Road Vehicle Dynamics 4AUB20

2019 - Exercise 4

Notes:
• With the exercise a Word document (“TUe_4AUB20_Exercise3_AnswerForm.docx “) is
provided that must to be used to answer the questions. Please do not change the formatting
and box sizes!

• Working in pairs is allowed and recommended, put both names and study number on the
front page of the report.

• Answers in Dutch are also allowed.

• A report has to be created with your answers to exercises 1 to 4, this report will be graded.
The deadline for handing in the report on paper is Monday June 3rd 12:00h. You can hand in
the paper report in a designated box in the room of secretary Geertje Jansen-Dols, GEM-Z
0.143.

• To avoid stupid mistakes: do a final check of the report before handing it in!

Table of Contents
Question 7: Analysis of side slip measurements .................................................................................... 2
Question 8: Remove Magic Formula asymmetric behaviour.................................................................. 4
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Question 7: Analysis of side slip measurements

A number of alpha sweeps have been executed with the tyre test trailer. The measurement data is
store in the file “TTTmeas.mat“. The data in this file is in SI units, so N, m and rad are used as base
units.

The aim of this exercise is to recreate Figure 2.3 and Figure 2.4 of the reader
“TireModeling_Reader_4AT000_2018.pdf”. The measurements need to be processed to determine
for example the cornering stiffness, an example is given in the file “plot_example.m”.

a) What is the test matrix, which measurements have been executed? (as an example see Table
2.1 of the reader)

b) Make a plot similar to Figure 2.3 (a) for the lateral force 𝐹𝑦 as function of the side slip 𝛼.

c) Make a plot similar to Figure 2.3 (b) for the self-aligning moment 𝑀𝑧 as function of the side
slip 𝛼.

d) Determine the cornering stiffness 𝐶𝐹𝛼 and lateral force offset 𝐹𝑦0 at 𝛼 = 0 for all
measurements. (Hint: study the file plot_example.m carefully)

e) Determine the self-aligning stiffness 𝐶𝑀𝛼 and self-aligning moment offset 𝑀𝑧0 at 𝛼 = 0 for all
measurements.

f) Select the measurements with zero inclination angle (𝛾 = 0) and plot the cornering stiffness
𝐶𝐹𝛼 as a function of the vertical force 𝐹𝑧 . To create a trend line the polyfit command can be
used, the degree has to be higher than 1 and the point 0,0 should be included.
The resulting plot will be similar to Figure 2.4 (a).

g) Do the same as under f) but now for the self-aligning stiffness. The resulting plot will be
similar to Figure 2.4 (b).

h) To determine the camber stiffness 𝐶𝐹𝛾 the lateral force offset at 𝛼 = 0 will be used. Since
limited measurement data is available the camber stiffness is approximated by:
Δ𝐹𝑦0 𝐹𝑦0,𝛾𝑚𝑎𝑥 − 𝐹𝑦0,𝛾𝑚𝑖𝑛
𝐶𝐹𝛾 = =
Δ𝛾 𝛾𝑚𝑎𝑥 − 𝛾𝑚𝑖𝑛

i) Create a plot of the camber stiffness 𝐶𝐹𝛾 as a function of the vertical force 𝐹𝑧 . Add a trend
line and include the point (0,0). The resulting plot will be similar to Figure 2.4 (c).

j) Determine the camber torque stiffness 𝐶𝑀𝛾 using the same procedure as h)

k) Create a plot of the camber stiffness 𝐶𝑀𝛾 as a function of the vertical force 𝐹𝑧 . Add a trend
line and include the point (0,0). The resulting plot will be similar to Figure 2.4 (d).

l) Determine the friction coefficient 𝜇𝑦 for positive side slip angles for all measurements.

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m) Determine the friction coefficient 𝜇𝑦 for negative side slip angles for all measurements.

n) For positive side slip angles an increase of the inclination angle 𝛾 results in an increase of the
friction coefficient. For negative side slip angles a decrease of the inclination angle 𝛾 results
in an increase of the friction coefficient. Plot the effect of a change of the inclination angle on
the friction coefficient 𝜇𝑦 as a function of the vertical force 𝐹𝑧 . Use the average values for
positive and negative side slip angles. The resulting plot will be similar to Figure 2.4 (e).

o) Make a plot of the pneumatic trail as a function of the side slip angle for zero inclination
angle (𝛾 = 0). For side slip angles |𝛼 | < 1 deg. you may assume
𝐶𝑀𝛼
𝑡𝑝 =
𝐶𝐹𝛼
The resulting figure will be similar to Figure 2.4 (f).

