DOCSLIB.ORG

Road Vehicle Dynamics

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Road Vehicle Dynamics Road Vehicle Dynamics Table of Contents: Foreword 1.9.14 Translation and Rotational Systems 1.9.15 Angular Momentum and Moments Preface of Inertia 1.9.16 Geared Systems Chapter 1 Introduction 1.10 Lagrange’s Equation 1.1 General 1.10.1 Degrees of Freedom 1.2 Vehicle System Classification 1.10.2 Generalized Coordinates 1.3 Dynamic System 1.10.3 Constraints 1.4 Classification of Dynamic System 1.10.4 Principle of Virtual Work Models 1.10.5 D’ Alembert’s Principle 1.5 Constraints, Generalized Coordinates, 1.10.6 Generalized Force and Degrees of Freedom 1.10.7 Lagrange’s Equations of Motion 1.6 Discrete and Continuous Systems 1.10.8 Holonomic Systems 1.7 Vibration Analysis 1.10.9 Nonholonomic Systems 1.8 Elements of Vibrating Systems 1.10.10 Rayleigh’s Dissipation Function 1.8.1 Spring Elements 1.11 Summary 1.8.2 Potential Energy of Linear Springs 1.12 References 1.8.3 Equivalent Springs 1.8.3.1 Springs in Parallel Chapter 2 Analysis of Dynamic Systems 1.8.3.2 Springs in Series 2.1 Introduction 1.8.4 Mass or Inertia Elements 2.2 Classification of Vibrations 1.8.5 Damping Elements 2.3 Classification of Deterministic Data 1.8.5.1 Viscous Damping 2.3.1 Sinusoidal Periodic Data 1.8.5.2 Coulomb Damping 2.3.2 Complex Periodic Data 1.8.5.3 Structural or Hysteretic Damping 2.3.3 Almost Periodic Data 1.8.5.4 Combination of Damping Elements 2.3.4 Transient Nonperiodic Data 1.9 Review of Dynamics 2.4 Linear Dynamic Systems 1.9.1 Newton’s Laws of Motion 2.4.1 Linear Single-Degree-of-Freedom 1.9.2 Kinematics of Rigid Bodies System 1.9.3 Linear Momentum 2.4.2 Free Vibration of a Single-Degree- 1.9.4 Principle of Conservation of Linear of-Freedom System Momentum 2.4.3 Forced Vibration of a Single- 1.9.5 Angular Momentum Degree-of-Freedom System 1.9.6 Equations of Motion for a Rigid 2.4.4 Linear Multiple-Degrees-of- Body Freedom System 1.9.7 Angular Momentum of a Rigid Body 2.4.5 Eigenvalues and Eigenvectors: 1.9.8 Principle of Work and Energy Undamped System 1.9.9 Conservation of Energy 2.4.6 Eigenvalues and Eigenvectors: 1.9.10 Principle of Impulse and Momentum Damped System 1.9.11 Mechanical Systems 2.4.7 Forced Vibration Solution of a 1.9.12 Translational Systems Multiple-Degrees-of-Freedom 1.9.13 Rotational Systems System Road Vehicle Dynamics 2.5 Nonlinear Dynamic Systems 3.3.2 Rolling Resistance of the Tire with Toe-In 2.5.1 Exact Methods for Nonlinear Systems 3.3.3 Rolling Resistance of the Turning Wheel 2.5.2 Approximate Methods for Nonlinear 3.3.4 Longitudinal Adhesion Coefficient Systems 3.3.5 Theoretical Model of Tire Longitudinal 2.5.2.1 Iterative Method Force Under Driving and Braking 2.5.2.2 Ritz Averaging Method 3.4 Tire Lateral Dynamics 2.5.2.3 Perturbation Method 3.4.1 Tire Cornering Characteristics 2.5.2.4 Variation of Parameter Method 3.4.2 Mathematical Model of the Tire 2.5.3 Graphical Method Cornering Characteristic 2.5.3.1 Phase Plane Representation 3.4.2.1 Simplified Mathematical Model of 2.5.3.2 Phase Velocity the Tire Cornering Characteristic 2.5.3.3 Pell’s Method 3.4.2.2 Cornering Characteristic with 2.5.4 Multiple-Degrees-of-Freedom Systems Lateral Bending Deformation of the 2.6 Random Vibrations Tire Case 2.6.1 Probability Density Function 3.4.3 Rolling Properties of Tires 2.6.2 Autocorrelation Function 3.4.3.1 Cambered Tire Models 2.7 Gaussian Random Process 3.4.3.2 Cambered Tire Model with Roll 2.7.1 Fourier Analysis Elastic Deformation of the Tire 2.7.1.1 Fourier Series Carcass 2.7.1.2 Fourier Integral 3.5 Tire Mechanics Model Considering 2.7.2 Response of a Single-Degree-of- Longitudinal Slip and Cornering Freedom Vibrating System Characteristics 2.7.2.1 Impulse Response Method 3.5.1 C.G. Gim Theoretical Model 2.7.2.2 Frequency