ME542 Vehicle Dynamics

Winter 2002

Professor Huei Peng

Department of Mechanical Engineering

ME542 Vehicle Dynamics-Lecture 1- 1

Lecture 1--Introduction and Motivation

(and administrative stuff)

• About this course

– Administrative issues
– Major course content
– Grading policy
– MATLAB/SIMULINK
• Review of rigid body dynamics

ME542 Vehicle Dynamics-Lecture 1- 2

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 Administrative Issues
• Contact info. and office hours
– G036 Auto Lab, 734-936-0352, hpeng@umich.edu
– Office hours: Thursday 9:30-11am or by appointment
• TA: Janet Fan, fjiang@umich.edu
– Monday 10:00 to 12:00 am (G041 Auto Lab)
– Wednesday 1:00 to 3:00 pm (G041 Auto Lab)
– Friday 10:00 to 12:00 am (phone in session, 734-647-9732)
• Textbook
– J.Y. Wong, Theory of Ground Vehicles, John Wiley &Sons,
Inc, 3rd edition, 2001.
(http://www.wiley.com/Corporate/Website/Objects/Products/0,9049,38138,00.html)

• ME-online (PPT files should be downloaded and

printed before the lectures, HW, solutions, example
MATLAB programs will also be distributed using this
site)
http://meonline.engin.umich.edu/
ME542 Vehicle Dynamics-Lecture 1- 3

Course Requirements

• Prerequisites
– Basic knowledge in Newtonian Dynamics (ME240
level) is essential
– That of Automotive Engineering (ME458) and
Intermediate Dynamics (ME440) will be helpful but
not required.
– Familiarity with MatLab/Simulink is a plus, since
Matlab/Simulink is used extensively in the lecture
examples and homework assignments.

ME542 Vehicle Dynamics-Lecture 1- 4

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 Major course content
Part 1: Introduction
Background Motivation and Background
Review of Rigid Body Dynamics

Part 2: Tire Models

Overview, Terminology, Definitions
Slip, Skid, Rolling Resistance
Brush Tire Model (Lateral and Longitudinal)
Tire Combined-Slip Tire Model (Friction Ellipse)
Magic Formula Tire Model
Experimental Measurement of Tire Forces and Parameters
Case Study: Tire Model for Off-Road Stopping Scenarios

Part 3: Vehicle Handling

Steady-State Handling (1 mass-2DOF, 2 mass -3DOF)
Understeer and Oversteer
Handling Moment Method
Transient Handling
Four-Wheel Steering
Steady-State And Transient Handling of Articulated Vehicles
Part 4: Vehicle Ride
Overview of Vibration Principles
Human Perception of Vibration
Road Excitation and Vehicle Ride Models (low frequency)
Overview of Random Vibrations
Analysis of Vehicle Ride
Case Study: Suspension Design Synthesis Example
Ride Case Study: Seating Dynamics and Vibration Isolation
Powertrain Excitation and Vehicle Structure Models (mid frequency)
Engine Mounting and Vibration Transmission
Case Study: Powertrain Isolation

ME542 Vehicle Dynamics-Lecture 1- 5

Related Courses
• ME458 Automotive Engineering (Fall/Winter)
Emphasizes the vehicle as an engineering
system and review design consideration associated
with all major systems including the vehicle structure,
powertrain, suspension, steering and braking.

• ME568 Vehicle Control Systems (Fall)

Covers control issues for all major vehicle control
systems including engine control, cruise control,
ABS/traction control, four-wheel steering, active
suspension and advanced control systems
supporting Intelligent Transportation Systems.

Depending on your starting semester, a complete

sequence will be 458/542/568 or 458/568/542.

ME542 Vehicle Dynamics-Lecture 1- 6

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 Grading Policy
• Grading: 6-7 Homeworks 55%
Midterm exam 20%
Final exam 25%

• Homework: Must be turned in before the end of class

on the due date. Late homework will not be
accepted. The HW with lowest grade will be
dropped. Standard Michigan Honor Code applies.

