engaged and the brakes are released.3 Planetary Gear Steering System One of the simplest forms of planetary gear steering system for tracked vehicles is shown schematically in Fig. the minimum turning radius is achieved. Eq. is fully applied. = 2. = 5 . through the planetary gear train. the minimum turning radius of a tracked vehicle with a controlled differential steering system is therefore expressed by The power ratio PrIP.. as mentioned previously. for a tracked vehicle with a controlled differential steering system at the minimum turning radius is given by where VI Vyr= 1 .5 and K. 6. the clutch on the inside track is disengaged and the brake is applied to ..13.8. For steering. the power consumption during a steadystate turn at the minimum turning radius will be 2. In the system shown. The input from the engine is through bevel gearing to shaft A. the moment of turning resistance is expressed by Eq. In a straight line motion. which is connected to the sprocket. which is connected. From Eq. 6.6.20. the input to the gear train is through sun gear B and the output is through arm C. and operating over a terrain with p t l f .
lP.CLUTCH RING GEAR Schematic view of a planetary gear steering system. is expressed by . Since the angular speed of the sprocket of the outside track w. .6. Fig.. 6. the angular speed of the sprocket of the inside track is determined by where 0. the speed ratio K. and NB and N. the minimum turning radius is achieved...6 STEERING MECHANISMS FOR TRACKED VEHICLES BRAKE. is expressed by When a tracked vehicle with a planetary gear steering system is turning at the minimum turning radius. are the number of teeth of the sun gear and the ring gear.is the angular speed of shaft A. The minimum turning radius R.. can be expressed by It should be noted that if the engine speed is kept constant. the power ratio P.. The forward speed of the vehicle V during a turn is determined by It should also be mentioned that when the brake is fully applied on one side. ring gear D. then the forward speed of the center of gravity of the vehicle will be less during a turn than in a straight line motion. If the brake is fully applied to hold the ring gear fixed.20 423 . respectively. is the same as w..
6. 6. The engine has to provide only the difference between the sprocket powers of the outside and inside tracks. To reduce the power requirement during a turn using the skidsteering principle.68 times that when the vehicle is in a straight line motion. 6. a number of' regenerative steering systems have been developed for highspeed tracked vehicles [6. Lately hydromechanical systems are widely used which combine the advantages of infinitely variable drive and ease of control of hydrostatic transmissions. as shown in Fig. and p t l f r = 5. Eq. This configuration is for vehicles having a common body frame. but with two separate chassis.79 can be rewritten as For K.5. as shown in Fig. the moment of turning resistance is given by Eq. the power generated during a turn by the inside track from the braking force can be transferred through the system to the sprocket of the outside track. and the vehicle is turning at low speeds. 6." There are two principal configurations of articulated steering. One is usually called wagon steer. Another articulated steering configuration uses . In a regenerative steering system. This supplies part of the power required by the sprocket of the outside track. Steering is effected by rotating both or one of the two tracked chassis about a vertical axis.141. 6.14].21.22. + (Ks2 4 l ) (' + ) MifrWB(Ks + l)12(Ks . The wagon steer configuration has been adopted in some heavy tracked transporters. The results of the analysis of the characteristics of various steering systems described above indicate that considerably more power is required during a turn than in a straight line motion.13. Normally. the power consumption during a steadystate turn at the minimum turning radius will be 1. with those of high efficiency of mechanical transmissions [6.8.7 ARTICULATED STEERING For vehicles consisting of two or more units.l ) (6. 6.79) If the normal pressure is uniformly distributed. This kind of steering method is referred to as "steering by articulation" or "articulated steering. 1IB = 1. = 2. steering can be effected by rotating one unit against the other to make the vehicle follow a prescribed curved path. Regenerative steering systems developed earlier are entirely mechanical. the tracked chassis have freedom in pitch to allow good ground contact over rough surfaces.
as shown in Fig. Steering with an articulation joint has been adopted in vehicles for use over marginal terrain. Foremost Husky Eight. Steering is achieved by rotating one unit against the other. as shown in Fig. 6. (Courtesy of Canadian Foremost Ltd. as shown in Fig. 6.1.) an articulation joint to connect separate vehicle units.22 . (Reproduced with permission from reference 6. the design of the joint allows the two units to have freedom in pitch and roll within a certain range.161.7 ARTICULATED STEERING WAGON STEER 425 I TRAIN JOINT TRAIN JOINT FRAME JOINT WITH SHOCK ABSORBER Fig. An offroad transporter with wagon steer. articulated steering requires much less power to execute a turn.) Fig. Articulated steering has also been employed in offroad wheeled vehicles. 6. 6. the resultant forward thrust of the vehicle can be maintained during a turn.21.23.21 Various configurations of articulated steering. using articulated steering.24 [6. Furthermore.15. In comparison with the skidsteering method. 6. Usually.6. 6.
In addition. over marginal terrain. Articulated steering also makes it possible for heavy tracked vehicles to achieve a more rational form since a long. narrow vehicle encounters less obstacle resistance and motion resistance over unprepared terrain than a short. articulated steering can provide the vehicle with better mobility than skidsteering. the vehicle will be too wide to be practical.) whereas a net reduction in the maximum resultant forward thrust is accompanied by skidsteering. (Courtesy of Hagglunds Vehicle AB. For a heavy tracked transporter to meet the required ratio of contact length to tread. 6. wide vehicle with the same track contact area.I W and FiI W .) (b) Hagglunds BV 206. (a) Volvo BV 202.25 shows the variations of the ratios of thrust to vehicle weight for the outside and inside tracks. Field experience has also shown that the handling quality of articulated vehicles is satisfactory.426 STEERING OF TRACKED VEHICLES Fig. even at speeds up to 72 kmlh (45 mph) in some cases [6. Figure 6. to satisfy the steerability criterion. F. for the identical front and . Thus. (Courtesy of Volvo BM AB. the ratio of contact length to tread of a vehicle must be in a certain range when using skidsteering. This is the basic reason why articulated steering is widely used in heavy tracked transporters.23 Articulated vehicles with train joint.1].
24 An offroad wheeled vehicle with articulated steering.7 ARTICULATED STEERING 427 Fig.) .17.   SINGLE Fo /W 3 Fig. 6. 6. (Reproduced with permission from reference 6.25 Relationships between thrusttoweight ratio and turning radius to track length ratio for vehicles with skid steering and articulated steering.6.
Chiang. Journal of Automobile Engineering." in Proc. 1964." Journal of Terramechanics. "Some Notes on the Steering of Tracked k'ehicles by Articulation." in Proc. 24. vol.1]." Automobile Engineel. with skidsteering. whereas with articulated steering. paper 750552. M. 1975. Hayashi. Little. respectively. C. "A General Theory for SkidSteering of Tracked Vehicles on Firm Ground. 1993.F. B. and I. L." Journal of Terramechanics. the thrusttovehicleweight ratios for the outside and inside tracks. Jane's Information Group. The drive axles of both the front and rear units of the articulated vehicle have a simple differential which results in equal thrusts distribution between the outside and inside tracks. "SkidSteering of Crawlers. vol. however. 1992.17]." Journal of Terramechanics. as a function of the ratio of turning radius to track contact length RI1. Jane's Armour and Artillery. no. vol. W. 1. Schmid. M.C. level ground.I W and FiI W. 11." Society of' Automotive Engineers. F. vol. Bekker. 1978. Institution of Mechanical Engineers. no.F. 1.428 STEERING OF TRACKED VEHICLES rear units of an articulated tracked vehicle with the ratio of turning radius to track contact length RIl [6. Hug. Kitano and M. Kuma. no. no. W. As a comparison. Crosheck. Nuttall. The symbols shown in the figure represent measured data obtained with a model vehicle traveling on a hard. 1964. Wong and C. 1987. D3. Foss. Vol. 14th ed. "An Analysis of Horizontal Plane Motion of Tracked Vehicles. Theory of Land Locomotion. "Prediction of Track Forces in SkidSteering of Military Tracked Vehicles. Ehlert. 5th Int. M. 1975. 2. vol. J. It can be seen that large thrust and braking force are developed on the outside and inside tracks. J. 215. . 1 . REFERENCES C. 4. that the minimum turning radius of an articulated tracked vehicle usually is larger than that of an equivalent vehicle with skidsteering. I. MI.F. "Practical Analysis of Tracked Vehicle Steering Depending on Longitudinal Track Slippage. 1. "Tracked Vehicles." Journal of Terramechanics. The first cost of the articulated vehicle is usually higher than that of a similar vehicle with skidsteering. since the articulated vehicle has at least two separate units of chassis which necessitate the replication of suspension and track systems [6. Part D.E. no.Y. of a single unit tracked vehicle with skidsteering. Kar. Steeds. Ann Arbor. MI: University of Michigan Press. are also shown in the figure. 1. 14. 29. DetroitHoughton. April 1950.G. Con$ of the International Society for TerrainVehicle Systems. 1956. no.K. It should be mentioned. "The Alecto Tracklayer. particularly for smaller size vehicles. the required thrust is much smaller in executing a given turn. 2001. vol." Journal of Terramechanics.J. "Field Measurements and Analytical Models as a Basis of Test Stand Simulation of the Turning Resistance of Tracked Vehicles.
Theoretical and Experimental Analysis. On a sandy terrain.685 kPa (3 psi) and 4 = 6". The angle of internal shearing resistance of the terrain 4 is 30". Moscow.). 6.16 6. no.1 A tracked vehicle with skidsteering is to be designed for operation over various types of terrain ranging from desert sand with c = 0 and 4 = 35" to heavy clay with c = 20. is rotating at 10 radls. London. The average value of the coefficient of motion resistance is 0. 1981. A. no.2. "Study on Steerability of Articulated Tracked Vehicles . with a radius of 0. 1991. and that of the coefficient of lateral resistance is 0. Dudzinski.2 A tracked vehicle weighs 155.000 lb) and has a contact length of 304. the value of the coefficient of motion resistance is 0.A.5. using the simplified method described in Section 6.14 6. no. 23. Steeds. using the simplified method described in Section 6. during the turn. 7th lnt.) and a tread of 203.17 429 I. "Turning Behavior of Articulated Frame Steering Tractor. a) Using the simplified method described in Section 6.79 kPa (2 psi).68 kN (35.2 cm (80 in. Lvov." Journal of Terramechanics.PROBLEMS 6." in Proc.1. 1987.Part I. and the inside track is disconnected from the driveline by declutching and the brake is applied. Cont of the International Society for TerrainVehicle Systems.D. Watanabe and M. 1960. Canada. W. K. The vehicle has a uniform contact pressure of 13." Journal of Terramechanics. vol. 20.3 Referring to Problem 6. vol.15.1. National Scientific and Technical Publishers. Select a suitable value for the ratio of contact length to tread for the vehicle. 1986. 314. determine the turning radius and yaw velocity of the vehicle during the turn. 1983 and vol. 24. Theory of Tractors (in Russian). Technology of Tanks. . 6. "Problems of Turning Process in Articulated Terrain Vehicles. and that of the coefficient of lateral resistance is 0. determine the thrusts of the outside and inside tracks required to execute a steadystate turn.305 m (1 ft). b) If.13 6. estimate the maximum drawbar pull that the tracked vehicle could develop during a steadystate turn. the sprocket of the outside track.15. 1. Also calculate the ratio of the maximum drawbar pull available during a steadystate turn to that in a straight line motion under the conditions specified. 2. Mechanics of Road Vehicles. PROBLEMS 6. England: Iliffe and Sons. Kitano.1.M. Parts 1 and 2. 1. Ogorkiewicz.15 6. 1960. Vol. R.5. Calgary. Oida.8 cm (120 in.12 6. The slip of the running gear during the turn may be neglected in the calculations. The vehicle has a uniform contact pressure and is equipped with a clutch/brake steering system. Jane's Information Group. P.
68 kN (35.5. and that of the coefficient of lateral resistance is 0. The contact pressure of the track is assumed to be uniform.4 A tracked vehicle is equipped with a controlled differential steering system having a gear ratio of 3: 1.8 cm (120 in.15. and has a tread of 203.430 STEERING OF TRACKED VEHICLES 6. The vehicle weighs 155. .2 cm (80 in.2 mph). the value of the coefficient of motion resistance is 0.) and a contact length of 304. On a particular terrain. Determine the minimum turning radius of the vehicle. Also calculate the power required to maintain a steadystate turn at the minimum turning radius when the speed of the center of gravity of the vehicle is 10 kmlh (6.000 lb).).
and the characteristics of surface irregularities. vibrations of the engine and driveline. Ride comfort problems mainly arise from vibrations of the vehicle body. the vibrational behavior of the vehicle. 7. Excitations by aerodynamic forces are applied directly to the vehicle body. which may be induced by a variety of sources. aerodynamic forces. Usually. Excitations resulting from mass imbalances and dimensional and stiffness variations of the tirelwheel assembly are transmitted to the vehicle body through the suspension.1 HUMAN RESPONSE TO VIBRATION In general. surface irregularities. passenger ride comfort (or discomfort) boundaries are difficult to determine because of the variations in individual sensitivity to vibration and of a lack of a generally accepted method of approach to the assessment of . The objective of the study of vehicle ride is to provide guiding principles for the control of the vibration of the vehicle so that the passenger's sensation of discomfort does not exceed a certain level. act as a major source that excites the vibration of the vehicle body through the tirelwheel assembly and the suspension system. ranging from potholes to random variations of the surface elevation profile. including surface irregularities. To achieve this objective. it is essential to have a basic understanding of the human response to vibration.CHAPTER 7 VEHICLE RIDE CHARACTERISTICS Ride quality is concerned with the sensation or feel of the passenger in the environment of a moving vehicle. while those due to engine and driveline vibrations are transmitted through engineltransmission mounts. and nonuniformities (imbalances) of the tirelwheel assembly.
particularly for passenger cars. such as "unpleasant" or "intolerable. Shake Table Tests. 4. an actual vehicle body is mounted on hydraulic actuators. Considerable research has. have been performed. In some facilities. It is intended to identify zones of comfort (or discomfort) for humans in terms of vibration amplitude. been conducted by a number of investigators in an attempt to define ride comfort limits. It can be seen . Subjective Ride Measurements.432 VEHICLE RIDE CHARACTERISTICS human response to vibration. and bounce (or heave). Therefore. The assessment of human response to vibration is complex in that the results are influenced by the variations in individual sensitivity. The degree of difference in ride quality. roll. or acceleration in a given direction (such as foottohead. Ride Simulator Tests.21. With a large enough jury and a welldesigned evaluation scheme. 3." with vibration parameters measured at the location where the test subject is situated under actual driving conditions. Shake table tests and ride simulator tests described above are conducted under laboratory conditions. which reproduce vehicle motions in pitch. Figure 7. on a relative basis. The recommended limits shown in the figure are also referred to as Janeway's comfort criterion.1 shows one of such criteria for vertical vibration described in the Ride and Vibration Data Manual J6a of the Society of Automotive Engineers [7. They do not necessarily provide the same vibration environments to which the passenger is subject while driving on the road. The traditional technique for comparing vehicle ride quality in the automotive industry in the past is to use a trained jury to rate the ride comfort. sidetoside. it is possible to establish a human tolerance limit in terms of vibration parameters.1. It defines the acceptable amplitude of vibration as a function of frequency. numerous ride comfort criteria have been proposed. a large number of shake table experiments have been performed over the years. A variety of methods for assessing human tolerance to vibration have been developed over the years [7. velocity. ride simulators are used to replicate the vibration of the vehicle traveling over different road surfaces. 1. Road inputs are fed into the actuators.3]. In these tests. Using the simulator. this method could provide a meaningful comparison of the ride quality of different vehicles. or backtochest) over a specific frequency range. They include the following. Most of this research pertains to human response to sinusoidal excitation. of different vehicles driven over a range of road surfaces. cannot be quantitatively determined by this type of subjective evaluation. 2. and by the test methods used by different investigators. This test method attempts to correlate the response of test subjects in qualitative terms. In an attempt to quantitatively study human response to vibration. Ride Measurements in Vehicles. Over the years. however. ontheroad ride measurements. however. 7.
