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VDHS-0 Vehicle Dynamics PDF
VDHS-0 Vehicle Dynamics PDF
VDHS-0 Vehicle Dynamics PDF
Performance
What Do We Study ?
Handling
What Do We Study ?
Ride
Vehicle Dynamics Learning
• MATLAB/SIMULINK
• ADAMS
• Carmaker
• CARSIM
Quarter car model: Bounce Motion
FBD
Data:
• Total sprung mass, m=1000kg
• Quarter sprung mass, ms=275kg
• Total unsprung mass, mut=0.12*m=120kg
• Quarter unsprung mass, mu=120/4=30kg
• By taking the natural frequency of sprung mass= 1.2 Hz
• RR=((1.2*2π)^2)*ms=15633 N/m
• ks=RR(6/5) (taking the tyre stiffness kt=5*ks)
• Cc=2√(ks*ms) Ns/m
• ς =0.2
• Cs=ς*Cc Ns/m
Result:
zet Ks(N/m) Kt/ks Kt(N/m) Cs Max.acc Max.di Settling
a (Ns/m) m/s^2 s time in
In m sec.
0.2 18760 5 93801 908.54 15.4288 0.1670 5
45
40
35
max.acc. (m/s^2)
zeta=0.2
30 zeta=0.3
zeta=0.4
zeta=0.5
25
zeta=0.6
20
15
10
5 7.5 10 12.5 15
kt/ks (N/m)
max.dis. vs kt/ks
0.18
0.17
0.16
max.dis. (m)
zeta=0.2
0.15 zeta=0.3
zeta=0.4
zeta=0.5
zeta=0.6
0.14
0.13
0.12
5 7.5 10 12.5 15
kt/ks (N/m)
setlling vs kt/ks
6
4
setlling (second)
zeta=0.2
3 zeta=0.3
zeta=0.4
zeta=0.5
zeta=0.6
2
0
5 7.5 10 12.5 15
kt/ks (N/m)
Side Half car model - Pitching
ms=sprung mass in kg
muf & mur=front & rear unsprung mass
accordingly.
Ksf & Ksr=front and rear suspension
spring stiffness accordingly.
Csf &Csr=front & rear damper
accordingly.
Ktf &Ktr=front & rear tire stiffness
accordingly.
L=wheel base.
b= distance to front axle from CG.
c= distance to rear axle from CG.
ϴ= pitch angle.
Zrf &Zrr= front & rear road excitation
accordingly.
FBD
For sprung mass bounce:
RRf/RRr 0.75
Fnr Hz 1.5319
RRf/RRr 0.77
Fnr Hz 1.5119
RRf/RRr 1
Fnr Hz 1.3266
RRf/RRr 1.25
Fnr Hz 1.1866
RRf/RRr 1.5
Fnr Hz 1.0832
3.3
3.2
3.1
3
theta (degree)
zeta=0.2
2.9 zeta=0.3
zeta=0.4
2.8 zeta=0.5
zeta=0.6
2.7
2.6
2.5
2.4
0.5 0.75 0.77 1 1.25 1.5
RRf/RRr
bounce vs RRf/RRr
0.095
0.09
0.085
bounce (m)
zeta=0.2
zeta=0.3
zeta=0.4
0.08 zeta=0.5
zeta=0.6
0.075
0.07
0.5 0.75 0.77 1 1.25 1.5
RRf/RRr (N/m)
Front half car model: Rolling:
msf=sprung mass in kg
mufl & mufr= left & right unsprung
mass accordingly.
Ksfl &Ksfr= left & right suspension
spring stiffness accordingly.
Csfl &Csfr= left & right damper
accordingly.
Ktfl &Ktfr= left & right tire stiffness
accordingly.
L=wheel base.
t= wheel track.
S= lateral separation between
suspensions.
b= distance to front axle from CG.
c= distance to rear axle from CG.
φ = roll angle.
Zrfl &Zrfr= left & right road
excitation accordingly.
FBD:
For sprung mass bounce.