Response Method 3.5.2 K.H. Guo Tire Model 2.7.3 Power Spectral Density Function 3.5.2.1 Steady-State Simplified 2.7.4 Joint Probability Density Function Theoretical Tire Model 2.7.5 Cross-Correlation Function 3.5.2.2 Nonsteady-State Semi-Empirical 2.7.6 Application of Power Spectral Tire Mechanics Model Densities to Vehicle Dynamics 3.5.3 H.B. Pacejka Magic Formula Model 2.7.7 Response of a Single-Degree-of- 3.6 References Freedom System to Random Inputs 2.7.8 Response of Multiple- Degrees- of- Chapter 4 Ride Dynamics Freedom Systems to Random Inputs 4.1 Introduction 2.8 Summary 4.2 Vibration Environment in Road Vehicles 2.9 References 4.2.1 Vibration Sources from the Road 4.2.1.1 Power Spectral Density in Spatial Chapter 3 Tire Dynamics Frequency 3.1 Introduction 4.2.1.2 Power Spectral Density in 3.2 Vertical Dynamics of Tires Temporal Frequency 3.2.1 Vertical Stiffness and Damping 4.2.2 Vehicle Internal Vibration Sources Characteristics of Tires 4.2.2.1 Vibration Sources from the 3.2.2 Vertical Vibration Mechanics Models of Powerplant Tires 4.2.2.1.1 Coordinates and Powerplant 3.2.2.1 Point Contact Model of Tires Modes 3.2.2.2 Fixed Contact Patch Model of 4.2.2.1.2 Vibration Sources from Tires Engine Firing Pulsation 3.2.2.3 Time-Varying Contact Patch Model 4.2.2.1.3 Vibration Sources from of Tires Powerplant Inertia Forces 3.2.3 Enveloping Characteristics of Tires and Moments 3.3 Tire Longitudinal Dynamics 4.2.2.1.4 Powerplant Isolation Design 3.3.1 Tire Rolling Resistance 4.2.2.2 Vibration Sources from the Driveline Road Vehicle Dynamics 4.2.2.2.1 Driveline Imbalance Chapter 5 Vehicle Rollover Analysis 4.2.2.2.2 Gear Transmission Error 5.1 Introduction 4.2.2.2.3 Second Order Excitation 5.1.1 Rollover Scenario 4.2.2.2.4 Driveshaft Modes and 5.1.2 Importance of Rollover Driveline Modes 5.1.3 Research on Rollover 4.2.2.3 Vibration Sources from the 5.1.4 Scope of This Chapter Exhaust System 5.2 Rigid Vehicle Rollover Model 4.3 Vehicle Ride Models 5.2.1 Rigid Vehicle Model 4.3.1 Quarter Car Model 5.2.2 Steady-State Rollover on a Flat Road 4.3.1.1 Modeling for the Quarter Car 5.2.3 Tilt Table Ratio Model 5.2.4 Side Pull Ratio 4.3.1.2 Modal Analysis for the Quarter Car 5.3 Suspended Vehicle Rollover Model Model 5.3.1 Steady-State Rollover Model for a 4.3.1.3 Dynamic Analysis for the Quarter Suspended Vehicle Car Model 5.3.2 Contribution from the Tire Deflection 4.3.1.3.1 Transmissibility Between the 5.3.3 Contribution from the Suspension Body Response and Road Deflection Excitation 5.3.4 Parameters Influencing the Suspended 4.3.1.3.2 Transmissibility Between the Rollover Model Body Response and Vehicle 5.4 Dynamic Rollover Model Excitation 5.4.1 Rigid Dynamic Model 4.3.1.3.3 Dynamic Response at 5.4.2 Dynamic Rollover Model for a Random Input Dependent Suspension Vehicle 4.3.2 Bounce-Pitch Model 5.4.3 Dynamic Rollover Model for an 4.3.3 Other Modeling Independent Suspension Vehicle 4.4 Seat Evaluation and Modeling 5.4.4 Rollover Simulation Tools 4.4.1 Introduction 5.5 Dynamic Rollover Threshold 4.4.2 SEAT Value 5.5.1 Dynamic Stability Index 4.4.3 Seat Velocity 5.5.2 Rollover Prevention Energy Reserve 4.4.4 Linear Seat Modeling and 5.5.3 Rollover Prevention Metric Transmissibility 5.5.4 Critical Sliding Velocity 4.4.5 Nonlinear Seat Modeling and 5.6 Occupant in Rollover Transmissibility 5.6.1 Overview of the Occupant and 4.5 Discomfort Evaluation and Human Body Rollover Model 5.6.2 Testing of an Occupant Model 4.5.1 Discomfort and Subjective Evaluation 5.6.3 Simulation of Occupant Rollover 4.5.2 Objective Evaluation of Ride Discomfort 5.7 Safety and Rollover Control 4.5.2.1 Weighted Root-Mean-Square 5.7.1 Overview of Rollover Safety Method 5.7.2 Sensing of Rollover 4.5.2.2 Objective Evaluation by the 5.7.3 Rollover Safety Control Vibration Dose Value 