Vehicle Dynamics: Dr. Girish Chandran V

Vehicle Dynamics
Dr. Girish Chandran V

Associate Professor
Department of Mechanical engineering
Energy House, Block A
Ph.: 8075061417
gchandranv@ddn.upes.ac.in
Course Outcome
• CO1. Design and Develop the Mathematical Models from Physical
systems
• CO2. Analyze the different Road Loads on a given vehicle
• CO3. Analyze the different Tyre Mechanics under static and
dynamic conditions
• CO4. Design and Analyze the Steering system of a vehicle for its
steady state as well as different driving conditions
• CO5. Design and Analyze Suspension system of a vehicle for its
steady state as well as different driving conditions
• CO6. Design the Dynamic Axle loads transfer due to gradient, low
speed acceleration etc…
UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 2
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Lecture 1 Outcome
• LO1. Understand the course syllabus and Evaluation plan
• LO2. Basic understanding of mathematical models and its
application to vehicle dynamics
• LO3. Degrees of freedom and its importance in mathematical
modelling
• LO4. Basic understanding of Single Degree freedom systems

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Course Syllabus
• INTRODUCTION
• Single, Two Degree of Freedom with Free Forced and damped vibrations –
Development of Mathematical models – Inputs and Outputs for Mathematical
models – ISO 8555/DIN 7000, Lumped Mass – Vehicle Fixed Coordinate system –
Earth fixed coordinate system – Dynamic Axle Loads
• TIRE MECHANICS:
• Elastomers- Viscoelasticity- Influence of low and High frequency on viscoelasticity
of elastomers-temperature influence- Temperature Vs. Frequency- Tire
temperature – Tire inflation Pressure /load – Velocity – Tire materials & Design –
Tire Slip- Membrane force formation & effect of radius of curvature – Free rolling
conditions- Sidewall bending & its influence on effect of contact patch, inflation of
pressure – inflation of pressure Vs. Contact patch-longitudinal forces acting on
contact patch – Development of lateral forces in tyres- ply steer & conicity- Tyre
brush model.
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Course Syllabus Contd..
• BRAKING PERFORMANCE & ROAD LOADS
• Basic Equations: Aerodynamic Forces- – Rolling Resistances: Spring,
Dashpot and Friction, contact patch, locking of front and rear wheels and
their effects, influence of slip and slip angle for longitudinal and lateral
forces.
• RIDE CHARACTERSTICS
• Excitation Sources – Vehicle response properties: Suspension Isolation,
Stiffness, damping – Wheel Hop Resonances, Rigid Body bounce,
Bounce/ pitch frequencies.

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Course Syllabus Contd..
• STAEDY STATE CORNERING
• Low speed turning- high speed cornering – tire cornering forces –
suspension effects on cornering –– Anti squat and Anti Pitch suspension
geometry – Antidive suspension geometry – Static Rollover of a rigid
vehicle & suspended Vehicle.
• FORWARD VEHICLE DYNAMICS
• Parked car on a level road, Inclined road and Banked Road – Accelerating
Car on level & inclined road- Calculation of Tractive Effort and reactions
for different drives

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Text Book and Ref
• Text Book
Fundamentals of Vehicle Dynamics by Thomas D. Gillespie

Vehicle Dynamics Theory and Applications by Reza N. Jazar, Springer
• Reference:
• Refer Course Plan

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Evaluation
• Internal Assessment - 30%
• Mid- term Examination - 20%
• End -term Examination - 50%
• Internal Assessment:
• Class test (2 Nos, before mid exam and before end exam) – 40%
• Assignment (Quizzes, Tutorials, Home work) - 30%
• General Conduct (Attendance, class discipline, on time submission) -30%

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Vehicle Dynamics
• Why do we need to study Vehicle dynamics?
The primary forces by which a high speed motor vehicle is

controlled are developed in “four patches” – where tire is in
contact with road.
Two basic approach in VD – Empirical approach

Analytical Approach

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Vehicle Dynamics – Analytical Approach
• Mathematical Modelling
INPUT Mathematical OUTPUT
Model
Testing standards:
ISO 15037

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Vehicle Dynamics
• Vehicle Dynamics study includes
• Longitudinal Dynamics
• Lateral Dynamics
• Vertical Dynamics
• Vehicle Dynamics study may be considered as

• Driving Dynamics
• Safety Dynamics
• Ride Comfort

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Vehicle Dynamics

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Vehicle Dynamics

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Vehicle Dynamics-mathematical modelling

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Vertical Dynamics
Components:
Lumped Mass (Mass of vehicle)
Tyre
Suspension
Mathematical model elements:

Mass
Spring (Elastic)
Dashpot (Damping)
Friction
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Vertical Dynamics
Inputs:
Outputs:
Effect:

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Vertical Dynamics
Selection of mathematical model:
Degrees of freedom (DOF)

The number of degrees of freedom of a vibrating system is the sum total of all
ways in which the masses of the system can be independently displaced from their
respective equilibrium positions
Minimum number of coordinates required to specify a configuration