' ) ~ = 0.001 8 6  4 2 VIBRATION FREQUENCY f Fig. which is the product of the .1 HUMAN RESPONSE TO VIBRATION :I 433 RECOMMENDED LIMITS f=lTO6Hz MAX JERK CONSTANT f = 6 TO 20Hz ACCELERATION CONSTANT  4 0. 7. In the frequency range 16 Hz. as shown in Fig.6 m s . In the frequency range 620 Hz.3. should not exceed 12. at 1 Hz ( 2 radls). the peak value of jerk. 7. the allowable amplitude decreases considerably. For instance.1 Vertical vibration limits for passenger comfort proposed by Janeway.1. each of which covers a specific frequency range.) that as the frequency increases.0508 m (2 in. The Janeway comfort criterion consists of three simple relationships.01  f=20TO60Hz  4 2  0. which is the product of the amplitude and the cube of the circular frequency. the peak value of acceleration. amplitude is 12.6 ~ the recommended limit for m/s3 (496 in.V ( 2 ~s ./s3).7.). (Reproduced with permission of the Society of Automotive Engineers from reference 7.
51. should not exceed 2. there is no established basis on which to evaluate the resultant effect. which is the product of the amplitude and the circular frequency.15 (10 dB lower). and should not be exceeded without special justification. should be less than 0. 7.2(a) and (b) by a factor of 3. When two or more components of different frequencies are present. which are defined in terms of rootmeansquare values (rms) of acceleration as a function of frequency for various exposure times.2(a) shows the fatigue or decreased proficiency boundaries for vertical vibration (foottohead or along the z axis in Fig. 7. whereas the reduced comfort boundaries are obtained by lowering the boundaries shown in Fig. A severe discomfort boundary and a reduced comfort boundary for . which are concerned with the preservation of comfort and in transport vehicles are related to such functions as reading. and backtochest or along the x axis in Fig. Exposure limits. It should be noted that Janeway's comfort criterion is based on data for vertical sinusoidal vibration of a single frequency. This guide is recommended for the evaluation of vibrational environments in transport vehicles as well as in industry. It can be seen that as the average daily exposure time increases.105 i d s ) . however. 7.2(a) and (b) by a factor of two (6 dB higher). 7. Reduced comfort boundaries. The fatigue or decreased proficiency boundaries for lateral vibration (sidetoside or along the y axis. 3. writing./s2). and eating in a vehicle.434 VEHICLE RIDE CHARACTERISTICS amplitude and the square of the circular frequency. the boundary lowers. that the component. Fatigue or decreased proficiency boundaries. The exposure limits for safety (or health) reasons are obtained by raising the fatigue or decreased proficiency boundaries shown in Fig.7 mm/s (0. the peak value of velocity. 7. corresponding boundaries apply to each vectorial component along the three axes. When vibration takes place in more than one direction simultaneously.33 m/s2 (13 in. whereas in the range 2060 Hz. Figure 7. which are related to the preservation of working efficiency and apply to such tasks as driving a road vehicle or a tractor.3). Furthermore. associated with symptoms such as motion sickness. which are of a character different from the effects of higher frequency vibrations.2(b). and it defines three distinct limits for wholebody vibration in the frequency range 180 Hz: 1. It is probable. all of the data used to establish the ride comfort boundaries were obtained with test subjects standing or sitting on a hard seat. 7.3) are shown in Fig. will govern the sensation as a whole. 2. which are related to the preservation of safety (or health). a general guide for defining human tolerance to wholebody vibration has been developed and adopted as the International Standard I S 0 2631 [7. It should be pointed out that vibrations in the frequency range below 1 Hz are a special problem.4. Recently. which taken alone represents the highest sensation level.
0 Hz FREQUENCY f CENTER FREQUENCY OF THIRD OCTAVE BAND Fig.1 I I 1 0.7. recommended by the ISO.0 50.0 10. 7.5 1.0 435 Hz FREQUENCY f CENTER FREQUENCY OF THIRD OCTAVE BAND 0.5 I 1.0 50. .0 1 I I I 5.0 20 50 I I I 10.0 I 2.1 I 0.1 HUMAN RESPONSE TO VIBRATION 0.2 Limits of wholebody vibration for fatigue or decreased proficiency in (a) vertical direction and (b) transverse direction.0 20.0 20.
" which is the product of vibration force and velocity transmitted to the human body. Having defined a specific ride comfort criterion. 7. and the ridelimiting speed is that speed at which the driver's average absorbed power over the total elapsed time reaches a sustained level of 6 W. Army AMM75 Ground Mobility Model and subsequently by the NATO Reference Mobility Model for evaluating the ride quality of military vehicles.2.11 Hz have been recommended by the International Organization for Standardization (ISO). various ride models have been developed. a seven . the designer should then select an appropriate suspension system to ensure that the level of vehicle vibration is below the specified limits when operating over a particular range of environments. the ride comfort criteria thus far proposed may require revision as new data become available. Hence. The concept of "absorbed power" has been adopted by the U. For a passenger car with independent front suspensions.S. Presently. whereas the actual vehicle vibration is usually of a random nature. has also been proposed as a parameter of significance in evaluating human response to vibration [7. It should be reiterated that most of the data used in establishing the ride comfort criteria described above were obtained using sinusoidal inputs. The "absorbed power. the tolerance limit is taken as 6 W absorbed power at the driver's position. It is a measure of the rate at which vibrational energy is absorbed by a human. 7.2]. various exposure times in the frequency range of 0.2 VEHICLE RIDE MODELS To study the ride quality of ground vehicles.436 VEHICLE RIDE CHARACTERISTICS 3ry ROLL TIRE SPRING TIRE DAMPING Fig.61. 7.3 A sevendegreeoffreedomride model for a passenger car. and it has been used to define human tolerance to vibration for military vehicles negotiating rough terrain [7.
" For a crosscountry military vehicle shown in Fig. The mass of the vehicle body is usually referred to as the "sprung mass. may be employed.5 and 7. 7. For instance. in principle." whereas the mass of the running gear together with the associated components is referred to as the "unsprung mass.4 1 \ ROAD WHEEL CAMPING A ride model for a military tracked vehicle. A vehicle represents a complex vibration system with many degrees of freedom. 7. and roll of the vehicle body and the bounce of each roadwheel. however. 7.7.4. To study the vibrational characteristics of the vehicle. the response can. as well as the bounce of the two front wheels. ROAD WHEEL' SPRING Fig. be determined by solving the equations of motion. a twodegreeoffreedom model. bounce. Digital computer simulations are usually employed. which includes the pitch. Natural frequencies and amplitude ratios can be determined by considering the principal modes (normal modes) of vibration (or the free vibration) of the system. as shown in Fig. particularly the effects of the sprung and unsprung mass. and the bounce and roll (tramp) of the solid rear axle are taken into consideration.3. 7.2 VEHICLE RIDE MODELS 437 degreeoffreedom model. When the excitation of the system is known.5 and 7. and damping on vehicle vibrations. may be used. equations of motion based on Newton's second law for each mass have to be formulated.1 TwoDegreeofFreedom Vehicle Model for Sprung and Unsprung Mass The twodegreeoffreedom model shown in Figs.2. However. the analysis becomes increasingly complex. as the degrees of freedom of the system increase. to simplify the system by considering only some of its major motions. . and roll of the vehicle body. may be used. spring stiffness. as shown in Figs. to reach a better understanding of the pitch and bounce vibration of the vehicle body. the pitch. bounce. as shown in Fig. 7. On the other hand. It is possible. a linear model with two degrees of freedom.6 includes an unsprung mass representing the wheels and associated components and a SPRUNG MASS SHOCK ABSORBER SUSPENSION SPRING UNSPRUNG MASS .6.7. a fifteendegreeoffreedom model may be used. 7. 7. In this model. to obtain a qualitative insight into the functions of the suspension.
the equations of motion of the system can be obtained. (Fig. the equations of motion are as follows: for the sprung mass. COMBINED Fig. Their motions in the vertical direction can be described by two coordinates. respectively. For vibrations excited by surface undulation. 500 Ib/in. and for the unsprung mass. 7. = 1814 kg.. it is often referred to as the "quartercar" model. By applying Newton's second law to the sprung and unsprung mass separately. 4000 Ib = 181 kg. 7.6). . 4000 Iblin. kt.6 A quartercar model.5 A twodegreeoffreedom ride model for the sprung and unsprung mass. This model can be used to represent a quarter of a car.. 7. k. with origins at the static equilibrium positions of the sprung and unsprung mass. sprung mass representing the vehicle body. 400 Ib. Fig. COMBINED = 88 kN/m. COMBINED = 704 kN/rn. and z. As a result.438 VEHICLE RIDE CHARACTERISTICS rn. z. rn.
1 and 7. c.1 and 7.7. the excitation due to surface undulation may be expressed by c.2. is the unsprung mass. 7. 7. the resulting vibrations of the sprung and unsprung mass can be determined by solving Eqs. If the excitation of the system is known. in principle.2. then.2 VEHICLE RIDE MODELS t 439 REFERENCE Fig. 7.as shown in Eq. from Eqs. is the damping coefficient of the shock absorber. 7. If z .6. is the sprung mass.. The equations of motion for free vibration are obtained by setting the righthand sides of both Eqs.2 to zero. mu. where m. is the stiffness of the suspension spring. is the equivalent spring stiffness of the tire. . which is the slope of the profile multiplied by the forward speed of the vehicle.2. the equations of motion for free vibration are as follows: . k.i. kt. and F(t) is the excitation acting on the wheels and induced by surface irregularities. is the damping coefficient of the tire. ~ . 7.1 and 7. 7. the free vibration of the system is considered (or the principal modes of vibration are considered). then . To determine the natural frequencies of the twodegreeoffreedom system shown in Fig. while those due to nonuniformities of the tire/wheel assembly are applied to the unsprung mass. represents the vertical velocity of the tire at the ground contact point. is the elevation of the surface profile and i. c.7 A twodegreeoffreedom ride model for bounce and pitch of the sprung mass. For an undamped system. Excitations due to aerodynamic forces and to vibrations of the engine and driveline are applied to the sprung mass. + k . .
The corresponding natural frequencies in Hz (cyclesls) are expressed by . cos w. 7. and Z2 if the following determinant is zero: Expanding the determinant leads to the characteristic equation of the system: The solution of the characteristic equation yields two undamped natural frequencies of the system. and . = Z.: where Although each of these leads to frequencies t w. are the amplitudes of the sprung and unsprung mass.3 and 7. respectively.t 2. Substituting the assumed solutions into Eqs.4.. w:. one obtains the following amplitude equations: These equations are satisfied for any Z.The solutions to the above differential equations can be assumed to be in the following form: 2.. and Z. is the undamped circular natural frequency and Z.t w.. and mi.. = Z2 cos wnt where w. the negative values are discarded as being of no physical significance..
the impulse will set the wheel into oscillation. 7. the damping ratio provided by shock absorbers is usually in the range of 0..13 and 7. which is the ratio of output to input of a vibrating system. however. 7. When the wheel passes over the bump.15 and 7. 7.... if the wheel hits a bump.5 Hz.8 when the ratio of the frequency of excitation to the natural frequency of the system is high.kt. the amplitude of oscillation of the sprung mass will be very small. As can be seen from Fig. ..5. which are found to be practically identical to those obtained using Eqs. the sprung mass m.04 and 10. For instance... 7. mu._.. k. and k. is very low. With the values of m. the transmissibility ratio. the unsprung mass will be in free oscillation at it own natural frequency f..l(k...16. shown in Fig. It is noted that the natural frequency of the unsprung mass is an order of magnitude higher than that of the sprung mass. It should also be mentioned that for passenger cars. l f . = &J k.20.4. .e. The approximate values of the undamped natural frequencies in Hz of the sprung and unsprung mass.. is an order of magnitude higher than that of f..while the stiffness of the suspension spring k. ~ . In view of this. and undamped natural frequencies are commonly used to characterize the system..14 are 1.5.. For the sprung mass. and f n . excellent vibration isolation for the sprung mass (i. .7. is an order of magnitude lower than the equivalent spring stiffness of the tire k.. vehicle body) is achieved in this case. respectively. is an order of magnitude higher than the unsprung mass mu. The wide separation of the natural frequencies of the sprung and unsprung mass has a significant implication on the vibration isolation characteristics of the suspension system.2 VEHICLE RIDE MODELS 441 For a typical passenger car. f. as shown in Fig. + kt.) m. Thus.. Consequently. the excitation will be the vibration of the unsprung mass. there is little difference between the undamped and damped natural frequencies. 7. can be expressed by fn. the two natural frequencies calculated using Eqs. an approximate method may be used to determine the two natural frequencies of the system. and that the damping of the tire is relatively insignificant. The ratio of the frequency of excitation to the natural frequency of the sprung mass is therefore equal to f n ~ .Since the value of f.
then the responses of the sprung and unsprung mass can be determined using the classical methods in vibration analysis. 7. As can be seen from Fig. the excitation will normally consist of a wide range of frequencies. For the twodegreeoffreedom system shown in Fig. to that of the surface profile Z.442 VEHICLE RIDE CHARACTERISTICS FREQUENCY RATIO Fig. as the transmissibility ratio is high when the frequency of excitation is close to the natural frequency of the sprung mass. or even amplified. however. be transmitted to the vehicle body unimpeded. If the road profile is sinusoidal. is expressed by where . 7. the ratio of the vibration amplitude of the sprung mass Z.8 Transmissibility ratio as a function of frequency ratio for a singledegree offreedom system. 7.6. with the damping of the tire neglected. When the vehicle travels over an undulating surface. highfrequency inputs can be effectively isolated through the suspension because the natural frequency of the sprung mass is low. Lowfrequency excitations can.8.
