Vehicle Dynamics and Modelling

Introduction
1. Vehicle System
a. Several forces act on it
2. Resultant force decides the motion
3. Main motive force come from traction unit
4. Resistive force such as gravity, air, tire resistance, etc opposes the motion
5. Acceleration depend on rating of the traction unit and mass of all components

Vehicle Design
1. System level design
a. Acceleration range
b. Propulsion system ratings
2. Component level design
a. Rating of motor
b. Energy source
c. Power converter
d. Propulsion control system
3. Modelling, integration, simulation and iteration.

Modelling of Vehicle Dynamics.

1. Longitudinal vehicle dynamics (One Direction)

2. Lateral Vehicle Dynamics (More than one)

Tractive Effort
The force required for the vehicle to move, which is transmitted to the ground, through the drive wheels

Consider the vehicle of mass M, moving at velocity V, going up a slope of angle θ, then tractive effort
should accomplish.

Force on a vehicle

 Mass = M
 Velocity = V
 Slope = θ
Basic Power, Energy and Speed Relationship

 If vehicle is travelling at constant speed

𝑠
𝑃 = 𝐹𝑉 = 𝐹 ×
𝑡
Energy = power × time
𝑠
=𝑝 ×𝑡 =𝑝 × 𝑣

𝐸 ×𝑣
𝑠=
𝑃
Aerodynamic Drag(FAD)
The force that vehicle body encounters while moving at certain speed through the air

1. Shape drag
2. Skin friction

It is function of frontal area, shape, protrusions, such as side mirrors, ducts and air passages, spoilers
etc.

 Air density
 Velocity of the vehicle
 Velocity of the air
1
𝐹𝐴𝐷 = 𝜌 𝐶𝐷 𝐴 (𝑉 + 𝑉𝑎𝑖𝑟 )2
2
Where,

FAD = Aerodynamic Drag Force (N)

ρ = Density of air (Kg/m3)

CD = Aerodynamic Drag co-officiant

V = Forward velocity of vehicle

Vair = Opposing air velocity (m/sec)

 Tractive effort:
a. Rolling Resistance Force (FRR):
The combination of all friction load forces, the friction due to the deformation of the tire on the
road surface and the friction within the drivetrain.

It is a function of: 1). Weight of the vehicle, 2). Tires Material/structure and tire pressure, 3).
Road roughness and material of road, 4). Presence/Absence of liquid on the road. Etc.
 Rolling Resistance moment

TR = P a

to, keep the vehicle moving,

𝐹𝑟𝑟 × 𝑟𝐷 = 𝑇𝑟 = 𝑝 × 𝑎

𝑎
𝐹𝑅𝑅 = 𝐷 × = 𝐷 × 𝜋𝑟𝑟
𝑟𝐷

𝐷 = 𝑚𝑔 𝑐𝑜𝑠𝜃

𝐹𝑅𝑅 = 𝜇𝑟𝑟 𝑚 𝑔 𝑐𝑜𝑠𝜃

𝜇𝑟𝑟 is a function of speed of vehicular performance

𝑣
𝜇𝑟𝑟 (𝑣) = 𝜇𝑟𝑟 (1 + )
100

Gradient and Hill Climbing force

𝐹𝑔 = 𝑚 𝑔 sin 𝜃

Vehicle road load force

𝐹𝑣 = 𝐴 + 𝐵𝑣 + 𝐶𝑣 2

Where, v is the vehicle speed

A denotes rolling Resistance (N)
B denotes spinning/rotational losses
C denotes aerodynamic drag resistance

 Acceleration force:
1. Linear Acceleration (FLA): if the velocity of the vehicle needs to be changed, then the force is
known as linear acceleration.
𝑑𝑣
𝐹𝐿𝐴 = 𝑚𝑎 = 𝑚
𝑑𝑡
2. Angular acceleration (FAA): Torque is also needs to spin the rotating parts within the drivetrain.
𝑑𝑤 𝐽 𝑑𝑣
𝑇=𝐽 =
𝑑𝑡 𝑟 𝑑𝑡
𝑇 𝐽 𝑑𝑣
𝐹𝐴𝐴 = = 2
𝑟 𝑟 𝑑𝑡
Total tractive effort: sum of all forces

𝐹𝑇𝐸 = 𝐹𝑅𝑅 + 𝐹𝐺 + 𝐹𝐴𝐷 + 𝐹𝐿𝐴 + 𝐹𝐴𝐴

1 𝐽 𝑑𝑣
𝐹𝑇𝐸 = 𝜇𝑟𝑟 𝑚𝑔 cos 𝜃 + 𝑚𝑔 𝑠𝑖𝑛𝜃 + 𝜌 𝐶𝐷 𝐴 (𝑣 + 𝑣𝑎𝑖𝑟 )2 + (𝑚 + 2 )
2 𝑟 𝑑𝑡

In the terms of A, B, C coefficient

𝐽 𝑑𝑣
𝐹𝑇𝐸 = (𝐴 + 𝑚𝑔 𝑠𝑖𝑛𝜃) + 𝐵𝑣 + 𝐶𝑣 2 + (𝑚 + )
𝑟 2 𝑑𝑡
MOTOR DESIGN
Motor Specification