• Exams: 80-minute exams during regular class hour

Midterm: 2/21/2002, Dynamics, Tire, Handling
Final: 4/16/2002, Accumulative but focus on
Handling and Ride

ME542 Vehicle Dynamics-Lecture 1- 7

MATLAB/SIMULINK
• MATLAB technical note
(http://www.engin.umich.edu/caen/technotes/matlab.pdf)

http://www.engin.umich.edu/group/ctm/ or http://www.engin.umich.edu/class/ctms/

ME542 Vehicle Dynamics-Lecture 1- 8

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 MATLAB/SIMULINK
• Example MATLAB/SIMULINK programs will
be distributed, which you can freely
use/modify.
• MATLAB is used for simple (usually linear)
vehicle dynamic simulations and analysis for
this course.
• SIMULINK: A GUI based simulation program.
Strength:
– Realistic dynamic phenomenon such as
nonlinearity, quantization, noise, switches, look-up
tables, delays, etc. can be simulated easily.
– GUI makes it easy to recycle vehicle simulation
modules
ME542 Vehicle Dynamics-Lecture 1- 9

Analysis and Prediction of Vehicle Dynamics

• The design of motor vehicles in general is
moving (away from art) toward science-based
procedures.
• The pursuit toward improved safety, efficiency
and performance (at lower cost) is the main
driving force of this trend.
• Understanding the underlying physics and to
construct models to predict vehicle behavior is an
important first step.

ME542 Vehicle Dynamics-Lecture 1- 10

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 Vehicle Dynamic Models
• Models for analysis (design, control synthesis)
– Low order
– Mostly linear
– Physics based
• Models for verifications (evaluations, simulations)
– High order
– Nonlinear
– Numerical

http://www.adams.com ME542 Vehicle Dynamics-Lecture 1- 11

Review of Rigid Body Dynamics

• Vehicle Coordinate Systems

• Newton/Euler Formulation
• Lagrange Formulation

ME542 Vehicle Dynamics-Lecture 1- 12

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 Vehicle Coordinate Systems
• The first step in the analysis of vehicle
dynamic behavior is to define one or more
coordinate systems to describe the motion of
the vehicle. Usually we first define an Earth-
fixed coordinate system OXYZ, which is
assumed to be stationary. A vehicle-fixed
coordinate system xyz is then defined.
ψ x
X Vehicle speed
Top view: β
ν

Y ME542 Vehicle Dynamics-Lecture 1- 13

SAE Coordinate System

• The Society of Automotive Engineers (SAE)
has introduced standard coordinates and
notations for describing vehicle dynamics
lateral
y pitch

x longitudinal vertical
roll yaw
z

Axis Translational Angular Angular Force Moment

Velocity Displacement Velocity Component Component

x u (forward) φ P or φ (roll) Fx Mx

y v (lateral) θ q or θ Fy My
(pitch)

z w (vertical) ψ r or ψ (yaw) Fz Mz

ME542 Vehicle Dynamics-Lecture 1- 14

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 Newton/Euler Formulation
Consider a rigid body of mass m, with c.g. at point o,
subject to N forces.

For unconstrained motion, a rigid body possesses 6 DOF,

3 translational (x,y,z) and 3 rotational (φ,θ,ψ).

F2 FN
F1 k̂

iˆ o ĵ

ME542 Vehicle Dynamics-Lecture 1- 15

Newton/Euler Equations
Let V and ω to denote the absolute velocity of mass center
and angular velocity of the rigid body, ( iˆ, ˆj , kˆ ) be unit
vectors of the body-fixed coordinate oxyz. The
Newton/Euler equations of motion are then
N F2 FN
dV
Newton: ∑
i =1
Fi = F = m
dt F1
r2
k̂ rN
r1
N
dH
Euler ∑r
i =1
i × Fi = M o =
dt iˆ
o ĵ

Where H is the angular momentum of the rigid body

about the mass center o.
ME542 Vehicle Dynamics-Lecture 1- 16

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 Angular Momentum
Hx 
Let H = Hx iˆ + Hy ˆj + Hzkˆ  H  ≡ I ⋅ω
 y
 H z 

 I xx − I xy − I xz 
  I xx ≡ ∫ ( y 2 + z 2 ) ρ ⋅ dV
where I ≡  − I xy I yy − I yz  V

 − I xz − I yz I zz  I xy ≡ ∫ xy ρ ⋅ dV etc.
 V

 H x   I xx − I xy − I xz   p 
 
H =  H y  =  − I xy I yy − I yz   q 
 H z   − I xz − I yz I zz   r 

ME542 Vehicle Dynamics-Lecture 1- 17

Rigid Body Motion of Whole Vehicle

Translational motion: ∑ F = ma
d
∑ F = ma = m ⋅ dt uiˆ + vjˆ + wkˆ 
∑F = m(u + qw − rv)
= m ⋅ uiˆ + vjˆ + wkˆ + uiˆ + vjˆ + wkˆ 
x