The resonance of the unsprung mass (tirelwheel assembly) is usually referred to as "wheel hop" resonance. If the damping of the shock absorber is neglected (i. where V is the vehicle speed and 1.. 1 . resonance results. and the following relations are obtained: and w.e. w is the circular frequency of excitation.. Vibration Isolation. the transmissibility ratio (or transfer function) can be used as a basis for assessing the vibration isolation characteristics of a linear suspension system. the following three aspects should be considered.7.. It is noted that when the frequency of excitation w coincides with one of the natural frequencies.. is given by where A. = O). is the wavelength of the road profile.. are the undamped circular natural frequencies of the syswhere o..2 VEHICLE RIDE MODELS 443 The ratio of the vibration amplitude of the unsprung mass Z.w2)I2 + (~. to that of the surface profile Z.9 shows the effect of the ratio of the unsprung mass to the sprung mass mu.(ks .w)~. This can be evaluated by the response of the sprung mass (output) to the excitation from the ground (input)..m. c.lm. In the equations above.k. then the expressions for the responses of the sprung and unsprung mass to the excitation of sinusoidal road profile are simplified. tem.. which is equal to 27rVIl. = [kt. In the evaluation of the overall performance of a suspension system. Usually. Figure 7. on the transmissibility ratio of a twodegreeof ..
freedom system with m. There is a slight penalty.) kt. a lighter unsprung mass does provide better vibration isolation in the midfrequency range. it can be said that while the unsprung mass has little influence on the vibration of the sprung mass in the lowfrequency range. = 8./k. which implies that with the same level of excitation.3. in the frequency range above the natural frequency of the unsprung mass. Hz Fig. and damping ratio = 0. k. the lower the transmissibility ratio will be. kJk. = 454.9 Transmissibility ratio as a function of frequency for the sprung mass of a quartercar model with different ratios of unsprung to sprung mass. the lighter the unsprung mass.5 kg (1000 lb). the vibration of the sprung mass is lower with a lighter unsprung mass.5kg (10001b) kt. = 176 kN/m (1000 lblin. When the frequency of excitation is close to the natural frequency of the unsprung mass (around 10 Hz).). However. Based on the results presented above. 7. < . = 454. It can be seen that in the frequency range below the natural frequency of the sprung mass (around 1 Hz).. a lighter unsprung mass will lead to a slightly higher transmissibility ratio. = 8 I I 1 10 \ I FREQUENCY. = 176kNlm (10001blin. the mass of the unsprung parts has very little effect on the vibration of the sprung mass.444 VEHICLE RIDE CHARACTERISTICS  m.
in the frequency range higher than the natural frequency of the unsprung mass. a softer suspension spring (or higher k J k .7. the suspension spring stiffness has a relatively insignificant effect on the vibration of the sprung mass. on the transmissibility ratio of the system. ratio) provides better vibration isolation. Figure 7..2 VEHICLE RIDE MODELS 445 however. In the frequency range between the natural frequency of the sprung mass and that of the unsprung mass. It can be seen that in the frequency range below the natural frequency of the sprung mass.lk. the lower the transmissibility ratio will be. 7. the lower the ratio of ktrlk. For a given tire stiffness. a higher ratio of k J k . 1 10 FREQUENCY. and the transmissibility ratio is more or less independent of the ratio k.. Hz Fig. to the suspension spring stiffness k. .10 shows the effect of the ratio of the equivalent tire stiffness kt.10 Transmissibility ratio as a function of frequency for the sprung mass of a quartercar model with different ratios of tire stiffness to suspension spring stiffness.. indicates a lower suspension spring stiffness. In the frequency range above the natural frequency of the unsprung mass.
it can be seen that a softer suspension spring provides better vibration isolation in the mid.to highfrequency range.001 C I I l 1 I ' I I I I 1 1 1 1 1 1 \ 10 FREQUENCY. Figure 7.11 Transmissibility ratio as a function of frequency for the sprung mass of a quartercar model with different damping ratios. the lower the transmissibility ratio will be. the lower the damping ratio. At a frequency close to the natural frequency of the unsprung mass. in the frequency range above the natural frequency of the unsprung mass. In the frequency range between the natural frequency of the sprung mass and that of the unsprung mass. although there is some penalty in the frequency range below the natural frequency of the sprung mass. 7.11 shows the effect of the damping ratio on the transmissibility ratio of the system. the lower the transmissibility ratio will be.446 VEHICLE RIDE CHARACTERISTICS Based on the results presented above. 0. Hz Fig. the lower the transmissibility ratio will be. It can be seen that in the frequency range close to the natural frequency of the sprung mass. the damping ratio has little effect on the response of the sprung mass. the lower the damping ratio. . However. the higher the damping ratio.
Suspension Travel. a high damping ratio is required.. . commonly known as the "rattle space. .z." Figure 7. . which is defined as the ratio of the maximum relative displacement between the sprung and unsprung mass (2. in the mid. This is measured by the deflection of the suspension spring or by the relative displacement between the sprung and unsprung mass (z.12 shows the effect of the ratio of the unsprung mass to the sprung mass m. a lower damping ratio is preferred. 7.z. on the suspension travel ratio of the system. However.).to highfrequency range.lm. It defines the space required to accommodate the suspension spring movement between bump and rebound stops.12 Suspension travel ratio as a function of frequency for a quartercar model with different ratios of unsprung to sprung mass...).7.2 VEHICLE RIDE MODELS 447 Based on the results described above. to the amplitude of the Fig. it can be seen that to provide good vibration isolation in the frequency range close to the natural frequency of the sprung mass.
13 shows the effect of the ratio of the equivalent tire stiffness kt.lm.. has little effect on suspension travel. There is some penalty. the mass ratio m.13 Suspension travel ratio as a function of frequency for a quartercar model with different ratios of tire stiffness to suspension spring stiffness. the higher the mass ratio. Hz Fig. the increase in the mass ratio causes an increase in suspension travel. in the frequency range below the natural frequency of the sprung mass. the lower the suspension travel will be. Figure 7.. In the frequency range between the natural frequency of the sprung mass and that of the unsprung mass. . to the suspension spring stiffness k. Based on the results shown above. It can be seen that for a given amplitude of the surface profile Z.448 VEHICLE RIDE CHARACTERISTICS sinusoidal road profile Z. 7. a lighter unsprung mass does reduce suspension travel in the midfrequency range. however. However. on the suspension travel I 1 I l l l lll I 10 FREQUENCY. in the frequency range above the natural frequency of the unsprung mass.. it can be said that while the unsprung mass has little effect on suspension travel in the lowfrequency range. in the frequency range above the natural frequency of the unsprung mass.
14 shows the effect of the damping ratio on the suspension travel ratio..15 shows the effect of the ratio of the unsprung mass to the sprung mass muslmson the dynamic tire deflection ratio. When the vehicle system vibrates. tractive effort. and then higher at a frequency approaching the natural frequency of the unsprung mass.z.lm. 3. the suspension travel is initially lower with a softer suspension spring. It can be seen that in the frequency range below the natural frequency of the sprung mass. Figure 7. and is approximately 3 Hz for the system examined. In the frequency range above the natural frequency of the unsprung mass. In the midfrequency range between the natural frequency of the sprung mass and that of the unsprung mass.. .. In the midfrequency range from the natural frequency of the sprung mass to the "crossover" frequency (i. the higher the damping ratio. a softer suspension spring leads to lower suspension travel. to the amplitude of the sinusoidal road profile Z.. leads to higher suspension travel. In the midfrequency range between the natural frequency of the sprung mass and that of the unsprung mass. which is the ratio of the maximum relative displacement between the unsprung mass and the road surface (z. it can be said that in the lowfrequency range.2 VEHICLE RIDE MODELS 449 ratio. the suspension spring stiffness has little effect on suspension travel. In the frequency range from the "crossover" frequency to the natural frequency of the unsprung mass. from 1 to 3 Hz for the system examined). In the highfrequency range. the mass ratio m.e. the suspension spring stiffness has little effect on suspension travel. The frequency at which this changeover takes place is called the "crossover" frequency. has little effect on the dynamic tire deflection (or roadholding)..7. the vibration of the tire affects the roadholding capability and influences the handling and performance of the vehicle. however. It can be seen that in the frequency range below the natural frequency of the sprung mass. In the frequency range above the natural frequency of the < . This indicates that to reduce the suspension travel. and braking effort developed by the tire are related to the normal load on the tire. the normal force acting between the tire and the road fluctuates. a lighter unsprung mass leads to lower dynamic tire deflection.).. a softer suspension spring. the lower the suspension travel will be. a softer suspension spring often leads to higher suspension travel. Roadholding. It is interesting to note that over the entire frequency range from below the natural frequency of the sprung mass to above the natural frequency of the unsprung mass. a higher damping ratio is required. The normal force between the tire and the road during vibration can be represented by the dynamic tire deflection or by the displacement of the unsprung mass relative to the road surface. Figure 7. a softer suspension spring leads to higher suspension travel. Since the cornering force. Based on the results shown above.
  z 0 (I) 5 $ 0. is the wavelength of the road pro . Hz Fig..e. where V is the vehicle speed and 1 .2 in.. 7. unsprung mass.3 0. with a sprung mass of 454. the unsprung mass has a relatively insignificant effect on the dynamic tire deflection. I 1 1 1 1 1 1 1 I I 1 1 1 1 1 1 1 I I 10 1 FREQUENCY. = 0.1  3 (I) 0.15.345 kN/176 kN/m) or 1.14 Suspension travel ratio as a function of frequency for a quartercar model with different damping ratios. = f..2. For the system shown in Fig. the static tire deflection is approximately 3 cm (5. the deflection of the tire under static load) to fully recover.e. during vibration.. as the tire is losing contact with the ground and the roadholding capability of the vehicle is adversely affected. = 8 Hz. If the vehicle travels over a sinusoidal road profile at an appropriate speed which generates a frequency of excitation close to the unsprung mass natural frequency (i. the normal force between the tire and the road will be reduced to zero or the tire is at the verge of bouncing off the ground. It should be noted that if.707 . the relative displacement between the unsprung mass and the road surface is such that it allows the static tire deflection (i. f = V/1.4 kg (1000 lb) and a mass ratio m. 7.. This is an undesirable situation.lm.
file).15 Dynamic tire deflection ratio as a function of frequency for a quartercar model with different ratios of unsprung to sprung mass. on the dynamic tire deflection ratio.15.2 in. In the midfrequency range between the natural frequency of the sprung mass and the "crossover" frequency (i. a softer suspension spring leads to lower dynamic tire deflection. this implies that under these circumstances. It indicates that if the amplitude of the road profile is 1. from 1 to 6 Hz for the system shown). However. the suspension spring stiffness has a relatively insignificant influence on the dynamic tire deflection.7. Figure 7.5 cm (0. then from Fig.).e.6 in.). to the suspension spring stiffness k . in the frequency range . the maximum dynamic tire deflection will be 3 cm (1. the ratio of the maximum dynamic tire deflection to the amplitude of the road profile is approximately 2. Since the static tire deflection is 3 cm (1.and highfrequency ranges.16 shows the effect of the ratio of the equivalent tire stiffness k. 7.).2 in. 7.. the tire will lose contact with the ground during part of the vibration cycle. It can be seen that in the low.2 VEHICLE RIDE MODELS 451 FREQUENCY. Hz Fig..
452 VEHICLE RIDE CHARACTERISTICS . Figure 7.5 Hz) is higher than that for ordinary passenger cars (usually in the range from 1 to 1. Hz Fig.I 1 I 10 FREQUENCY. Consequently.17 shows the effect of the damping ratio on the dynamic tire deflection ratio.16 Dynamic tire deflection ratio as a function of frequency for a quartercar model with different ratios of tire stiffness to suspension sprmg stiffness. This is the reason why the suspension spring for performance cars is usually stiffer than that for ordinary passenger cars. It can be seen that in the frequency range below .. Based on the results described above. However. the natural frequency of the sprung mass for performance cars (up to 2 or 2. to achieve better roadholding capability at a frequency of excitation close to the natural frequency of the unsprung mass. a stiffer suspension spring is preferred. close to the natural frequency of the unsprung mass. a stiffer suspension spring leads to lower dynamic tire deflection. and hence better roadholding capability. it can be seen that a softer suspension spring will generally provide better overall vibration isolation. 7.5 Hz).
to maintain good roadholding capability. To determine the response of the twodegreeoffreedom system shown in Fig. 7.2 Numerical Methods for Determining the Response of a QuarterCar Model to Irregular Surface Profile Excitation In practice. z . represents the vertical velocity of the tire at the ground contact point.17 Dynamic tire deflection ratio as a function of frequency for a quartercar model with different damping ratios. As noted previously.2. Hz Fig. describes the elevation of the surface profile. 7. road profile is usually irregular and is seldom sinusoidal. in Fig. lower damping is preferred. and is expressed by .6 to the excitation of irregular surface profiles. in the midfrequency range between the natural frequency of the sprung mass and that of the unsprung mass.6. However. and 2 .7. 7. numerical methods are used. 7. the natural frequency of the sprung mass or close to the natural frequency of the unsprung mass.2 VEHICLE RIDE MODELS 453 10 1 FREQUENCY. higher damping is required.