5.8 Summary 4.5.3 Linear Human Body Modeling 5.9 References 4.5.4 Objective Evaluation by Nonlinear Seat-Human Body Modeling Chapter 6 Handling Dynamics 4.6 Active and Semi-Active Control 6.1 Introduction 4.6.1 Introduction 6.1.1 Tire Cornering Forces 4.6.2 Basic Control Concepts 6.1.2 Forces and Torques in the Tire Contact 4.6.3 Active Control Area 4.6.4 Semi-Active Control 6.2 The Simplest Handling Models-Two- 4.7 Summary Degrees-of-Freedom Yaw Plane Model 4.8 References 6.3 Steady-State Handling Characteristics Road Vehicle Dynamics 6.3.1 Yaw Velocity Gain and Understeer 7.2.1.2 Torque Calculations Gradient 7.2.2 Disk Brakes 6.3.1.1 Neutral Steer 7.2.3 Consideration of Temperature 6.3.1.2 Understeer 7.3 Load Transfer During Braking 6.3.1.3 Oversteer 7.3.1 Simple Braking on a Horizontal Road 6.3.2 Difference Between Slip Angles of 7.3.2 Effect of Aerodynamic and Other Forces the Front and Rear Wheels 7.3.2.1 Rolling Resistance 6.3.3 Ratio of Radius of Turn 7.3.2.2 Aerodynamic Drag 6.4 Dynamic Characteristics of Handling 7.3.2.3 Powertrain Resistance 6.4.1 Handling Damping and Natural 7.3.2.4 Load Transfer on a Horizontal Frequency Plane 6.4.2 Step Steer Input Response 7.3.3 Effect of Grade 6.4.3 Ramp Steer Input Response 7.4 Optimal Braking Performance 6.4.4 Impulse Input Excitation Response 7.4.1 Braking of a Single Axle 6.4.5 Frequency Response of Yaw Velocity 7.4.1.1 Braking of the Front Axle 6.4.6 Stability Analysis 7.4.1.2 Braking of the Rear Axle 6.4.7 Curvature Response 7.4.1.3 Safety Considerations 6.5 Chassis System Effects on Handling 7.4.2 Braking at Both Axles Characteristics 7.4.2.1 Front Lock-Up 6.5.1 Lateral Force Transfer Effects on 7.4.2.2 Rear Lock-Up Cornering 7.4.3 Achieving Optimal Braking Performance 6.5.2 Steering System 7.5 Considerations of Vehicle Safety 6.5.3 Camber Change Effect 7.5.1 Skid (Slip) Condition and Braking 6.5.4 Roll Steer Effect 7.5.2 Anti-Lock Braking System 6.5.5 Lateral Force Compliance Steer 7.6 Pitch Plane Models 6.5.6 Aligning Torque Effects 7.7 Recent Advances in Automotive Braking 6.5.7 Effect
Load more

Recommended publications
  • Anti-Roll Bar Modeling for NVH and Vehicle
    Anti-Roll Bar Model for NVH and Vehicle Dynamics Analyses Anti-Roll Bar Model for NVH and Vehicle Dynamics Analyses Tobolar,Anti-Roll Jakub and Bar Leitner, Modeling Martin and Heckmann, for NVH Andreas and Vehicle Dynamics Analyses 99 Jakub Tobolárˇ1 Martin Leitner1 Andreas Heckmann1 1German Aerospace Center (DLR), Institute of System Dynamics and Control, Wessling, [email protected] Abstract A The latest extension of the DLR FlexibleBodies Library concerns the field of automotive applications, namely the anti-roll bar. For the particular purposes of NVH and ve- hicle dynamics, the anti-roll bar module provides two ap- propriate levels of detail, both being based upon the beam preprocessor. In this paper, the procedure on preparing the models and their application for particular automotive related analyses is presented. Keywords: anti-roll bar, vehicle chassis, flexible body, beam model, finite element C S Figure 1. Vehicle axle with an anti-roll bar (color emphasized, 1 Introduction courtesy of Wikimedia Commons). Whenever an automotive suspension is excited in vertical direction due to road irregularities or driving maneuvers (Heckmann et al., 2006) provides capabilities to incorpo- in an asymmetrical way, i.e. differently on the right and rate data that originate from FE models in Modelica mod- the left side of the vehicle, the roll motion of the car body els. Thus, a tool chain to perform vehicle dynamics sim- is stimulated. This concerns – in common case – the com- ulation including the structural characteristics of anti-roll fort and driving experience of the car passengers. In limit bars is in principle available.