  ∑F y = m(v + ru − pw)

  u   p  u  ∑F z = m( w + pv − qu )
d 
= m   v  +  q  ×  v  
 dt  w  r   w 
      
D d
= +ω ×
Dt dt
ME542 Vehicle Dynamics-Lecture 1- 18

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 Rigid Body Motion of Whole Vehicle (cont.)
.
Rotational motion: M = H
  I xx p − I xy q − I xz r   p   I xx p − I xy q − I xz r  
d    
∑ M =  dt − I xy p + I yy q − I yz r  +  q  × − I xy p + I yy q − I yz r  
  −I p − I q + I r   r   −I p − I q + I r 
  xz yz zz     xz yz zz  

∑M x = I xx p − I xy q − I xz r − I xz pq − I yz q 2 + I zz rq + I xy pr − I yy qr + I yz r 2
∑M y = − I xy p + I yy q − I yz r + I xx pr − I xy qr − I xz r 2 + I xz p 2 + I yz qp − I zz rp
∑M z = − I xz p − I yz q + I zz r − I xy p 2 + I yy qp − I yz r p − I xx pq + I xy q 2 + I xz rq

ME542 Vehicle Dynamics-Lecture 1- 19

Common Simplification
• For many vehicle applications, the following
assumptions apply:
– Vehicle is symmetric in the xz plane (Ixy=0, Iyz=0)
– p,q,r,v and w are small, their products are negligible.
– u=uo+u’, where u’ is small compare with uo.

∑ Fx = m(u + qw − rv) ∑ F = mux

'

∑ Fy = m(v + ru − pw) ∑ F = m(v + ru )

y o Linear!
∑ Fz = m(w + pv − qu) ∑ F = m(w − qu )
z o Naturally separated
.
. ∑M = I p− I r
x xx xz
into 3 groups
. ∑M = I q y yy

∑ M = −I p + I r
z xz zz
ME542 Vehicle Dynamics-Lecture 1- 20

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 Review of Kinematics
• Kinematics: study the geometry of motions.
• Quantities: position, velocity and acceleration.

Given: Kinematics quantities of one ω

point (mass center), and the angular
motion of the rigid body.
k̂
Find: Those of another point on the o ĵ
rigid body. iˆ
ro r rel
K̂
p
Iˆ O Ĵ rp

ME542 Vehicle Dynamics-Lecture 1- 21

Rigid Body Kinematics ω

Position:
k̂
r p = r o + r rel
iˆ o ĵ
r p = r o + r rel K̂
ro r rel

Velocity: p
Î O Ĵ rp
V p = V o + ω × r rel
V p = V o + ω × r rel + ω × r rel
Acceleration:

ap = ao + ω × r rel + ω × (ω × r rel )
ME542 Vehicle Dynamics-Lecture 1- 22

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 Vehicle Example
A car traveling in xz plane, pitching, bouncing

Given: V o = uiˆ + wkˆ

o p
ω = qjˆ l

r rel = liˆ
Find: Vp ap
 u  0  l   u 
V p = V o + ω × r rel =  0  +  q  ×  0  =  0 
 w  0   0   w − ql 
= uiˆ + ( w − ql )kˆ

ME542 Vehicle Dynamics-Lecture 1- 23

Vehicle Example Solution

V o = uiˆ + wkˆ
ω = qjˆ o p
l
r rel = liˆ

ap = ao + ω × r rel + ω × (ω × r rel )
 u  0  u  0  l  0  0 
=  0  +  q  ×  0  +  q  ×  0  +  q  ×  0 
 w  0   w  0   0   0   − ql 
u + qw − q 2l 
 
= 0 
 w − qu − ql 
 
ME542 Vehicle Dynamics-Lecture 1- 24

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 Vehicle Dynamics Example
Given: FWD torque τ, total τ
mass m, wheel radius h
r and inertia Ir, If.
l2 l1
Find: Initial acceleration of vehicle (no slip, no pitch)

First try:
Iˆ : Ff + Fr = ma
Jˆ : N f + N r = W
W Kˆ : l2 N f + l1 N r + ( Ff + F )h = 0
Ĵ
Fr Nr Ff Nf
Iˆ
Can we solve these equations? Why not?
ME542 Vehicle Dynamics-Lecture 1- 25

Vehicle Dynamics Example

Second try:

Rry Rrx R fy R fx

R fy τ
Rry
Rrx R fx
Fr Nr Ff Nf

ME542 Vehicle Dynamics-Lecture 1- 26

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 Lagrange’s Equations
• An alternative way to formulate the equations of
motion.
• Starts from “energy” (scalar!) rather then vectors.
• To begin, we first define three terms
Degrees Of Freedom (DOF):
number of independent coordinates required to uniquely
define the motion of a particle, a body or system of bodies.
Constraints
Kinematic relationship that limit possible motion.
Generalized coordinates
A set of independent coordinates whose number is equal
to the DOF and which uniquely define the position and
orientation of the rigid body.
ME542 Vehicle Dynamics-Lecture 1- 27

Examples for DOF, Constraints, and GC

Position of a particle in space: 3DOF

Position of a particle on a cylindrical surface

constraint
2DOF, position uniquely described by 2 coordinates,
which are referred to as generalized coordinates (q1, q2).