)..). z. Substituting Eqs.454 VEHICLE RIDE CHARACTERISTICS where V is the forward speed of the vehicle and dz. = (i'. From Eqs. i .6)..ldx is the slope of the surface profile. = (i2).at different locations (or stations.1 and 7. ~ . both z .). z. i.22. at the initial point (station 1 shown in Fig. and are known for a given road profile. A t /+2 ks(At)2/6] . and i. + ~ .2 and neglecting the damping of the tire c.). 7. 7. 7. z2.). = (i. and 7. If. = (i. The responses of the sprung and unsprung mass.24. one obtains where A. are zero. can be considered as functions of time. the parentheses indicates the station number).= (z. as shown in Fig.7]. 7.. = 0 (the subscript outside then (z.23.6) can be obtained using the following numerical procedure based on the Taylor series [7.. At station 2. 7. (z.).25 into the two equations above and solving them simultaneously. 7. .). and i.. When the vehicle is traveling at a constant speed. = [cShAt/2+ ks(At)2/6] B4 = [m. and (i.
18(b) at a speed V = 80 kmlh (50 mph).lk.. damping is neglected.18(a) shows the acceleration response of the sprung mass of a quartercar model traveling over an irregular road surface shown in Fig.). that is.).3 TwoDegreeofFreedom Vehicle Model for Pitch and Bounce Because of the wide separation of the natural frequencies of the sprung and unsprung mass. (i2)2r and (z. At should be less than 5% of the period of the free vibration of the unsprung mass r.). = 454. 7... . 7.. the up and down linear motion (bounce) and the angular motion (pitch) of the vehicle body and the motion of the wheels may be considered to exist almost independently.5 kg (1000 Ib).). Fig. the equations of motion for the system can be formulated. At subsequent stations i (r 3).. (z. 7.3. (F1)..7.2. obtained using the numerical procedure described above.. At = AxlV.10. where T. kt.. the equation of motion for bounce is . 7.2 VEHICLE RIDE MODELS 455 The set of equations given above enables the values of the parameters at (zl).lm. = 8. In this model. = 11f. = 176 kN1m (1000 lblin.. The parameters of the quartercar model used in the simulation are m. The selection of the value of At depends on the accuracy required. ).. By applying Newton's second law and using the static equilibrium position as the origin for both the linear displacement of the center of gravity z and angular displacement of the vehicle body 0. elevation of road profile at station 2.6) divided by vehicle speed V.7. = 0.. (i. (i. m.. and f. The bounce and pitch of the vehicle body can therefore be studied using the model shown in Fig. to be determined for a given station 2. It should be noted that the time increment At in the above equations is taken as the increment in horizontal distance Ax (Fig.. As an example. is the undamped natural frequency of the unsprung mass. In general. k. 7. and 5 = 0. For free vibration.
.18 Simulation of the vibration of a quartercar model over irregular road profiles. (a) Sprung mass acceleration. 7.456 VEHICLE RIDE CHARACTERISTICS 100 200 DISTANCE (4 1 0 100 200 300 ft DISTANCE (b) Fig. (b) Road elevation profile.
7. the free vibration of the system is considered (or the principal modes of vibration are considered). By letting Eqs. To obtain the natural frequencies for the coupled bounce and pitch motions. is the rear spring stiffness.(z .35 can be rewritten as It is evident that D. 7. = k.34 and 7. The solutions to the equations of motion (i. = rn w*. the pitch and bounce motions are coupled.. while a moment applied to the body produces only pitch motion.O) = 0 (7. is the coupling coefficient for the bounce and pitch motions. = It is found that this would result in poor ride.35) where kf is the front spring stiffness. k. and I.e. a force applied to the center of gravity induces only bounce motion. Eqs. and an impulse at the front or rear wheel excites both motions. respectively. and ry are the mass moment of inertia and radius of gyration of the vehicle body about the y axis (Fig.1. and that these motions uncouple when k.6)  kfl. In this case.12(z + 1.O) + k. the natural frequencies for the uncoupled bounce and pitch motions are w*. 7. In general..3).2 VEHICLE RIDE MODELS 457 and the equation of motion for pitch is (or m.12.7.35) can be expressed in the form of . With kfll = kJ2.34 and 7.r.l.
.40) 8 cos w. These frequencies for coupled motions.t (7. one obtains the following amplitude equations: Following an approach similar to that described in Section 7.and w.41) 0 = where w.36 and 7. and for w. (Dl . w. . For w... can be determined. 7.43.. It can be shown that the two amplitude ratios will have opposite signs...42 and 7. 7.DJ2 f and w. From Eqs. and w.. the amplitude ratios of the bounce and pitch oscillations for the two natural frequencies w.. is the undamped circular natural frequency. always lie outside the frequencies for uncoupled motions. on. and w. Substituting the above equations into Eqs.. 2  + D3) + w. respectively.. two undamped natural frequencies tained: w : ~= 1 (D. can be ob D2 r. and Z and 8 are the amplitudes of bounce and pitch..458 VEHICLE RIDE CHARACTERISTICS z = Z cos w.44.2.37.. 7. one obtains the characteristic equation for the system: From Eq.1..t (7.
When the value of the amplitude ratio is negative.. In other words. in accordance with the sign conventions for z and 13 shown in Fig. and therefore will excite both bounce and pitch oscillations. . and it can be determined from the amplitude ratios. 7. 7. the concept of oscillation center is introduced.. . The location of the oscillation center is denoted by 1. and the other with wn2.2 VEHICLE RIDE MODELS 459 To further illustrate the characteristics of the bounce and pitch modes of oscillation. Thus.7. measured from the center of gravity. the oscillation center will be located to the right of the center of gravity of the vehicle body. the body motion will be the sum of the oscillations about the two centers. one center is associated with w.19. In general. a road input at the front or rear wheel will cause a moment about each oscillation center. For w.. Fig.19 Oscillation centers for bounce and pitch of sprung mass.. the oscillation center will be located to the left of the center of gravity.. and for w.. On the other hand. when the value of the amplitude ratio is positive.
Example 7. Determine the pitch and bounce frequencies and the location of oscillation centers of an automobile with the following data: sprung mass m. = 1. and the associated natural frequency is called the bounce frequency.1.. are first calculated as follows: .33 m (4.16 ft) distance between the rear axle and center of gravity I. the oscillation center that lies inside the wheelbase is called the pitch center. D.460 VEHICLE RIDE CHARACTERISTICS Usually.36 ft) distance between the front axle and center of gravity 1. = 2120 kg (weight 4676 lb) radius of gyration r.08 ft) front spring stiffness kf = 35 kN1m (2398 lblft) rear spring stiffness k. and D. Solution. On the other hand. = 1.548 (5. = 1. the oscillation center that lies outside the wheelbase is called the bounce center. The constants D l . = 38 kN/m (2604 Iblft). and the associated natural frequency is called the pitch frequency.267 m (4.
52. the natural frequency is usually higher than those for bounce and pitch primarily because of the effect of antiroll bars. 7. kfl.. The other case of interest is that when r: = 1. and I. For w. and the other will be at an infinite distance from the center of gravity. For cars with coupled frontrear suspension systems. and the other is located at a distance of 0. and the natural frequency for pitch is slightly higher than that for bounce. It should also be noted that under these circumstances. and the other at the point of attachment of the rear spring to the body.7.17 .0 Hz for cars.09 m (82 in.) to the right of the center of gravity.. The natural frequency for roll usually varies in the range of 1. In this case. and for 6.52 .) to the left of the center of gravity. one oscillation center will be located at the point of attachment of the front spring to the vehicle body (or its equivalent). The location of the oscillation centers has practical significance to ride behavior. 7.~.19.34.. as shown in Fig. one oscillation center will be at the center of gravity.09 m (82 in. = k. the natural frequency for bounce is in the range of 1 ..50. This indicates that one oscillation center is situated at a distance of 2. In roll. In this case.49 and 7...) w. One case of interest is that when the motions of bounce and pitch are uncoupled (i..1.34. = 1. the natural frequency for pitch may be lower than that for bounce. This can be verified by setting I.43 = 2.84 m (33 in.83 42. 7. For most passenger cars.50.. = 6 . the twodegreeoffreedom model for pitch and bounce shown in Fig. in Eqs.e.) 6. respectively.49 and 7.12).84 m (33 in.43 = +0.. = 1.04Hz The locations of the oscillation centers can be determined using Eqs..7 can be represented by a dynamically equivalent system with two concentrated masses at the front and rear spring ..83 31. = 1. 5 2 ~ ' or 461 f.O1.5 Hz.2 VEHICLE RIDE MODELS OJ. 7.
3. in fact. the equivalent spring rate and the natural frequency of the front end should be slightly less than those of the rear end.21. the average driving speed.1. the ratios of r. The equivalent system is.91. 7. for the front. step functions. + l. 7. DADS. and input at one end (front or rear) causes no motion of the other. the period for the front end ( 2 d w n f )should be greater than that for the rear end (2dw. the vehicle body is merely bouncing) within a short time after the front end is excited. + 1. They can be used to simulate the vibrations of ground vehicles in detail.l(l.l. and natural frequency on..attachment points (or their equivalents). In other words.8 for sports cars through 0.l. In considering the natural frequencies for the front and rear ends.e.(l. Currently. two singledegreeof+ 12)lms12 freedom systems with natural frequency wnf = %k'f(l.). however. as shown in Fig. From the point of view of passenger ride comfort. it is found that ground profiles should be more realistically described as a random function. the elevation of the surface profile z above a reference . there is a time lag between the excitation at the front and that at the rear.= . While these inputs could provide a basis for comparative evaluation of various designs. they could not serve as a valid basis for studying the actual ride behavior of the vehicle since surface profiles are rarely of simple forms. and that at the rear will be rn. etc. a variety of multibody dynamics software packages. As noted previously. The desirable ratio of the natural frequency of the front end to that of the rear end depends on the wheelbase of the vehicle. For instance. Thus. have become commercially available in recent years. and the wavelengths of the road profile. as shown in Fig.0 for conventional passenger cars to 1. such as ADAMS.20.C/k. Later.)lm.l(l. pitching is more annoying than bouncing. The equivalent concentrated mass at the front will be m.2 and above for some frontwheeldrive cars. This is a desirable condition for a good ride. there is no interaction between the front and rear suspensions. vary from approximately 0. or triangular waves are used. Consequently. For practical vehicles. for the rear. this condition often cannot be satisfied.2/1.l.). 7. To minimize this pitching motion. The characteristic of a random function is that its instantaneous value cannot be predicted in a deterministic manner. This ensures that both ends of the vehicle will move in phase (i. This results in a pitching motion of the vehicle body.3 7. excitation from the ground in the form of sine waves.). + I.. it should be noted that excitation from the road to a moving vehicle will affect the front wheels first and the rear wheels later.1 INTRODUCTION TO RANDOM VIBRATION Surface Elevation Profile as a Random Function In early attempts to investigate vehicle ride characteristics.
and the frequency content of the function can be established by methods based on the Fourier transform. If the statistical properties of the surface profile on one plane such as AD are the same as those on any parallel plane such as AID'. such as A. x 0 REFERENCE PLANE Fig. if the random function is stationary and ergodic.3 INTRODUCTION TO RANDOM VIBRATION 463 Fig.21. 7. 7. certain properties of random functions can be described statistically. then in practical terms. Referring to the surface profile shown in Fig. the analysis will be simplified to a great extent. 7. It may be established by methods based on the Fourier transform. one can perform a frequency Y B C D .21. Thus.21 if the surface profile is truly random in the popular sense of the term. if the statistical properties of the portion of the road between A and B are the same as those of any other portion such as CD. the random function representing the surface profile is said to be ergodic. plane at any particular point. For instancc. There are certain concepts of random functions that are of practical importance. For instance.7. the random function representing the surface profile is said to be stationary. 7. then in practical terms. The frequency composition of a random function is of importance. the statistical properties of the surface profile derived from a portion of the road can be used to define the properties of the entire section of the road surface.20 Equivalent system having two concentrated masses for the vehicle body. the mean or the meansquare value of a random function can be determined by averaging. However. This means that under these circumstances. . after obtaining the surface profile shown in Fig. 7.21 Surface elevation profile as a random function. is not predictable as a function of the distance x between the point in question and the origin shown in Fig.
In random vibrations. 7. as shown in Fig. Under certain circumstances. and the result is a discrete spectrum shown in Fig. there are seldom any distinct wavelengths. By letting S(nR. In many cases..22.22 Relationship between amplitude and wavelength of a surface profile. the relationship between the amplitude and wavelength may be smoothed. as shown by the dotted line in Fig. sin (2) = Z. and not the value of amplitude.) be the power spectral density of the meansquare value in the interval AR at frequency nR. is For a function containing a number of discrete frequencies.The amplitude can then be plotted against the wavelength. an average value for the amplitude over a certain waveband is determined. the meansquare contribution in each frequency interval AR is of interest. and wavelength I.8]. 7.464 VEHICLE RIDE CHARACTERISTICS analysis to make an estimate of the amplitudes for various wavelengths present [7. it can be expressed as in(x)= Z. = 2nll.(x) with amplitude Z. For a harmonic component z. WAVELENGTH .22.X where R.. is of prime interest since it is associated with the average energy. 7. In general. sin R. the following relation can be obtained: Fig. is the circular spatial frequency of the harmonic component expressed in radlm (radlft). the meansquare value of amplitude. The meansquare value of the component i. its frequency content can be expressed in terms of the meansquare values of the components. and the amplitude may be expressed as a continuous function of wavelength.23. 7. therefore.
.24 Continuous power spectral density function.7. the discrete power spectral density function S(nLR.24. 7.R2 shown in Fig.3 INTRODUCTION TO RANDOM VIBRATION 465 and the discrete power spectral density becomes If the function contains a large number of frequencies. 7. 7.24. The meansquare value of the function z(x) is then given by It should be noted that the meansquare value of the function in any frequency band of interest.) becomes more or less a continuous power spectral density function S ( R ) . can be calculated as follows: It may be mentioned that the determination of power spectral densities Fig. such as R. such as that shown in Fig.