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Question 8: Remove Magic Formula asymmetric behaviour

The Magic Formula tyre model can describe the measured characteristics of an individual tyre very
accurately. The model includes offsets in the force and moment characteristics, caused by conicity
and plysteer. Asymmetric behaviour is included as well. For example, the peak friction coefficient
may be different for positive and negative values of the side slip angle.

When a vehicle simulation model with multiple tyres is created, these offsets and asymmetries may
result in undesirable behaviour. When the steering angle is equal to zero, the vehicle does not run in
a straight line or a different vehicle response is obtained when making a right instead of a left turn.

The Magic Formula can be defined as a function with four inputs and three outputs:

[𝐹𝑥 , 𝐹𝑦 , 𝑀𝑧 ] = 𝑓𝑀𝐹 (𝐹𝑧 , 𝜅, 𝛼, 𝛾)

A first requirement is that the lateral force 𝐹𝑦 and self-aligning moment 𝑀𝑧 are zero when 𝜅, 𝛼 and 𝛾
are zero and using an arbitrary input for 𝐹𝑧 , so:

[𝐹𝑥 , 0, 0] = 𝑓𝑀𝐹 (𝐹𝑧 , 0,0,0)

a) What is the minimal set of Magic Formula parameters that need to be set to zero to make
both 𝐹𝑦 and 𝑀𝑧 equal to zero when 𝛼 and 𝛾 are equal to zero, for arbitrary input of 𝐹𝑧 and 𝜅?
Give list of the names of these parameters. For example: 𝑝𝐶𝑥1, 𝑝𝐶𝑦1 , etc.

Note that we want to maintain the original characteristics as much as possible, so don’t make
𝜇𝑦 , 𝐾𝑦 or 𝑡𝑝 equal to zero!

You can check your results using the supplied MATLAB Magic Formula function and
parameters store in the file “TNO_car205_60R15_revISO.mat”. Start with the file RunMe.m.

A second requirement for symmetric tyre behaviour is that the magnitude of the lateral force 𝐹𝑦 and
self-aligning moment 𝑀𝑧 remain the same, but the sign changes when the sign of the side slip angle
and camber angle are reversed. You may assume the longitudinal slip 𝜅 to be zero (pure side slip
condition).

[𝐹𝑥 , 𝐹𝑦 , 𝑀𝑧 ] = 𝑓𝑀𝐹 (𝐹𝑧 , 0, 𝛼, 𝛾)

[𝐹𝑥 , −𝐹𝑦 , −𝑀𝑧 ] = 𝑓𝑀𝐹 (𝐹𝑧 , 0, −𝛼, −𝛾)

b) What is the minimal set of additional Magic Formula parameters need to be set to zero to
obtain this behaviour? Give list of the names of these parameters.

Hint: to check you results you can add the results for both conditions, the resulting lateral
force 𝐹𝑦 and self-aligning moment 𝑀𝑧 will be zero.
[𝐹𝑥 , 0, 0] = 𝑓𝑀𝐹 (𝐹𝑧 , 0, 𝛼, 𝛾) + 𝑓𝑀𝐹 (𝐹𝑧 , 0, −𝛼, −𝛾)

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The longitudinal slip 𝜅 will be considered next, while 𝛼 and 𝛾 are zero. To obtain symmetric
behaviour for forward and backward driving, the following requirements apply:

• When 𝜅 = 0 the longitudinal force should become zero.

[0, 0, 0] = 𝑓𝑀𝐹 (𝐹𝑧 , 0,0,0)
• When 𝜅 changes sign, the longitudinal force should also change sign.
[𝐹𝑥 , 0, 0] = 𝑓𝑀𝐹 (𝐹𝑧 , 𝜅, 0,0)
[−𝐹𝑥 , 0, 0] = 𝑓𝑀𝐹 (𝐹𝑧 , −𝜅, 0,0)

c) What is the minimal set of additional Magic Formula parameters need to be set to zero to
obtain this behaviour? Give list of the names of these parameters.

Finally combined slip has to be considered. When the signs of 𝜅, 𝛼 and 𝛾 are reversed, the forces and
moments also have to change sign.

[𝐹𝑥 , 𝐹𝑦 , 𝑀𝑧 ] = 𝑓𝑀𝐹 (𝐹𝑧 , 𝜅, 𝛼, 𝛾)

[−𝐹𝑥 , −𝐹𝑦 , −𝑀𝑧 ] = 𝑓𝑀𝐹 (𝐹𝑧 , −𝜅, −𝛼, −𝛾)

d) What is the minimal set of additional Magic Formula parameters need to be set to zero to
obtain this behaviour? Give list of the names of these parameters.

e) Use the function Plot_MagicFormula to plot the tyre characteristics of the set of parameters
that make the Magic Formula symmetric and compare the results to the initial non-
symmetric parameter set. Is there a major difference?

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