    [Show full text]
  • Integrated Vehicle Dynamics Control Via Coordination of Active Front
    Integrated vehicle dynamics control via coordination of active front steering and rear braking Moustapha Doumiati, Olivier Sename, Luc Dugard, John Jairo Martinez Molina, Peter Gaspar, Zoltan Szabo To cite this version: Moustapha Doumiati, Olivier Sename, Luc Dugard, John Jairo Martinez Molina, Peter Gaspar, et al.. Integrated vehicle dynamics control via coordination of active front steering and rear braking. European Journal of Control, Elsevier, 2013, 19 (2), pp.121-143. 10.1016/j.ejcon.2013.03.004. hal- 00759487 HAL Id: hal-00759487 https://hal.archives-ouvertes.fr/hal-00759487 Submitted on 3 Dec 2012 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Integrated vehicle dynamics control via coordination of active front steering and rear braking Moustapha Doumiati, Olivier Sename, Luc Dugard, John Martinez,a ∗ Peter Gaspar, Zoltan Szabob aGipsa-Lab UMR CNRS 5216, Control Systems Department, 961 Rue de la Houille Blanche, 38402 Saint Martin d’Hères, France, Email: [email protected], {surname.name}@gipsa-lab.grenoble-inp.fr bComputer and Automation Research Institue, Hungarian Academy of Sciences, Kende u. 13-17, H-1111, Budapest, Hungary, Email: gaspar, [email protected] January 26, 2012 Abstract This paper investigates the coordination of active front steering and rear braking in a driver- assist system for vehicle yaw control.
    [Show full text]
  • Influence of Body Stiffness on Vehicle Dynamics Characteristics In
    Influence of Body Stiffness on Vehicle Dynamics Characteristics in Passenger Cars Master's thesis in Automotive Engineering OSKAR DANIELSSON ALEJANDRO GONZALEZ´ COCANA~ Department of Applied Mechanics Division of Vehicle Engineering and Autonomous Systems Vehicle Dynamics group CHALMERS UNIVERSITY OF TECHNOLOGY G¨oteborg, Sweden 2015 Master's thesis 2015:68 MASTER'S THESIS IN AUTOMOTIVE ENGINEERING Influence of Body Stiffness on Vehicle Dynamics Characteristics in Passenger Cars OSKAR DANIELSSON ALEJANDRO GONZALEZ´ COCANA~ Department of Applied Mechanics Division of Vehicle Engineering and Autonomous Systems Vehicle Dynamics group CHALMERS UNIVERSITY OF TECHNOLOGY G¨oteborg, Sweden 2015 Influence of Body Stiffness on Vehicle Dynamics Characteristics in Passenger Cars OSKAR DANIELSSON ALEJANDRO GONZALEZ´ COCANA~ c OSKAR DANIELSSON, ALEJANDRO GONZALEZ´ COCANA,~ 2015 Master's thesis 2015:68 ISSN 1652-8557 Department of Applied Mechanics Division of Vehicle Engineering and Autonomous Systems Vehicle Dynamics group Chalmers University of Technology SE-412 96 G¨oteborg Sweden Telephone: +46 (0)31-772 1000 Cover: Volvo S60 model reinforced with bars for the multibody dynamics simulation tool MSC Adams Chalmers Reproservice G¨oteborg, Sweden 2015 Influence of Body Stiffness on Vehicle Dynamics Characteristics in Passenger Cars Master's thesis in Automotive Engineering OSKAR DANIELSSON ALEJANDRO GONZALEZ´ COCANA~ Department of Applied Mechanics Division of Vehicle Engineering and Autonomous Systems Vehicle Dynamics group Chalmers University of Technology Abstract Automotive industry is a highly competitive market where details play a key role. Detecting, understanding and improving these details are needed steps in order to create sustainable cars capable of giving people a premium driving experience. Body stiffness is one of this important specifications of a passenger car which affects not only weight thus fuel consumption but also handling, steering and ride characteristics of the vehicle.