10. and the squared instantaneous value over the sampling time is then average to obtain the meansquare value. and Fig. Figure 7. Alternatively. 7. For this kind of multiple filter analyzer.25 shows the power spectral densities for profile amplitude as a function of spatial frequency for some runways and highways. it can be characterized by a power spectral density function. As the center frequency of the narrow bandpass filter is varied.111.) SPATIAL FREQUENCY .26 shows the power spectral density functions for various types of unprepared terrain [7. With division of the meansquare value by the bandwidth. The analyzer performs the filtering operation by heterodyning the random signal through a highly selective narrow bandpass filter with a given center frequency. the average power spectral density at the given center frequency is obtained. 7.10. the power spectral densities at a series of selected center frequencies can be determined.from random data has been greatly facilitated by the availability of digital spectral density analyzers [7. Multiple filter analyzers are widely used in practice. 7.9].25 Power spectral density as a function of spatial frequency for various types of road and runway. The spatial fl Fig. When the surface profile is regarded as a random function. The instantaneous value of the filtered signal is squared. (Reproduced with permission of the Society of Automotive Engineers from reference 7. an analyzer can be constructed with a collection of contiguous narrow bandpass filters that together cover the frequency range of interest. and a plot of the power spectral density versus frequency is obtained. no frequency scan is needed for obtaining a spectrum.
.7.26 Power spectral density as a function of spatial frequency for two types of unprepared terrain. Attempts by various organizations have been made over the years to classify the roughness (irregularities) of road surfaces.25 and 7. The power spectral density for the profile amplitude is expressed in m2/cycles/m (or ft2/cycles/ft). (i. and N are constants. and N as given in Table 7.e. N is a dimensionless constant.. ) . It has been found that the relationship between the power spectral density and the spatial frequency for the ground profiles shown in Figs. Fitting this expression to the curves shown in Figs. and C . The International Organization for Standardization (ISO) has proposed a road roughness .3 INTRODUCTION TO RANDOM VIBRATION SPATIAL FREQUENCY 467 fl Fig. a = 1 / 1 .25 and 7.26 can be approximated by where S.1.26 yields the values of C.(R) is the power spectral density function of the elevation of the surface profile. 7. and is expressed in cycles per meter (or cycles per foot). vary with the value of N. 7. frequency R is the inverse of the wavelength 1. while the dimensions of C . . 7.
) at a spatial frequency R.27 shows the classification proposed by ISO.' m2/cycles/m .2.4 3.1 1.8 4.10 and 7. 1.0 6. C:.2. 4..5.(R..1 2. is the value used for computing S . For the lower bound.)= 1127r cycleslm.0 and 1.. for a Class B road (which is considered to be a "good" road from a surface roughness viewpoint).5 x lo" x x lo' x x lo4 x lo4 c:. Figure 7. and N for Power Spectral Density Functions for Various Surfaces No.58.1 2. the value of S.(R) and the spatial frequency R at the upper and lower bound can be expressed by the following. SJR) for 0 > a. 7.1 x 1. the relationships between the power spectral density S. S. and the values of N. Description N 1 2 3 4 5 6 Smooth runway Rough runway Smooth highway Highway with gravel Pasture Plowed field 3.1 4. respectively. ( n ) in ft2/cycles/ft. For instance. for R 5 R.4 x 10'I lo" lo" lo3 Source: References 7. The relationships are as follows: For R 5 0. Note: C.2 x 1.(R) and the spatial frequency R for different classes of road roughness may be approximated by two straight lines with different slopes on a loglog scale.(R) in m2/cycles/m. = 1127r cycleslm.27.57 and 7. as shown in Table 7. In the I S 0 classification.1 Values of C .. the relationships between the power spectral density S.8 2. = 1127rcycles/m for different classes of road is given in Table 7.1 1.6 x 3.~ . 7.6 x 2. 7. = 8 x loV6( ~ T R ) m2/cycles/m ~ = 8 x lo' ( 2 7 ~ n ) .(R. = 11271.25 and 7.6 c. and for R > fl.6 1.) at a spatial frequency m2/ R.3 x 1.26.. classification (Classes AH) based on the power spectral density [7. The range of values of S.(fl) and for the upper bound.12].3 8. is the value used for computing S. as shown in Fig. The numbers in the table refer lo the curves shown in Figs. From Eqs. and N2 are 2. cycleslm varies in a range from 8 X 10V6to 32 X cycleslm.468 VEHICLE RIDE CHARACTERISTICS TABLE 7.
o 1 WAVE LENGTH Fig.01 0.00 cyclelm I 10.7.).. Road Class A (Very Good) B (Good) C (Average) D (Poor) E (Very Poor) F Range m2/cycles/m Geometric Mean .(R.3 INTRODUCTION TO RANDOM VIBRATION m*/cycle/m 469 CLASSIFICATION BY I S 0 0.OO SPATIAL FREQUENCY s 10.27 Classification of surface roughness by ISO.2 Classification of Road Roughness Proposed by I S 0 Degree of Roughness S.0 m TABLE 7.0 1. 7. 100.10 1.
displacement.(fl) to that in terms of the temporal frequency S(. which also holds for random functions. For instance. The transformation of the spatial frequency Q in cycleslm (or cycleslft) to the temporal frequency f in Hz is that of the speed of the vehicle: f Hz = f l (cycleslm) V (mls) = R (cycles/ft) V (ftls) (7.. since vehicle vibration is a function of time.470 VEHICLE RIDE CHARACTERISTICS R.28 for a vehicle system.(fl) = 32 x for R > R.28 Input and output of a linear vehicle system. velocity.(~)=IH(~)I~s~(~) Fig. 7.~ For vehicle vibration analysis.e. S.' m2/cycles/m .(fl) = 32 for R 5 X ( 2 ~ f l ) m2/cycles/m ~ lop6( ~ T R ) .2 Frequency Response Function For a linear system. 7. the modulus of the transfer function H(f) is expressed by rl IRREGULARITIES INPUT r1l OUTPUT VIBRATIONS s. characterized by its transfer function. it is more convenient to express the power spectral density of surface profiles in terms of the temporal frequency in Hz rather than in terms of the spatial frequency.. The transfer function or frequency response function is defined as the ratio of the output to input under steadystate conditions. modifies the input representing the surface irregularities to the output representing the vibration of the vehicle. This relationship. S.3.59) The transformation of the power spectral density of the surface profile expressed in terms of the spatial frequency S. . is shown in the block diagram of Fig. if the vehicle is simplified to a singledegreeoffreedom system. a direct linear relationship between input and output exists.. f ) is through the speed of the vehicle: 7. The vehicle system. or acceleration). and both the input due to surface irregularities and the output representing the vibration of the sprung mass are expressed in the same unit (i.
the transfer function H ( f ) is simply the transmissibility ratio shown in Fig. TEMPORAL FREQUENCY I Fig.8. the surface irregularity as input is defined in terms of displacement (or elevation of the surface profile) and the vibration of the sprung mass as output is measured in acceleration.29 [7. It is noted that in this case.5 Hz and a damping ratio of 0. 7. 7.0 Hz and a damping ratio of 0.1 and the other with a bounce natural frequency of 1. singledegreeoffreedom vehicle models. then the modulus of the transfer function H(f) will take the following form: The squared values of the moduli of two transfer functions representing two simplified.3 INTRODUCTION TO RANDOM VIBRATION 471 where f is the frequency of excitation. If. however.7. 7.5. . f. and C is the damping ratio. The transfer functions shown are for predicting vehicle response having displacement as input and acceleration as output. one with a bounce natural frequency of 3.29 The square of the moduli of the transfer functions of two simplified vehicle models with different natural frequencies and damping ratios. is the natural frequency of the system.11]. are shown in Fig.
and from the equation above. As mentioned previously. in general. a series of discrete center frequencies within the range of interest is first selected. ( f ) can be the power spectral density for the acceleration of the sprung mass of the vehicle. the power spectral density for the acceleration of the sprung mass as a function of frequency is of prime interest. and output iZ can be Based on the definition of power spectral density given by Eq.. ( f ) and the power spectral density of the output S . the meansquare values of the input related by i.65 holds regardless of the measure in which the input and output power spectral densities are defined.3.53. ( f ) is related to the power spectral density of the input S. For instance. In the evaluation of vehicle ride quality. the relationship between the power spectral density of the input S . In practice.3 Evaluation of Vehicle Vibration in Relation to the Ride Comfort Criterion After the power spectral density function for acceleration of the vehicle has been obtained.(t) and its output z.( f ) is the power spectral density for the elevation of the surface profile. the meansquare value of acceleration within a certain frequency band can be determined by integrating the corresponding power spectral density function over the same frequency range. provided that an appropriate transfer function is used. For instance. the power spectral density function is integrated over a onethird octave band of which the upper . To determine the meansquare value of acceleration at a given center frequency f . both of which are functions of time.472 VEHICLE RIDE CHARACTERISTICS If the transfer function of a system is known or given. if S. then the transformation of the power spectral density function into rootmeansquare values of acceleration as a function of frequency is necessary.(f) through the square of the modulus of the transfer function for a linear system.2 are adopted. Equation 7. if the fatigue or decreased proficiency boundaries for vertical vibration recommended by the International Standard I S 0 2631 shown in Fig. 7. can be expressed as Accordingly.(t). then. 7. 7. ( f ) of the system is given by This indicates that the power spectral density of the output S . S . further analysis is required to relate it to any ride comfort criterion that may be selected. the relationship between the input of a system z.
can be obtained.) . by integrating the power spectral density function over a frequency band of 0.30 shows the measured rootmeansquare values of vertical and lateral accelerations at the driver's seat of a North American passenger car traveling at a speed of 80 kmlh (50 mph) over a smooth highway as compared with the reduced comfort boundaries recommended by the International Standard I S 0 263 1 [7. there are four inputs. Figure 7. (Reproduced with permission of the American Society of Mechanical Engineers from reference 7. can then be calculated by rms acceleration = [Jo::9y s~(M]''~ where S. In addition.13]. The consideration of crossspectral densities is essential.891. there is a seat suspension. A practical vehicle has many degrees of freedom. one can then evaluate the vibration of the vehicle against the limits specified. In other words.12 f.7. the meansquare value of acceleration at a given center frequency f.30 Measured vertical and lateral acceleration of a passenger car traveling at 80 kmlh (50 mph) over a smooth road. more than one random input is imposed on the vehicle..(f) is the power spectral density function for the acceleration of the vehicle.13.3 INTRODUCTION TO RANDOM VIBRATION 473 cutoff frequency is d3 times the lower. 7. The interaction of the random inputs with each other becomes important in determining the output. In the case of a passenger car. one to each wheel. It should be pointed out that the procedure described above is for a simplified vehicle model with a single degree of freedom. The rootmeansquare (rms) value of acceleration at each center frequency f. After obtaining the rootmeansquare values of acceleration of the vehicle at a series of center frequencies within the range of interest. and the time lag of the input at the rear wheel with respect to Fig.. and between the driver and the vehicle.
However. while to provide good roadholding capability at a frequency close to the natural frequency of the unsprung mass ("wheel hop" frequency). The actuator may also be installed in parallel with a conventional suspension spring. Based on the signals obtained by the sensors and the prescribed control strategy. the force in the actuator is modulated to achieve improved ride. 7. To provide the vehicle with improved ride quality.1. to provide good vibration isolation for the sprung mass. To reduce the amplitude of vibration of the sprung mass at a frequency close to its natural frequency. The concept of an active suspension system is illustrated in Fig. These conflicting requirements cannot be met by a conventional (passive) suspension system since the characteristics of its spring and shock absorber are fixed and cannot be modulated in accordance with the operating conditions of the vehicle.2. 7. the rms value of the suspension travel 3. . while in the highfrequency range. Various control theories have been applied to establishing the optimum control strategy to minimize the evaluation function. handling. to achieve good roadholding capability in the highfrequency range. the concept of an active suspension has emerged. the rms value of the dynamic tire deflection. The spring and shock absorber in a conventional system are replaced by a force actuator in an active system. a soft suspension spring is generally required.4 ACTIVE AND SEMIACTIVE SUSPENSIONS As discussed in Section 7. and performance under various operating conditions. handling. Usually. these quantities are multiplied by weighting factors. the rootmeansquare (rms) value of the sprung mass acceleration 2. On the other hand. and various active systems have been proposed or developed [7. the optimum control strategy is defined as the one that minimizes the following: 1. a stiff suspension spring is preferred. Generally speaking. The operating conditions of the vehicle are continuously monitored by sensors. a low damping ratio is preferred. to achieve good vibration isolation for the sprung mass over a wide range of frequency. a high damping ratio is required.474 VEHICLE RIDE CHARACTERISTICS the front wheel should also be taken into account. and then combined to form an evaluation function.15].10]. a high damping ratio is required. and performance. All of these would make the analysis much more complex than that described above. analytical techniques based on random vibration theory have been developed into a practical tool to evaluate vehicle ride quality under various operating conditions [7.31.