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Single DOF systems

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Single DOF systems

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Lecture 2 Outcome
• LO1. Application of mathematical modelling to a vehicle
• LO2. Degrees of freedom and its importance in mathematical
modelling
• LO3. Basic understanding of Single Degree freedom systems

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Lecture 3 Outcome
• LO1. Modelling of 1DOF systems.
• LO2. Derive equations for natural frequencies
• LO3. Applications of 1 DOF systems

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Lecture 4 Outcome
• LO1. Modelling of 2DOF systems.
• LO2. Derive equations for natural frequencies
• LO3. Applications of 2 DOF systems

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Lecture 5 Outcome
• LO1. Basic understanding and significance of mode shapes.
• LO2.
• LO3.

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Tire Mechanics
• Functions of Tire:
• Supports Vertical load (cushion for road shock)
• Develop longitudinal forces (Acceleration and Braking)
• Develop Lateral forces (Cornering, turning)

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Tire Mechanics
• Forces and moments acting on Tire:

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Tire Mechanics
• Vehicle and earth coordinate systems:

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics

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Tire Mechanics
Hydroplaning
Dynamic Hydroplaning
Viscous Hydroplaning
Rubber Hydroplaning
Dynamic Hydroplaning Speed V

where V in Km/hr, p in psi

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Tire Mechanics - Elastomers

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•VISCOELASTIC DEFORMATION
• Polymeric materials when subjected to a uni-axial force or a shear stress,
behave differently from perfectly elastic material or a Newtonian fluid.
• A perfectly elastic material on application of uni-axial force, follow Hook’s
law which states the induced stress is directly proportional to the resultant
strain. The proportionality constant is referred as elastic modulus of the
material.
• A Newtonian fluid on application of shear stress, deform continuously at a
strain rate proportional to the applied shear stress. The proportionality
constant is referred as viscosity of the fluid.
• Polymeric materials exhibit mechanical properties which are in between
these ideal cases and hence are termed viscoelastic
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•VISCOELASTIC DEFORMATION
• The most characteristic features of viscoelastic materials are that they exhibit
a time dependent strain response to a constant stress (creep) and a time
dependent stress response to a constant strain (relaxation).
• In addition when the applied stress is removed the materials have the ability
to recover slowly over a period of time.
• These effects can also be observed in metals but the difference is that in
plastics they occur at room temperature whereas in metals they only occur at
very high temperatures
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Like the young’s modulus is different from storage modulus,

complex viscosity (η*) is different from dynamic viscosity (η).

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The time-temperature superposition principle states that the time
response of a material at different temperature can be shifted in the
time scale by a shift factor aT if the underlying molecular motions for the
time response at different temperature share the same mechanism and
change in temperature only affects the corresponding response speed
WLF equation:
Arheneus equation:

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Time Temperature Super

position:

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Tire Mechanics

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Tire Mechanics

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Vehicle Aerodynamics
Drag
Pressure drag – Due to change in velocity because of form and shape
Friction drag – Due to surface roughness, boundary layer
Vortex drag – Due to bluff body and flow separtion
Lift
Positive lift – Lifts the car upwards
Negative lift – Creates downward force

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Objectives of improvement of flow past vehicle bodies:
•reduction of fuel consumption
•more favorable comfort characteristics(mud deposition on body, noise,
ventilating and cooling of passenger compartment)
•improvement of driving characteristics(stability, handling, traffic safety)
Vehicle aerodynamics includes three interacting flow fields:

•flow past vehicle body
•flow past vehicle components (wheels, heat exchanger, brakes, windshield),
•flow in passenger compartment
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Learn more about:
Wings
Spoiler
Splitter
Air dam
Canards
Under tray
Diffusers and strakes
Side skirts
Vortex generators
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Steady state Cornering

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Bicycle model

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Vehicle Dynamics: Dr. Girish Chandran V

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Vehicle Dynamics

Dr. Girish Chandran V

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 4

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 6

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 7

Fundamentals of Vehicle Dynamics by Thomas D. Gillespie

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 8

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 9

The primary forces by which a high speed motor vehicle is

Two basic approach in VD – Empirical approach

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 1

INPUT Mathematical OUTPUT

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 11

• Vehicle Dynamics study may be considered as

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 12

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 13

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 14

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 18

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 19

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 20

Mathematical model elements:

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 22

Degrees of freedom (DOF)

Minimum number of coordinates required to specify a configuration

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 23

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 24

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 25

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 26

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 27

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 28

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 29

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 30

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 31

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 32

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 33

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 34

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 35

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 36

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 37

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 38

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 39

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 40

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 41

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 42

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 43

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 44

Dynamic Hydroplaning Speed V

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 45

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 46

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 47

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 50

Like the young’s modulus is different from storage modulus,

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 51

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 52

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 53

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 54

Time Temperature Super

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 55

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 56

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 57

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 58

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 59

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran 60