Fundamentals of Vehicle Dynamics Thomas D. Gillespie Pobtihed by: Society of Automate Engnoes In, 400 Commonsealt Drive Warrendale, 2A 13006-0901, TABLE OF CONTENTS (Chapter INTRODUCTION o Dawn of the Motor Vehicle Age Introduction to Vehicle Dynamics Fundamental Approach to Modeling... Lumped Mass... . F Vehicle Fixed Coordinate System... Motion Variables. Earth Fixed Coordinate System Euler Angles . Forces. 2 Newton's Second Law Dynamic Axle Loads Statie Loads on Level Ground. Low-Speed Acceleration Loads on Grades... Example Problems, References (Chapter 2—ACCELERATION PERFORMANCE Power-Limited Acceleration . Engines... Power Train Automatic Transmissions... Example Problems, Traction-Limited Acceleration = Transverse Weight Shift due to Drive Torque Traction Limits cern Example Problems, References ‘Chapter 3—BRAKING PERFORMANCE, : 85 Basic Equations erecnue — f sn Constant Deceleration — 46 Deceleration with Wind Resistanes al Energy/Power.. senennnnvnnnnnns ABFUNDAMENTALS OF VEHICLE DYNAMICS ‘TABLE OF CONTENTS Braking Forces Pitching Moment nso on 108 Rolling Resistance. Yawing Moment . 104 ‘Aerodynamic Drag Rolling Moment - 105 Driveline Drag Crosswind Sensitivity... 106 ame Rolling Resistance Ho Brakes .. Pactors Affecting Rolling Resistance in Brake Factor Tire Temperatre..orwsn Mr Tite-Road Friction... ‘Tire Inflation Pressure/Load 2 Velocity Velocity n3 Inflation Pressure Tire Material and Design na Vertical Load. Tire Slip... Example Problems. : Federal Requirements for Braking Performance... Brake Proportioning Anti-Lock Brake Systems Braking Erficiency Rear Wheel Lockup. Pedal Force Gain Example Problem. References Typical Coetficients ‘Total Road Loads Fuel Economy Effect Example Problems... References (Chapter S—RIDE Excitation Sources. Road Roughness ‘Tire/Wheel Assembly Driveline Excitation Engine/Transmission ‘Vehicle Response Properties Suspension Isolation ‘Chapter 4—-ROAD LOADS, Aerodynamics... Mechanics of Air Flow Around a Vehicle Pressure Distribution on a Vehicle. ‘Aerodynamic Forces Example Problem Drag Components Suspension Stiffness Aerodynamics Aids Suspension Damping Bumper Spoilers. Active Control a Air Dams ‘Wheel Hop Resonances : Deck Lid Spoilers Suspension Nonlinearties 166 Window and Pillar Treatments Rigid Body Bounce/Pitch Motions 168, Optimization Bounce/Pitch Frequencies ssn Drag ee | Special Cases, a 178 Air Density Example Problem — “178 Drag Coefficient. | Perception of Ride vss Se 181 Side Fore... Tolerance to Seat Vibrations... 181 Lift Force. Other Vibration Forms ee 87FUNDAMENTALS OF VEHICLE DYNAMICS ‘TABLE OF CONTENTS. Conclusion so -189 SLA Front Suspension 200 References rn vn 189 MacPherson Stra 8 Multé-Link Rear Suspension errs Trailing-Arm Rear Suspension wavs ag (Chapter 6—STEADY.STATE CORNERING .. sn 9S Semi-Trailing Arm = aS Inurtution : 195, Swing Ane esac sn 247 Low-Speed Turing. . . 196 Anti-Squat and Anti-Pitch Suspension Geometry 24s High-Speed Comering : v8 Equivalent Trailing Arm Analysis. 2a “Tire Comering Forces . “198 Rear Soli Drive Axle... eee CComering Equations. _ 199 Independent Rear Drive 252 Underster Gradient cn 202 Front Solid Drive Axle asa Charactristie Specd : 208 Independent Front-Drive Axle 953 Critical Speed 208 Four-Wheel Div suo, 284 Lateral Acceleration Gain 205 Ani-Dive Suspension Geometry se 3S Yaw Velocity Gain 205 Example Problems oe sass Siesip Angle : “306 Roll Center Analysis a mr State Margin... von 208 Solid Axle Roll Centers as9 Suspension Effects on Comering sno “209 Four-Link Rear Suspension 259 Roll Moment Distribution 210 ‘Tie-Link Rear Suspension 260 Camber Change a dt Four-Link with Parallel Arms 261 Roll ter. co 220 Hotchkiss Suspension commune 962 Lateral Force Compliance Steer. 221 Independent Suspension Roll Centers, se 363 Aligning Tore ss. : 223 Positive Swing Arm Geometry 264 Effect of Tractive Forces on Cornering : Negative Swing Arm Geometry 265 Summary of Understeer Effects Parallel Horizontal Links 266 Experimental Measurement of Understcer Gradient Inclined Parallel Links... 26? Constant Rais Method. sean 2 MacPhetiod Sujata Sena oo, Constant Speed Method .. mer) Swing Ase 268 Example Problems 331 Active Suspensions oe ey References 235 Suspension Categories sco wonwrnn no 360 Factions oss . no Performance snr IM Chapter SUSPENSIONS. 237 References 274 Solid Axles 238 Hotchkiss 238 Four Link. : ) (Chapter 8—THE STEERING SYSTEM sssseeocosssos 215 De Dion ass = 240 Introduction... . IS Independent Suspensions 241 The Steting Linkages wenn 215 Trailing Arm Suspension 241 ne