    [Show full text]
  • MAE 515 Advanced Vehicle Dynamics
    MAE 515 Advanced Automotive Vehicle Dynamics Course Website: https://engineeringonline.ncsu.edu/onlinecourses/coursehomepage /SPR_2018/MAE515.html This course covers advanced materials related to mathematical models and designs in automotive vehicles as multiple degrees of freedom systems to describe their dynamic behaviors in acceleration, braking, steering, rollover, aerodynamics, suspensions, tires, and drive trains. 3 credit hours. • Prerequisite Undergraduate courses in dynamics of machines (MAE 315), aerospace structures (MAE 472) or equivalent or consent of instructor. • Course Objectives A special focus of this course aims at enabling students to apply the theories they learned in mechanics, energy, structures, design, materials, dynamics, aerodynamics, vibrations, and controls to a real-world system they encounter every day. From the basic theories, this course further extends to the development in next- generation vehicle technologies. By the end of the course, the students will be able to: • Demonstrate a skill to apply basic theories to establish useful models for either the entire vehicle or components of the vehicle. • Interpret the properties of critical factors in vehicle motion control • Apply the models established from basic theories for vehicle design and improvement • Identify key components and their working principles of modern vehicles • Identify the technology improvements in vehicles in the last several decades • Identify technologies critical to next-generation vehicle designs based on literature reviews and
    [Show full text]
  • Active Electromagnetic Suspension System for Improved Vehicle Dynamics
    Active electromagnetic suspension system for improved vehicle dynamics Citation for published version (APA): Gysen, B. L. J., Paulides, J. J. H., Janssen, J. L. G., & Lomonova, E. A. (2008). Active electromagnetic suspension system for improved vehicle dynamics. In IEEE Vehicle Power and Propulsion Conference, 2008 : VPPC '08 ; 3 - 5 Sept. 2008, Harbin, China (pp. 1-6). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/VPPC.2008.4677555 DOI: 10.1109/VPPC.2008.4677555 Document status and date: Published: 01/01/2008 Document Version: Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research.
    [Show full text]
  • Chapter 4 Vehicle Dynamics
    Chapter 4 Vehicle Dynamics 4.1. Introduction In order to design a controller, a good representative model of the system is needed. A vehicle mathematical model, which is appropriate for both acceleration and deceleration, is described in this section. This model will be used for design of control laws and computer simulations. Although the model considered here is relatively simple, it retains the essential dynamics of the system. 4.2. System Dynamics The model identifies the wheel speed and vehicle speed as state variables, and it identifies the torque applied to the wheel as the input variable. The two state variables in this model are associated with one-wheel rotational dynamics and linear vehicle dynamics. The state equations are the result of the application of Newton’s law to wheel and vehicle dynamics. 4.2.1. Wheel Dynamics The dynamic equation for the angular motion of the wheel is w& w =[Te - Tb - RwFt - RwFw]/ Jw (4.1) where Jw is the moment of inertia of the wheel, w w is the angular velocity of the wheel, the overdot indicates differentiation with respect to time, and the other quantities are defined in Table 4.1. 31 Table 4.1. Wheel Parameters Rw Radius of the wheel Nv Normal reaction force from the ground Te Shaft torque from the engine Tb Brake torque Ft Tractive force Fw Wheel viscous friction Nv direction of vehicle motion wheel rotating clockwise Te Tb Rw Ft + Fw ground Mvg Figure 4.1. Wheel Dynamics (under the influence of engine torque, brake torque, tire tractive force, wheel friction force, normal reaction force from the ground, and gravity force) The total torque acting on the wheel divided by the moment of inertia of the wheel equals the wheel angular acceleration (deceleration).