Rigid wheel rolling on flat surface without slip

Rigid wheel rolling on flat surface with slip

ME542 Vehicle Dynamics-Lecture 1- 28

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 Lagrange Equations
Consider a system of particles or rigid bodies with n DOF
described by n generalized coordinates {q1(t), …, qn(t)}.
The Lagrange's equations is then
d  ∂ T  ∂ T ∂V
 − + = Qi i = 1…n
dt  ∂ qi  ∂ qi ∂ qi
where
T = T (qi , qi ) : kinetic energy
V = V(qi ) : potential energy
k
∂ rj
Qi : the ith generalized non-conservative force. Qi = ∑ F j ⋅
j =1 ∂ qi

where F j is the jth (out of the total number of k) non-conservative external force, and r j is
the position of application point of force F j .

ME542 Vehicle Dynamics-Lecture 1- 29

Compound Pendulum Example

Derive the equation of motion for the compound pendulum
shown below for large angle θ.

g
θ L
mb
Ib
ms
r Is

ME542 Vehicle Dynamics-Lecture 1- 30

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DOF: 1 (θ only)
g
Kinetic energy θ L
1 1 1 l 1 mb
T= ms ( L + r ) 2 ⋅θ 2 + I sθ 2 + mb ( θ ) 2 + I bθ 2 Ib
2 2 2 2 2 r
ms
Is
disk bar

Potential energy
l
V = ms g (l + r )(1 − cos θ ) + mb g (1 − cos θ )
2
disk bar
d  ∂T  ∂ T ∂V 0
 − + = Qi
dt  ∂θ  ∂θ ∂θ

 l   l
θ  ms ( L + r ) 2 + mb ( ) 2 + I s + I b  + g sin θ  ms ( L + r ) + mb  = 0
 2   2

ME542 Vehicle Dynamics-Lecture 1- 31

Double Pendulum Example

The double pendulum system consists of a massless rigid
bar of length l1, , a point-mass m1, , a spring with free
length l2 and spring constant k, and another point-mass m2.
Use Lagrange's equation to derive the equations of motion.

l1
θ1 g
m1
k
l2
θ2
x

ME542 Vehicle Dynamics-Lecture 1- 32

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 l1
θ1 g
DOF: 3 (θ1, θ2, x) m1
θ 2 − θ1

A l1θ1
k
Kinetic energy θ2
l2 (l2 + x )θ 2
x
1 B
T= m1 (l1θ1 ) 2 + x
2
1
2 { 2
m2  x + l1θ1 sin(θ 2 − θ1 )  +  (l2 + x)θ 2 + l1θ1 cos(θ 2 − θ1 ) 
2
}
Potential energy
1
V = (m1 + m2 ) gl1 (1 − cos θ1 ) + m2 gl2 (1 − cos θ 2 ) − m2 gx cos θ 2 + kx 2
2

ME542 Vehicle Dynamics-Lecture 1- 33

d  ∂ T  ∂ T ∂V
 − + =0
dt  ∂θ1  ∂θ1 ∂θ1
m1l12θ1 + 2m2l1θ 2 x cos(θ 2 − θ1 ) + m2l1 x sin(θ 2 − θ1 ) + m2l12θ1
−m2l1 (l2 + x)θ 22 sin(θ 2 − θ1 ) + m2l1 (l2 + x)θ 2 cos(θ 2 − θ1 ) + (m1 + m2 ) gl1 sin(θ1 ) = 0

d  ∂T  ∂T ∂V
 − + =0
dt  ∂θ 2  ∂θ 2 ∂θ 2

m2 (l2 + x) 2θ 2 + m2l1 (l2 + x)θ1 cos(θ 2 − θ1 ) + m2l1 (l2 + x)θ12 sin(θ 2 − θ1 )

+2m2 xθ 2 (l2 + x) + m2 g (l2 + x) sin(θ 2 ) = 0

d  ∂ T  ∂ T ∂V
 − + =0
dt  ∂ x  ∂ x ∂ x
m2 x + m2l1θ1 sin(θ 2 − θ1 ) − m2l1θ12 cos(θ 2 − θ1 )
−m2 g cos θ 2 + kx − m2θ 22 (l2 + x) = 0

ME542 Vehicle Dynamics-Lecture 1- 34

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