31 Concept of an active suspension system. dive (forward pitching).7. the ground clearance and suspension travel can be regulated to suit operating requirements. . An active suspension can also be used to control the height. that an active suspension system requires significant external power to function. squat or dive control can be achieved by adjusting damping forces or by producing antipitch forces in the front and rear suspensions to maintain the desired attitude of the vehicle body and the required normal load on the tires. Over rough terrain. the ground clearance and the angle of attack of the vehicle body can be conveniently adjusted with an active system. and that there is also a considerable penalty in complexity. and squat (rearward pitching) of the vehicle body. the ride height of the vehicle body can be kept constant despite changes in load. It should be noted.4 ACTIVE AND SEMIACTIVE SUSPENSIONS 475 SENSOR n. thus maintaining the desired handling characteristics during cornering. and weight. With an active system. it is possible to entirely eliminate the roll of the vehicle body and the associated rollsteer (steering action induced by the roll of the vehicle body relative to the tires). roll. cost.2). This ensures adequate suspension travel for negotiating bumps. During acceleration or bralung. By exercising height control. During cornering. reliability. roll control can be achieved by adjusting damping forces or by producing antiroll forces in the left and right suspensions. SPRUNG MASS  CONTROL c& POWER SUPPLY SENSOR r l UNSPRUNG MASS I Fig. however. To reduce aerodynamic resistance and aerodynamic lift at high speeds (see Section 3. 7.
this fluid thickens. thus changing the resistance to fluid flow.32 shows the schematic view of a semiactive system.201. By regulating the voltage applied across the flow of the electrorheological fluid in a shock absorber. More recently.167. allowing for continuous control of its apparent viscosity and hence its resistance to flow. One of the major challenges facing this novel system is the development of electrorheological fluids that have adequate shear strength and can function effectively over a sufficiently wide temperature range from 40 to +120"C. and the response is almost instantaneous. An electrorheological fluid is a mixture of a dielectric base oil and fine semiconducting particles. the conventional suspension spring is usually retained. 7. and performance. . Figure 7.33 shows the concept of an electrorheological damper [7. The regulating of the damping force can be achieved by adjusting the orifice area in the shock absorber. In this kind of system. the concept of a semiactive suspension has emerged. handling. In the presence of an electrical field. the damping force can be controlled. the possible application of the electrorheological and magnetorheological fluids to the development of controllable dampers has also attracted considerable interest [7. while the damping force in the shock absorber can be modulated in accordance with operating conditions. Figure 7.476 VEHICLE RIDE CHARACTERISTICS With a view to reducing complexity and cost while improving ride.32 Concept of a semiactive suspension system. Voltage is applied to the concentric cylinders to generate electrical I I VARIABLE DAMPER CONTROL & POWER SUPPLY  SENSOR Fig. The process is continuous and reversible.17].
The apparent viscosity of the fluid flowing through the orifice. The electrical field strength across the gaps could be as high as a few kV per mm. The electrorheological fluid flows through the gaps between the cylinders when the damper is in operation.7.35 shows the concept of a magnetorheological damper. can be changed by a magnetic field. the properties of the magnetorheological fluid have greater stability over broader temperature ranges. Controllable dampers using the magnetorheological fluid as a working medium have also been developed. such as silicone oil.33 A concept for an electrorheological damper.34 shows the measured performance of an electrorheological damper on controlling the vibration of the sprung mass of a quartercar model [7. fields. By varying the current in the electromagnet. magnetic field strength around the orifice in the piston can be changed. Figure 7. Figure 7.17]. 7. In comparison with the electrorheological fluid. can then be controlled. Varying the voltage applied causes a change in the apparent viscosity of the fluid and hence the damping force. and its shear strength is much higher. The apparent viscosity of this type of fluid.4 ACTIVE AND SEMIACTIVE SUSPENSIONS 477 Fig. . and hence the damping force. It can be seen that when the electrorheological damper is activated and appropriate voltage is applied in accordance with a specific control strategy. the acceleration of the sprung mass is considerably reduced in comparison with the damper acting as a passive device and no electrical field being applied. and hence its resistance to flow. A magnetorheological fluid is a mixture of micronsized magnetizable particles suspended in a carrier fluid.
In comparison with a fully active system. This control strategy can be described as fol . To successfully develop a semiactive suspension system. An onoff control strategy proposed by Krasnicki [7.478 VEHICLE RIDE CHARACTERISTICS L W PASSIVE 1 'OF RIDE COMFORT CONTROL TlME (ms) (a) .22] and Margolis and Goshtasbpour [7.34 A comparison of the measured vibrations of the sprung mass of a quartercar model before and after the activation of an electrorheological damper. It has also been found that when properly designed. the control strategy for modulating the damping force under various operating conditions is of great importance.23].21]. a semiactive suspension requires much less power. 7.0. the performance of a semiactive system may approach that of a fully active suspension under certain circumstances [7. Two representative control strategies that have been proposed are outlined below.4 2 0 2000 4000 6000 TlME (ms) 09 Fig. 1. in addition to the design of the damper and the properties of the working medium used in the damper. and is less complex.
if the two velocities are in opposite directions. On the other hand. where i.) < 0. lows: a) if i . Integrating the signals from an accelerometer to obtain velocity often does not yield sufficiently accurate results.4 ACTIVE AND SEMIACTIVE SUSPENSIONS 479 /ELECTROMAGNET Fig. on rough roads and driving at low speeds. . ( i . 7. This strategy indicates that if the relative velocity of the sprung mass with respect to the unsprung mass is in the same direction as that of the sprung mass absolute velocity. ( i . on relatively smooth highways and driving at high speeds. respectively. the damping force should be at a minimum to minimize the acceleration of the sprung mass. It should be noted that the accurate measurement of the absolute vibration velocity of the sprung mass on a moving vehicle is difficult to achieve. . the damping may be set at a high level to reduce the vibration amplitude of the vehicle body. the damping may be set at a low level to provide a good ride. .35 A concept for a magnetorheological damper.) > 0. In some suspension systems. then the minimum (sometimes referred to as "soft") damping is required. instead of modulating the damping force continuously. are the velocities of the sprung and unsprung mass. then the maximum (sometimes referred to as "firm")damping is required. the level of damping in the controllable shock absorbers is set by the driver in discrete steps in accordance with driving conditions. particularly at low frequency.7.2. On the other hand. b) if i . For instance.2. then a maximum damping force should be applied to reduce the acceleration of the sprung mass. and i.
) > 0.(z.z.10. then minimum damping is required.). On the other hand.1 TO 1 ~n 0. are the displacements of the sprung and unsprung mass.)l(i. Figure 7. .)(z. then the desired damping coefficient c.0 .36 Ratio of the rms value of sprung mass acceleration with a semiactive suspension to that with a passive suspension as a function of vehicle speed over a road with profile shown in Fig. = k. k. This strategy for the continuous adjusting of the damping force can be described as follows: a) if (2. DAMPING RATIO : 0. respectively. .36 shows the ratio of the rms sprung mass acceleration with an active damper using the continuous control strategy (strategy 2) to that using a passive damper with a fixed damping ratio 6 = 0.75  %  mm /.24] and Jolly and Miller [7.z. are velocities of the sprung and unsprung mass. i.)(z.PASSIVE DAMPING RATIO : 0. .i. z. to reduce the sprung mass acceleration.) < 0.00  TlME DELAY  rn 2 .25]. ktr/ks = 8. is the suspension spring stiffness.i. .i. then the damping force should be adjusted in such a way that it will be equal to the spring force in magnitude to produce zero acceleration for the sprung mass. the damping force should be at a minimum.3 SEMIACTIVE CONTINUOUS CONTROL. . This control strategy indicates that if the spring force and damping force exerted to the sprung mass are in the same direction.18(b). if the spring force and damping force are in opposite directions. = 0. 7. respectively. b) if (2. where z. i2:s 1 ms TIME DELAY 3 ms TlME DELAY 5 ms rn rnz $0 0. and 2.480 VEHICLE RIDE CHARACTERISTICS 2. which can easily be made in practice. .50 " " " " ' " " ' " " ' ~ ' ' ' " ' ' " ' ' " ' " ' " J 0 t 50 I 100 I 150 I 50 200 kmlh I 100 I mph VEHICLE SPEED Fig. A continuous control strategy proposed by Alanoly and Sankar [7. and z. 7..3 as a 1. It should be noted that this control strategy only requires the measurements of the relative displacement and velocity between the sprung and unsprung mass. .
50 w o >F 00 Cn W 1.18(b).18(b).0 PASSIVE DAMPING RATIO : 0.3 SEMIACTIVE CONTINUOUS CONTROL.37.TIME DELAY L I I ~ > w 1. = 454. It should be mentioned that for the suspension to exert forces to control the unsprung mass motion (or the fluctuation of the normal force between the tire and the road). As shown in Fig. . The figure also shows the effect of time delay (from 1 to 5 ms) in modulating the damping force on the response of the sprung mass. based on simulation results.4 ACTIVE AND SEMIACTIVE SUSPENSIONS 481 function of vehicle speed over the road profile shown in Fig. the ratio of the rms dynamic tire deflection with the active damper to that with the passive damper is greater than one over a wide range of speed.75  k z  t n ' ' ' ' ' ' ' ' ' ' ' " ' " ' " ' ' 1 ' ' ' ' ' ' ' 1 ' " ' ' ' ' ' ' 1 0 50 100 150 200 kmlh VEHICLE SPEED Fig. thus increasing the vibration of the vehicle body.5 mph). = 0. DAMPING RATIO : 0. 2 w TIME DELAY 1 ms 3 ms .10. = 176kNlm (10001b/in. however./m.25 $. these forces must be reacted against (or transmitted to) the sprung mass. 7. except at speeds lower than 20 kmlh (12. 7. that this control strategy does not necessarily offer an optimal roadholding capability. This imposes a fundamental limit to what an active or semiactive system can realistically achieve in terms of providing optimal vibration isolation and roadholding  m2  55 1.37 Ratio of the rms value of dynamic tire deflection with a semiactive sus pension to that with a passive suspension as a function of vehicle speed over a road with profile shown in Fig. 7. 7.TIME DELAY 5 ms m.1 TO 1 .7. kt. ktr/ks= 8. The damping ratio of the active damper can be continuously varied as required in the range between 0. It should be noted..0.) m.5kg (IOOOIb). It is shown that the semiactive suspension with control strategy 2 offers better vibration isolation than a passive suspension system over a wide range of vehicle speed.1 and 1.oo i=r OF ?Q 5 r 0.
and D. England: Pergamon Press. Hall. 80.O. 77. Ann Arbor. paper 680090. Wu. R. ISO/TC108/SC2/WG4 N57. Advances in Automobile Engineering.H. "Human Response to Vehicle Vibration. "Reporting Vehicle Road Surface Irregularities. vol. E." SAE Transactions. AMDVol.K. M." in G. 1973. Random Data: Analysis and Measurement Procedures. Piersol. Van Deusen.482 VEHICLE RIDE CHARACTERISTICS capability at the same time. vol. ASME Symp. L. Sturk. "On the Applications of ElectroRheological Fluids to the Development of SemiActive Suspension Sys .M. N.E. Tidbury. M. Chalasani. DSCVol.. Oxford. L. Van Deusen. New York: WileyInterscience." SAE Transactions. Ed. vol. 1978. Pradko. Healy. J." SAE Transactions.A. Bortolotto.G.D. 1986. New York: Harper and Row. G. and C. R.Y. Ride and Vibration Data Manual. AMDVol. IV.Y. "Measurement of Road Surfaces. 1977. Wong. "Ride Dynamics Module for AMM75 Ground Mobility Model. Detroit. Eds. Hrovat.J. J. Cole. Vibration Analysis.S. Law. and A. 1972. Jr. A. Vierck." 1982. Con$ of the International Society for TerrainVehicle Systems. vol. Radke. Wong. 2.H. 1979. REFERENCES B. 1963.. 8. Guide for the Evaluation of Human Exposure to WholeBody Vibration. 1975.Y. X. It indicates that in the development of the control strategy. International Organization for Standardization. B.R. 24. "Digital Processing of Measured Random Vibration Data for Automobile Ride Evaluation." Journal of Terramechanics. SAE J6a. Segel. Stikeleather. 2nd ed.D. 1971. J. vol. and R. Society of Automotive Engineers.B.. 1971.A. "Analytical Analysis of Human Vibration. MI.M. Elementary Vehicle Dynamics. on Simulation and Control of Ground Vehicles and Transportation Systems. Murphy. 4. Ahlvin." in Proc. 77. no. "A Study of Vehicle Vibration Spectra as Related to Seating Dynamics. 1968. 1969. "Effect of Vibration on the Performance of OffRoad Vehicles. R. "Ride Performance Potential of Active Suspension SystemsPart I and Part 11. American Society of Mechanical Engineers. 1965. Lee and F.O. International Standard 26311978(E). Wong. 81. Department of Mechanical Engineering. D. University of Michigan. Part I." SAE Transactions. paper 680091. 2nd ed. a proper compromise has to be struck between ride comfort and roadholding." in Proc. 76." ASME Publication. J. Macaulay. "Analytical Techniques for Design Riding Quality into Automotive Vehicles. paper 720001. Bendat and A. paper 67002 1. 5th Int.F. Vol. 1969.
"A New Concept in SemiActive Vibration Isolation. 5 1.J. 1984. Margolis and W. PROBLEMS The sprung parts o f a passenger car weigh 1 1. Russell." Society of Automotive Engineers. no.). and J. 1993. Roy. The combined stiffness of the suspension springs is 45. "The Control of SemiActive Dampers Using Relative Feedback Signals. vol. Goshtasbpour. Sankar.R. T. Tao and G. the bounce and pitch motions of the vehicle body a n d the wheel motions exist almost independently. vol. 24. 7. Krasnicki." Journal of Intelligent Material Systems and Structures.M.K. Properties. I 2 kN (2500 Ib) and the unsprung parts weight 890 N (200 lb). "The Chatter of SemiActive OnOff Suspension and Its Cure. "SemiActive Heave and Pitch Control for Ground Vehicles. vol. X. 1982. Jolly and L. Wong. vol. and J. 4B.D. no. Sturk. Wu. vol. no. no. N." Vehicle System Dynamics. Petek. M.53 kN1m (260 lblin. Society of Automotive Engineers. D. J. 1994. Transmissions and Automation in Design.D.R.. 5. 8.L. "Nonlinear Parameter Identification of an ElectroRheological Fluid Damper. and Applications. Alanoly and S. T h e sprung parts of a vehicle weigh 9. Wong. 20 and 21. nos. "Shock Absorber Uses Electrorheological Fluid. Singapore: World Scientific Publishing Co. Eds." Automotive Engineering. 2." International Journal of Modern Physics B. G. 1992." Transactions of Canadian Society for Mechanical Engineering. Gillespie. Determine the two natural frequencies of the bounce motions of the sprung and unsprung masses. part 1.L. M. 1995. 3. Fundamentals of Vehicle Dynamics. 1981. 1996. "Development and Evaluation of a High Voltage Supply Unit for Electrorheological Fluid Dampers. 11. Technology.PROBLEMS 483 tems for Ground Vehicles.Y. "The Experimental Performance of an 'OnOff' Active Damper. vol." Vehicle System Dynamics.35 kN1m (3000 lblin.). 17. 13. E." Vehicle System Dynamics. 1994. 7 .79 kN (2200 lb). Mui. R. paper 892483. X. 1989. also in Electrorheological FluidsMechanisms.) and that of the tires is 525. D. Margolis.15 m (30 ft) and an amplitude of 5 c m ( 2 in. D. Transactions of the ASME. Wu. no. M. Wong. Sturk." Shock and Vibration Bulletin.L. and D. 1.Y. its center of gravity . June 1987. J. Miller. Russell.L.M.Y. vol. Calculate the amplitudes of the sprung and unsprung parts if the car travels at a speed of 4 8 k m / h (30 mph) over a road of a sinewave form with a wavelength of 9. "Simulation and Experimental Study of a SemiActive Suspension with an Electrorheological Damper.2 Owing to the wide separation of the natural frequency of the sprung parts from that of the unsprung parts." Journal of Mechanisms. June 1992..