1.02
1.01
1 b/c=0.7
phi (degree)
b/c=0.8
b/c=0.9
0.99 b/c=1
b/c=1.1
b/c=1.2
0.98
0.97
0.96
0.7 0.8 0.9 1 1.1 1.2
hfrc/hrrc
v=30 km/h
2.33
2.31
2.29
2.27
b/c=0.7
phi (degree)
2.25
b/c=0.8
b/c=0.9
2.23
b/c=1
b/c=1.1
2.21 b/c=1.2
2.19
2.17
2.15
0.7 0.8 0.9 1 1.1 1.2
hfrc/hrrc
v=40 km/h
4.1
4.05
4 b/c=0.7
phi (degree)
b/c=0.8
b/c=0.9
b/c=1
3.95 b/c=1.1
b/c=1.2
3.9
3.85
0.7 0.8 0.9 1 1.1 1.2
hfrc/hrrc
v=50 km/h
6.5
6.45
6.4
6.35
6.3
b/c=0.7
phi (degree)
b/c=0.8
6.25
b/c=0.9
b/c=1
6.2
b/c=1.1
b/c=1.2
6.15
6.1
6.05
6
0.7 0.8 0.9 1 1.1 1.2
hfrc/hrrc
v=60 km/h
9.2
9.1
9
b/c=0.7
phi (degree)
b/c=0.8
b/c=0.9
8.9
b/c=1
b/c=1.1
b/c=1.2
8.8
8.7
8.6
0.7 0.8 0.9 1 1.1 1.2
hfrc/hrrc
Yaw moment:
yaw vs caf/car at v=20 km/h
1.15
1.1
1.05
1
yaw angle (degree)
0.95 b/c=0.8
b/c=0.9
0.9 b/c=1
b/c=1.1
b/c=1.2
0.85
0.8
0.75
0.7
0.8 0.9 1 1.1 1.2
Caf/Car
yaw vs caf/car at v=30km/h
2.7
2.5
2.3
yaw angle (degree)
b/c=0.8
2.1 b/c=0.9
b/c=1
b/c=1.1
1.9 b/c=1.2
1.7
1.5
0.8 0.9 1 1.1 1.2
Caf/Car
ADAMS Modelling for Vehicle Simulation
3D-Track Models
Single Bump Condition
57
Pitch Condition
58
Roll Condition
59
Heave Condition
60
Warp Condition
61
Front Suspension Ride Analysis
Rear Suspension Ride Analysis
Front Suspension Roll Analysis
Rear Suspension Roll Analysis
Steer Analysis
Demo-1: Forces Acting at the tires
Acceleration -performance
Spinning of vehicle
Traction simulation
Braking- simulation
Antilock braking simulation
Simulations
Suspension Simulation
Understeer simulation
Oversteer simulation
Lane-change simulation
Vehicle Dynamics Test Facility
Vehicle Centre of Gravity
c b
Wf
Wr W
Wfs= Wc/L
Wrs=Wb/L
Height of CG
Wf
W
Wr
• Wf= Wfs –W (h/L) (can be written as tan)
• h= (L/W)[Wfs-Wf](1/tan]
• L= Wheel Base Length
• W= Total weight in N
• Wfs= Load on front wheel on level ground= Wc/L in N
• Wf= Load on front wheel when raised by angle in N
Vehicle Inertia
Te Tc Tg Tps Tfd Ta Tw
Je Jc Jg Ng Jps Jfd Nf Ja Jw
• Durability Testing
• Squeak and Rattle Testing
• Noise Vibration and Harshness Testing
Suspension System Test System
Wheel and Brake Assembly Test Rig
Tyre Testing
Kinematics and Compliance
Vehicle Testing
Prooving Ground
Rectilinear and Rotational Motion
Rectilinear Rotational
Displacement- x Angular Displacement-
Velocity- v=dx/dt Angular velocity -=d/dt
Acceleration =a=dv/dt=d2x/dt2 Angular Acceleration==d2/dt2
Mass-m Mass moment of inertia-J=mk2
Force =F=ma Torque= T= J
Linear velocity V Angular Velocity= r
Linear Acceleration a Angular Acceleration= r
V=DN, =2N, P=2NT =T= FV, Impulse= Ft= mv; Inertia= ma=J
Inertia
T G
J L r
Moments of Inertia-Car