𝑃𝐾𝑊
𝑇𝑟𝑒𝑞 =
𝑁
2𝜋 (60)

 Frame Size Selection, Stator & Rotor Design

1. The outer diameter of stator

𝐷𝑜 = (𝑟𝑎𝑚𝑒 𝑆𝑖𝑧𝑒 − 3) × 2

 Standard design considered 𝛽𝑠 < 𝛽𝑟 .

 Effective torque zone is < βs but > stroke angle ε

The stroke angle is defined as

2𝜋
∈=
𝑁𝑠
2 𝑁𝑟

For example, consider Ns = 8 and Nr = 6

2𝜋
∈= = 0.26618 𝑟𝑎𝑑 = 15𝑜
8
2×6

*Note: if 𝛽𝑠 < ∈ then there may be some positions in machine from where machine may not
start.
2𝜋
 Inductance profile of a phase repeats every 𝑁 radians.
𝑟

𝜋 𝛽𝑠 + 𝛽𝑟
𝜃1 = −( )
𝑁𝑟 2
𝜃2 − 𝜃1 = 𝛽𝑠
 𝜃3 − 𝜃2 = 𝛽𝑟 − 𝛽𝑠

𝜃4 − 𝜃3 = 𝛽𝑠

𝜋 𝛽𝑠 + 𝛽𝑟
𝜃5 − 𝜃4 = −( )
𝑁𝑟 2

 The angle between adjacent rotor poles must be greater than stator arc

2𝜋
− 𝛽𝑟 > 𝛽𝑠
𝑁𝑟

2𝜋
> 𝛽𝑟 + 𝛽𝑠
6
 Preliminary Design Process

 Neglecting leakage and stacking factor

𝐷
𝐴𝑠 = 𝐿 𝛽𝑠 ------------------------------------------------------(1)
2

 Stator Pole Flux

∅ = 𝛽𝑠 𝐴𝑠 --------------------------------------------------------(2)

∅ 𝛽𝑠 𝐴𝑠
∅𝑦 = = --------------------------------------------------(3)
2 2

 Assuming that the yoke flux density by is half the stator flux density 𝛽𝑠

So the yoke flux,

𝛽𝑠
∅𝑦 = 𝛽𝑦 𝐴𝑦 = 𝐴𝑦 ------------------------------------------(4)
2

 Comparing equation (3) and (4) area of yoke

𝐴𝑦 = 𝐴𝑠 ----------------------------------------------------------(5)

 Yoke area is product of back iron thickness C and stack length

𝐴𝑦 = 𝐶 𝐿

𝐴𝑦
𝐶= ------------------------------------------------------------(6)
𝐿
 Stator pole height

𝐷𝑜 𝐷
ℎ𝑠 = −𝐶− -------------------------------------------------(7)
2 2
 Rotor pole area 𝐴𝑟

𝐷
𝐴𝑟 = ( 2 − 𝑔) 𝐿 × 𝛽𝑟 --------------------------------------------(8)

 Rotor pole flux density 𝛽𝑟

𝛽𝑠 𝐴𝑠
𝛽𝑟 = ------------------------------------------------------------(9)
𝐴𝑟
 Area of rotor core 𝐴𝑟𝑐

𝐷 𝐷𝑠ℎ
𝐴𝑟𝑐 = 𝐿 ( 2 − 𝑔 − ℎ𝑟 − ) -------------------------------------(10)
2

∅ 𝛽𝑠 𝐴𝑠
∅𝑟𝑐 = = ------------------------------------------------------(11)
2 2

∅𝑟𝑐 = 𝛽𝑟𝑐 𝐴𝑟𝑐 = 0.8 𝛽𝑠 𝐴𝑟𝑐 ---------------------------------------(12)

 Comparing equation (11) and (12)

𝛽𝑠 𝐴𝑠
= 0.8 𝛽𝑠 𝐴𝑠
2

𝐴𝑠 𝐴𝑠
𝐴𝑟𝑐 = = ----------------------------------------------------(13)
2×0.8 1.6

 From equation (10) calculating hr

𝐴𝑟𝑐 𝐷 𝐷𝑠ℎ
= − 𝑔 − ℎ𝑟 −
𝐿 2 2

𝐷 𝐷𝑠ℎ 𝐴𝑟𝑐
ℎ𝑟 = −𝑔− − ---------------------------------------------(14)
2 2 𝐿