5 kg (or an equivalent weight of 1000 Ib). The mass of the tire/ wheel assembly (unsprung mass) is 45.5 Hz and a damping ratio of 0.2 travels over a concrete highway with expansion joints 15. determine the conditions under which the oscillation centers of the vehicle body will be located at the points of attachment of the front and rear springs.7 cm (42 in.4 in. The suspension spring rate is 22 kN/m (125 lblin.45 kg (or an equivalent weight of 100 lb) and the equivalent tire stiffness is 176 kN1m (1000 lblin. The radius of gyration of the sprung parts about a horizontal transverse axis through the center of gravity is 102. calculate the speeds at which the bounce motion and pitch motion of the vehicle body are most apt to arise. Evaluate whether the vibration of the vehicle is acceptable from a fatigue or decreased proficiency viewpoint for an 8 h duration based on the International Standard I S 0 263 1.4 ft) and an amplitude of 5 cm (2 in.3 If the vehicle described in Problem 7. 7.1 travels at a speed of 5 kmlh (3.). Calculate the natural frequencies of the pitch and bounce motions of the vehicle body.27 kN1m (150 lblin.). Determine the rootmeansquare value of vertical acceleration of the tractor at a frequency of 1 Hz.6 cm (90 in. .1 mph) over a plowed field of which the surface roughness characteristics are described in Table 7.52 kN/m (140 lblin. If the car is traveling on a sinusoidal road profile with a wavelength of 5 m (16.2 can be varied.).4 If the radius of gyration of the sprung parts of the vehicle described in Problem 7. The damping ratio 5 of the suspension produced by the shock absorber is 0. estimate the lowest vehicle speed at which the tire may lose contact with the road.5 A tractor with a bounce natural frequency of 3.484 VEHICLE RIDE CHARACTERISTICS is 106.6 An independent front suspension of a passenger car carries a mass (sprung mass) of 454. Also calculate the natural frequencies of the sprung parts.) behind the front axle.6 cm (40. 7. The combined stiffness of the springs of the front suspension is 24.3. 7.).1. Also determine the locations of the oscillation centers. and the wheelbase is 228.) and that of the rear suspension is 26.24 m (50 ft) apart. 7.).).
thus reducing or eliminating surface contact and the associated resistance. The majority of current aircushion vehicles essentially employ a plenum chamber configuration.1 shows the basic features of a simple plenum chamber [8. The cushion performs two basic functions: to separate the vehicle from the supporting surface. generated by the cushion pressure p'. and to provide the vehicle with a suspension system. 8. The characteristics unique to aircushion vehicles will also be examined.CHAPTER 8 INTRODUCTION TO AIRCUSHION VEHICLES An aircushion vehicle may be defined as a surface vehicle that is supported by a cushion of pressurized air.1 Plenum Chamber Figure 8. 8.: . Since practical aircushion concepts emerged in the 1950's.1]. they have found applications in overwater as well as overland transport.. the air being pumped into the chamber is just sufficient to replace the air leaking under the peripheral gap. and the weight of the vehicle W is equal to the lift F.1. Pressurized air is pumped into the chamber by a fan or a compressor to form an air cushion that supports the vehicle. Under steadystate conditions. the performance of the principal types of aircushion system will be discussed.1 AIRCUSHION SYSTEMS AND THEIR PERFORMANCE There are two principal types of air cushion system: the plenum chamber and the peripheral jet.. In this chapter.
(Reproduced with permission from . shown in Fig.2 kPa (87 lb/ft2) :n used.INTRODUCTION TO AIRCUSHION VEHICLES Geometry of a simple plenum chamber. copyright 6 :y and Devereux 1968. is the effective cushion area.3 570 lb/ft2) for overwater and overland vehicles. are as follows: .H. theorem. is the ge coefficient. From Ber. is the clearance height. I. Devereux. is the cushion perimeter. and D. The discharge coefficient is primarily a function of the ~gle0. Elsley and A. 8. is 'Y p is the mass density of air.J. the values of D.1 and the length of the wall. For a long wall nviscous fluid. ime that the air inside the chamber is essentially at rest. For highspeed ground transport vehicles. The total volume flow of air from the i Q is given by h.. the cushion pressure varies in the range 1.aj? Design and Construction by G. most current designs. a cushion pressure of 4. the velocity of air escaping under the peripheral gap V.) A.23.
The power required to sustain the air cushion at the :n by jstituting Eq.8. which is a measure of t h ~ cushion system as a lift generating device. can be de oducing the concept of hydraulic diameter D. intake losses. The lift force F. as those of the air cushic erate a lift force. ing the same air velocity V. generated by the cl he air jet is given by 4n augmentation factor K.. diffusion ICY should be taken into consideration. 8. it is proportional to the weight of t power of 312. one obtains s equation shows that the power required to sustair lum chamber varies with the clearance height and thf a given vehicle.7 becomes . because of the viscosity of the air. ducting losses. It should be noted that in determining lrive the fan. the val htly less than those given above. Zonsider that an air jet with the same amount of . 4A 8.1 AIRCUSHION SYSTEMS A N 0 THEIR n practice.1 into the above equation.
This 8. Figure 8. A combination of flexible skirt and 11 is used in marine aircushion vehicles in which the air can only leak h the gaps in the front and rear of the vehicle.INTRODUCTION TO AIRCUSHION VEHICLES rpression shows that the higher the ratio of the hydraulic diameter D. guidelines for the selection of the configuration and dimensions of airn vehicles can be drawn from this simple equation.2 Flexible skirted plenum chamber and rigid sidewall plenum chamber. re are many variants of the ~ l e n u m. while at the same time keeping the cleareight under the skirt sufficiently small to enable the power required for remain within reasonable limits. The air in the cushion ented from leaking along the sides by rigid sidewalls immersed in the Thus. clearance height h. . This.. and the other with a combination of flexible skirt and 11. rently.2]. the more effective the aircushion system will be. as shown in Fig.3 shows the I skirt system used in the Bertin res that the shape of the skirt lane BC7 [8. provides a restoring ~t that tends to bring the vehicle back to its original position. 8. there are two principal forms of plenum chamber in use: one flexible skirt. Consequently. the power required to sustain the cushion is reduced. together with the decrease hion pressure in the cone on the upgoing side. The prime reason for using the flexible skirt llow the vehicle to have relatively large clearance between its hard re and the supporting surface. the air gap of the cone on the oing side is reduced. When the vehicle rolls.2.chamber configuration with a flexirt. and the cushion pressure increases. The coni~ pressure is stable. the air flow from that side de. The system can provide the vehicle with sufficient d pitch stability. The side:an also contribute to the directional stability of the vehicle.
The multiplecone system shown in Fig. is given by Fig. . is higher than that of a single plenum chamber. the equivalent hydraulic diameter of the multiplecone skirt system is lower than that of an equivalent single plenum chamber.4 Multiplecone system with a peripheral skirt. 8. In other words. however. and that between the peripheral skirt and the cones is k.8. Consider that the cushion pressure inside the cones is p.4..) system is also less sensitive to loss of lift over ditches than the single plenum chamber configuration. as shown in Fig. as shown by Wong [8.. (Reproduced from reference 8. 8. a peripheral skirt around the multiple cones may be added.3 Multiplecone skirt system used in the Bertin Terraplane BC7.. This also increases the effective cushion area.3 requires. 8. then from Bernoulli's theorem..1 AIRCUSHION SYSTEMS AND THEIR PERFORMANCE 489 )CONES Fig.p. and assume that the air inside the cushion is substantially at rest. to the cushion area A... although the cushion pressure between the cones and the peripheral skirt is lower than that inside the cones. more power to sustain the cushion than an equivalent single plenum chamber because the ratio of the total cushion perimeter I. To reduce the volume flow.2. 8. the velocity of the air escaping under the peripheral skirt V.3]. The performance of the multiplecone system with a peripheral skirt may be evaluated analytically.
. and D. respectively. are the clearance height. perimeter. the total volume of air escaping under the cones Q.....1 1 and 8.490 INTRODUCTIONTO AIRCUSHION VEHICLES and the total volume flow from the peripheral skirt Q2 is given by where h. is the cushion area between the peripheral skirt and the cones. and .. 8. are the clearance height. is the number of cones. incompressible flow. I. can be derived. is the total cushion area of the cones and A. is equal to that escaping under the peripheral skirt Q2: where n. The cushion pressure p....14. I.. and discharge coefficient of the cones.. and h. respectively.. and discharge coefficient of the peripheral skirt. Under steadystate conditions. The power required to sustain the air cushion is given by Based on Eqs. perimeter. an expression for the pressure ratio k. and D. required to support the vehicle weight is expressed by W   A.Ac2 Based on the assumptions of inviscid. the total lift force generated by the system is given by where A... + k.
1.5(a) 18. A diaphragm is installed in the bag to help prevent the vertical oscillation of the skirt system. A. and hence the characteristics of the cushion system.1 AIRCUSHION SYSTEMS AND THEIR PERFORMANCE 491 It is found that the value of k..93 kN (11.5 m (57. adjacent segments expand under cushion pressure and tend to fill the gap. A. when moving over a rough surface. clearance heights.. It is interesting to note that the difference between the clearance heights h. the drag of the segmented skirt is found to be less than that of a continuous skirt because of its higher flexibility... The performance of the segmented skirt system may be predicted using the theory for a simple plenum chamber described previously.6 m (1 1.6 m2 (103.3 ft2) 9. 8. discharge coefficients.4 has the following parameters: . only the segments in contact with the obstacles will deflect.000 lb) 8 3. I. 8..5 ft) 8. perimeter of the peripheral skirt.) 0.60.. other conditions being equal. 8. W number of cones. as shown in Fig. n.5 cm (1 in. total cushion area of the cones. I.3 ft') 2.8.4. affects the pressure ratio k. and h. and D. The augmentation factor Ka of a multiplecone system with a peripheral skirt is given by It can be shown that. Furthermore. A multiplecone system with a peripheral skirt similar to that shown in Fig..51. Another flexible skirt system of the plenum chamber type is the segmented skirt developed by the Hovercraft Development Ltd. D.. Consequently. cushion area between the cones and the peripheral skirt..8 ft) 17. the augmentation factor of the multiplecone system with a peripheral skirt would be much higher than that of an equivalent system without a peripheral skirt. . and h.2 m2 (88. gross vehicle weight. Example 8. perimeter of each cone. The unique feature of this type of skirt system is that the segments are unattached to one another... 48. The fingers in this skirt system have similar characteristics to those of the segments in the segmented skirt. calculated from the above equation is very close to that quoted in the literature.5(b) shows the bag and finger skirt developed by the British Hovercraft Corporation (BHC) [8.4]. Determine the power required to generate the lift and the augmentation factor. Figure 8. (HDL). When a segment is damaged or even removed. h.. The cushion air is fed from the bag through holes into the fingers..
F DIAPHRAGM TO (bl Fig. for D.13. and h. (Reproduced with permission of R.5. 8.) (b) British Hovercraft Corporation bag and finger skirt.. From Eq..) Sobtion.L. Trillo from reference 8. = h.. 8. 8.16... is calculated as follows: = D. segmented skirt. the required cushion pressure pCuis determined by .4.5 (a) Hovercraft Development Ltd. (Reproduced with permission of the Society of Automotive Engineers from reference 8.. the pressure ratio k. From Eq.
the peripheral jet system was used. it could offer higher operational efficiency than the simple plenum chamber. 8. h.6 Geometry of a peripheral jet system.Ad 2 k. 8..2 Peripheral Jet In the early days of development of the aircushion technology. the weight of the vehicle W is balanced by the lift force F. From Eq.. .2 kW (70 hp).. a curtain of air is produced around the periphery by ejecting air downward and inward from a nozzle. Under steadystate conditions.: Fig. the power required to sustain the cushion is obtained by = 52.1 AIRCUSHION SYSTEMS AND THEIR PERFORMANCE 493 From Eq. 8.1.8.6.2LDc2 = 39 8. This curtain of air helps contain the cushion under the vehicle and reduces air leakage.15. In addition to the lift force generated by the cushion pressure. In this system. Thus. + k. the air jet also provides a small amount of vertical lift.17. = A. This system is schematically shown in Fig. the augmentation factor K. is determined as follows: K. 8.
is the angle of the nozzle from the horizontal. Among them. Neglecting secondorder terms and making simplifications. 8. p = 0 at the outside and p = p.A. There are a number of theories for predicting the petiormance of peripheral jet systems. is the nozzle perimeter. W = p. 1.19 into Eq. such as sin(d0l 2) = d%/2. Consider a small element of the jet at a distance r from the center of curvature 0. from Bernoulli's theorem... the socalled "exponential theory" is one of the most commonly used. The total pressure pj is assumed to be constant across the jet with a static pressure gradient within it. . the jet maintains its thickness as well as its circular path. where Jj is the momentum flux of the air jet per unit length of the nozzle. In this theory. The distribution of static pressure p across the jet must satisfy the boundary conditions. one obtains Since the variation of r is limited.494 INTRODUCTION TO AIRCUSHION VEHICLES F. at the cushion side. 8. Integrating Eq. the following relation is obtained: Substituting Eq. and 8. The pressure difference across the element is balanced by the centrifugal force. 8.18. sin 8. that is. and the equation of equilibrium for the element is given by (p + dp) (r + dr)d%  prd8  2p sin(d812)dr pv2 = 'rdrd8 r where V. the value of r in the above equation may be considered to be constant and equal to the average radius of curvature of the path ra. = + Jjl.20 and substituting the limits r = r. p = 0.. it is assumed that from the outlet of the nozzle (point A) to the point of ground contact (point B).one can rewrite the equation above as (8. is the velocity of the element.. and that the air is inviscid and incompressible. which is the product of the jet velocity and mass flow rate per unit nozzle length.18) Since the total pressure pi is assumed to be constant across the jet...
. The total volume flow Q. h.. and h..) Comparing the power requirement of a simple plenum chamber P.. The minimum power Pa. is given by and the power required is where x = t. is the clearance height. (8.e2t. (1 + cos O...~~a.. I.)lh. is expressed by 41. Noting that r. p = p.21) Pj where t... with the minimum power of a peripheral jet P. one may obtain the following power ratio: .. one obtains where h.. one obtains the following expression relating the cushion pressure pCuand the total pressure of the jet p. + t.. p.1 AIRCUSHION SYSTEMS AND THEIR PERFORMANCE 495 r = r.p2L2 ( 2 l P ) ' l 2 'njrnin = 3 f l (1 + cos 8. having the same cushion pressure and similar dimensions (1. the power requirement is a minimum for which gives x = 0.. = h. is the thickness of the jet or nozzle width. = h j l ( l + cos O.)..)....: !& = 1 .693. and O.8. = 1. For given values of hj.
8.) + sin Oj Comparing the augmentation factor of a simple plenum chamber with that of a peripheral jet system having the same hydraulic diameter and clearance height.27. the power requirement of a simple plenum chamber will be 33% higher than that of an equivalent peripheral jet system. = 0.28 into Eq. Jj lj PCUA. one can obtain the following ratio: . + sin Oj Kuj = 4rav Dh 4hj = . 1. + sin 6. J. The augmentation factor Kuj for a peripheral jet system is expressed by K a1. = p.A. one obtains D.Assume that Oj = 45" and D. pmDh 4Jj + sin B. 8.6.   + JJlj sin Oj The moment flux per unit nozzle length J. can be determined by Substituting Eq..(1 + cos 6.
difficulties arise in maintaining the jet width and angle. and h. and drag due to waves have to be taken into account. It has been found that using flexible nozzles for the peripheral jet system. For overland operations.001. on the other hand. As mentioned previously. air is continuously drawn into the cushion system.5 for CD has been reported [8. in practice it is not necessarily so.2 RESISTANCE OF AIRCUSHION VEHICLES 497 Assume that D. On some current vehicles. the designed clearance height is only a few millimeters. and hence power for lift.N5 based on frontal area [&I]. = 45". This renders the power saving aspect of the peripheral jet system rather insignificant. the augmentation factor of a peripheral jet system is approximately twice that of an equivalent simple plenum chamber. wetting drag. a proper balance between the reduction of lift power and the associated increase in propulsion power has to be struck to achieve a minimum total power requirement.25 for SR. It should be pointed out. Momentum Drag To sustain the cushion. additional wavemaking drag. in theory. there are momentum drag. while maintaining sufficient clearance between the hard structure of the vehicle and the supporting surface.6.38 for SR. the introduction of flexible skirts permits a considerable reduction of clearance height. and hence the power requirement for lift. The aerodynamic resistance of an aircushion vehicle can be evaluated using the methods discussed in Chapter 3. = 0. the peripheral jet system appears to be superior to the plenum chamber. 8. Typical values for the coefficient of aerodynamic resistance CD obtained from windtunnel tests range from 0. would induce high surface drag. and skirt contact drag.8. in addition to aerodynamic resistance. Using relatively hard nozzles.5].2 RESISTANCE OF AIRCUSHION VEHICLES There are drag components unique to aircushion vehicles which require special attention. the air is effectively accel . the advent of the flexible skirt enables the clearance height. to be reduced considerably. a value of 0. For overwater operations. however. that the reduction of clearance height would likely increase the skirt contact drag. 8.lDh = 0. When the vehicle is moving. thus increasing the power for propulsion. For a surface effect ship.N2 to 0. All of these have led to the use of an essentially plenum chamber configuration in almost all of the current aircushion vehicles. Moreover. Although. and in excessive nozzle wear. trim drag. Apparently.
A...35) where 8. It should be noted that part of the power to overcome momentum drag may be recovered from utilizing the dynamic pressure of the airstream at the inlet of the fan to generate the cushion pressure. may be a drag or a thrust component.. then the power that can be recovered from generating the cushion pressure is given by Since the power required to overcome the moment drag Pm is equal to pQV:. sin 13. = p. the lift force that is perpendicular to the cushion base will have a horizontal component. is the trim angle (i.498 INTRODUCTION TO AIRCUSHION VEHICLES erated to the speed of the vehicle.. Trim Drag If the cushion base of the vehicle is not horizontal. dependent upon whether the vehicle is trimmed nose up or down. The momentum drag can be expressed by where V. which is usually referred to as the momentum drag R. the ratio of P.e. The dynamic pressure of the airstream at the intake of the fan pd is given by Assume that the efficiency of the cushion system including the fan and ducting is v. half of the power expended in overcoming the momentum drag can be recovered. to Pm is This indicates that if the efficiency of the cushion system v. and Q is the volume flow of the cushion system. This generates a resisting force in the direction of the air relative to the vehicle. is the speed of the air relative to the vehicle. (8. the angle between the cushion base and the horizontal).. R. This horizontal component is given by R. This momentum drag is unique to aircushion vehicles. . is loo%....
contact between the skirt and the ground may be inevitable. A reliable method for predicting skirt contact drag is lacking. The value of the skirt contact drag is usually obtained from experiments.0060.0200. type segmented skirt Selfpropelled B. although from experience it is known that the cushion pressure.1 (13.L.034 water Light brush on rough 0. Table 8.. skirt design and material.000 lb) 143. 8. and the Skirt Contact Drag deformation of the skirt and the terrain.81. 0.2 RESISTANCE OF AIRCUSHION VEHICLES 499 For overland operations.000 lb) 206.000 Ib) 58.9 (50.1 gives the value of the coefficient of towing resistance of two aircushion trailers and a selfpropelled aircushion vehicle over various types of terrain [8.7 and 8.8 (30. dry system with Dry mud peripheral Sandy road skirt Aircushion trailer by Terracross H.1 Coefficient of Towing Resistance Type of Vehicle Type of AirCushion System Terrain Aircushion trailer by HoverJak Multiplecone Concrete. and the strength and geometry of the terrain surface have a significant influence on the skirt contact drag. The selfpropelled aircushion vehicle is a Bell SKTABLE 8. The physical origin of this drag component appears to be derived from the following major sources: friction between the skirt and the ground. tufts in 0.0750. segmented skirt and is built by Terracross [8.7. Coefficient of Towing Resistance Wet flat rock Water or mud Wet mud Dry mud Churned marsh Rough hummocky snow. particularly at low clearance heights.8.25 ground Total Vehicle Weight (kN) 148.022 left rough Rockstrewn creek bed.030 graded level Swamp grass.3 (34.5 (30.D. dry Flat rock. 0.C.H. clearance height.6].8. type aircushion fingered vehicle skirt Bell SK5 Source: References 8.000 lb) 130.7].. This gives rise to a drag component commonly known as the skirt contact drag R. One of the aircushion trailers is equipped with a Bertintype multiplecone system having a peripheral skirt and is built by HoverJak. the other is equipped with the Hovercraft Development Ltd.060 Ib) .0120.002 hardglazed surface Rockstrewn creek bed. including vegetation due to skirtground interaction [8. 0.
It should be mentioned that for the aircushion trailer built by HoverJak. the cushion air will escape through not only the clearance between the skirt and the surface.8].14. takes into account the effects of ground porosity on the volume flow of the air cushion system. it can be seen that the coefficient of skirt contact drag increases significantly when the value of h. From Fig. 8. over porous ground with crushed rock. the value of K. The coefficient K. from the following equation: where W is the total vehicle weight. 7% of the vehicle weight is carried by the guided wheels. the average values of the coefficient of towing resistance range from 0.. The approximate values of K. is 1. the value of K. The coefficient of towing resistance is defined as the ratio of the towing resistance to the total vehicle weight. among the various factors. than that calculated using Eq... falls below a threshold value.06 to 0. Figure 8.2 [8. 8.10]. both the skirt contact drag and the rolling resistance of the guided wheels.. a series of experiments were carried out by Fowler at the National Research Council of Canada [8.3. which indicates that the cushion air only escapes through the clearance between the skirt and the concrete surface. based on measured data.. The values given in Table 8.11......1 for the aircushion trailers include. .24 for an aircushion trailer equipped with a Bertintype multiplecone system having a peripheral skirt [8. whereas for the one built by Terracross. the skirt clearance height has a considerable influence on the skirt contact drag.1 for the Bell SK5 may be considered to be those of the coefficient of skirt contact drag since no guided wheels were used.. which indicates that the volume of air escaping through the void between rocks is five times that through the clearance between the skirt and the surface. 2% of the total vehicle weight is carried by the guided wheels. or 8. 8. for various types of ground are given in Table 8.7. can be as high as 6.9]..7 shows the variation of the coefficient of skirt contact drag with the product of the clearance height h.500 INTRODUCTION TO AIRCUSHION VEHICLES 5 equipped with the type of fingered skirt developed by the British Hovercraft Corporation [8.. For instance. one can calculate the skirt contact drag R. The experiments were performed using segmented skirts at a low speed of approximately 2 m/s (6.. Over crushed rock. As mentioned previously. The values given in Table 8. 8.6 ft/s) over surfaces ranging from concrete through terrains covered with long grass to rough porous ground with crushed rock. In loggedover areas with stumps.10]. but also the void between crushed rocks under the cushion..... Knowing the value of the coefficient of skirt contact drag C. To establish quantitative relationships between the clearance height of the skirt and the coefficient of skirt contact drag over various surfaces. and the coefficient K. therefore.K. the power required to sustain the air cushion will also be higher.23. It can be seen that over a smooth concrete. This indicates that the total volume flow of the air from the cushion will be higher by a factor of K. Accordingly..
K. is approximately. . 10 0 I I I I 20 30 40 50 % COEFFICIENT OF SKIRT CONTACT DRAG Fig. To achieve an optimum operating condition for an overland air cushion vehicle.10.0035 m (0.. 0.14 in..).2 Values of Coefficient K.02 m (0..7 Effect of clearance and ground porosity parameter h..K.. 8.K. over a smooth concrete. determines the volume flow and power for lift. Total Overland Drag For a vehicle wholly supported by an air cushion operating overland. It should be noted that the value of h..2 RESISTANCE OF AIRCUSHION VEHICLES  19 MODERATE GRASS LONGREEDYGRASS (AFTER MANY PASSES) SHORT GRASS LONG REEDY GRASS (FIRST PASS) CRUSHEDROCK \  COM~ZTED .. the total drag consists of the aerodynamic resistance.K. carefully selected so that the total power requirement (including both power for lift and for propulsion) is minimized. It should be pointed out that TABLE 8.501 8.10. .. (Reproduced from reference 8. momentum drag.. is lower than approximately 0. trim drag...K. therefore. the value of h.. if the value of h.) For instance.. the value of the coefficient of skirt contact drag will increase significantly. and skirt contact drag. must be. while the coefficient of skirt contact drag affects the power for propulsion.__LOOSE . on skirt contact drag coefficient over different surfaces.79 in. the threshold value of h. for Various Surfaces Ground     Smooth concrete Firm snow Short grass Moderate grass Long reedy grass (first pass) Long reedy grass (tenth pass) Crushed rock Source: Reference 8.). For long reedy grass (after many passes).
It is found that among the design parameters.65 psi Fig.18. are in U. To solve these problems. k. A vehicle that uses an air cushion together with surfacecontacting devices for support is usually referred to as a "hybrid vehicle. the load distribution between the air cushion and the surfacecontacting device has a considerable effect on the total power consumption of the hybrid vehicle [8.6 LOAD DISTRIBUTION RATIO nz0. 1.8 Variation of basic power consumption with load distribution ratio for a hybrid vehicle in clay. @=o: 0. and k . customary units. 8. and the like may be used.65.3].2 0.4 0. surfacecontacting devices such as wheels.=3.S. while leaving sufficient surface contact for directional control. tracks. the resistance of the surfacecontacting device must be taken into consideration in computing the total overland drag.8 W. positioning. . The resistance of the wheels and tracks over unprepared terrain can be predicted using the methods described in Chapter 2. The longitudinal slope that this type of vehicle can negotiate is also limited. the values of k.CONE SYSTEM . to the total vehicle weight W for a particular hybrid vehicle equipped with tires over  BASIC MULTIPLE." For the hybrid vehicle. and possibly for traction and braking.8 shows the variation of power consumption with the ratio of the load supported by the air cushion W. kc= 1.although wholly aircushionsupported vehicles can function overland. 1. the air cushion is used to carry a proportion of the vehicle weight.MULTIPLECONE kW hp I 0 SYSTEM WITH AN OUTER SKIRT L 5 0 1  0 0 0. they are relatively difficult to maneuver and control in constricted space and in the traverse of a slope. Figure 8.65. In this type of arrangement.0 W c=114kPa.
there is an optimum load distribution that could minimize the power consumption.7]. A MUSKEG DRY SAND + CLAYEY LOAM x CLAY V = 32 km/h. that since the aircushion trailer is not selfpropelled. The towing vehicle is usually a conventional tracked or wheeled vehicle.2 RESISTANCE OF AIRCUSHION VEHICLES 503 clay [8. customary units. Figure 8. the values of k. Another type of overland vehicle system employing aircushion technology is the aircushion trailertowing vehicle system [8.9 Variation of the optimum load distribution with terrain conditions for a hybrid vehicle equipped with a multiplecone system having a peripheral skirt. 8. the mobility of the system depends on the towing vehicle. and k . . It should be mentioned. This restricts the use of this system to areas where the conventional towing vehicle can operate effectively. 20 mph I cnn 0. aerodynamic resistance and momentum drag acting on the air cushion trailer would be insignificant and may be neglected.10 shows schematically an aircushion trailer built by Terracross [8. which includes the skirt contact drag.4  a 3 Fig.11]. It is shown that for a given hybrid vehicle over a particular type of terrain.8. resistance of guided wheels. The towing vehicle has to develop sufficient drawbar pull to overcome the total drag acting on the aircushion trailer.9 show