    [Show full text]
  • Optimum Vehicle Dynamics Control Based on Tire Driving and Braking
    23 Special Issue Modeling, Analysis and Control Methods for Improving Vehicle Dynamic Behavior Optimum Vehicle Dynamics Control Based on Tire Driving and Research Braking Forces Report Yoshikazu Hattori Abstract This paper discusses a method of controlling This report proposes a method of distributing the tire force exerted by each wheel of a vehicle the target force and moment of a vehicle to each as a means of ensuring steerability and stability. tire by considering variations in the tire force Conventional vehicle stability control systems caused by changes in the tire's vertical load, the generally rely on feedback of vehicle states such longitudinal slip, and so on. As a result, the as the side slip angle and yaw rate to enable proposed strategy achieves seamless behavior stabilization under a range of vehicle/road surface between the normal and the critical limit regions. combinations. On a low-friction road surface that And, we have confirmed that excellent levels of is incapable of applying sufficient force, steerability and stability can be achieved, relative however, it is unreasonable to expect a system to to conventional stability control systems, by provide sufficient control upon the occurrence of simulating a slalom maneuver. Also, this undesirable vehicle behavior. The tire force has a strategy enables effective vehicle control in the non-linear saturating characteristic, the value of face of unstable phenomena involving which varies with the vehicle state and road unbalanced lateral forces arising from changes in surface, making it difficult to determine the force the vehicle behavior, such as closing the throttle to be generated by each tire to ensure the desired during a turn maneuver.
    [Show full text]
  • Active Electromagnetic Suspension System for Improved Vehicle Dynamics
    Active electromagnetic suspension system for improved vehicle dynamics Citation for published version (APA): Gysen, B. L. J., Paulides, J. J. H., Janssen, J. L. G., & Lomonova, E. (2010). Active electromagnetic suspension system for improved vehicle dynamics. IEEE Transactions on Vehicular Technology, 59(3), 1156-1163. https://doi.org/10.1109/TVT.2009.2038706 DOI: 10.1109/TVT.2009.2038706 Document status and date: Published: 01/01/2010 Document Version: Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal.
    [Show full text]
  • Tyre Dynamics, Tyre As a Vehicle Component Part 1.: Tyre Handling Performance
    1 Tyre dynamics, tyre as a vehicle component Part 1.: Tyre handling performance Virtual Education in Rubber Technology (VERT), FI-04-B-F-PP-160531 Joop P. Pauwelussen, Wouter Dalhuijsen, Menno Merts HAN University October 16, 2007 2 Table of contents 1. General 1.1 Effect of tyre ply design 1.2 Tyre variables and tyre performance 1.3 Road surface parameters 1.4 Tyre input and output quantities. 1.4.1 The effective rolling radius 2. The rolling tyre. 3. The tyre under braking or driving conditions. 3.1 Practical brakeslip 3.2 Longitudinal slip characteristics. 3.3 Road conditions and brakeslip. 3.3.1 Wet road conditions. 3.3.2 Road conditions, wear, tyre load and speed 3.4 Tyre models for longitudinal slip behaviour 3.5 The pure slip longitudinal Magic Formula description 4. The tyre under cornering conditions 4.1 Vehicle cornering performance 4.2 Lateral slip characteristics 4.3 Side force coefficient for different textures and speeds 4.4 Cornering stiffness versus tyre load 4.5 Pneumatic trail and aligning torque 4.6 The empirical Magic Formula 4.7 Camber 4.8 The Gough plot 5 Combined braking and cornering 5.1 Polar diagrams, Fx vs. Fy and Fx vs. Mz 5.2 The Magic Formula for combined slip. 5.3 Physical tyre models, requirements 5.4 Performance of different physical tyre models 5.5 The Brush model 5.5.1 Displacements in terms of slip and position. 5.5.2 Adhesion and sliding 5.5.3 Shear forces 5.5.4 Aligning torque and pneumatic trail 5.5.5 Tyre characteristics according to the brush mode 5.5.6 Brush model including carcass compliance 5.6 The brush string model 6.
    [Show full text]
  • Components Sizing and Performance Analysis of Hydro-Mechanical Power Split Transmission Applied to a Wheel Loader
    energies Article Components Sizing and Performance Analysis of Hydro-Mechanical Power Split Transmission Applied to a Wheel Loader Shaoping Xiong 1,*, Gabriel Wilfong 2 and John Lumkes Jr. 2 1 Department of Mechanical Design & Manufacturing, College of Engineering, China Agricultural University-East Campus, 17 Qinghua East Rd, Haidian District, Beijing 100083, China 2 Department of Agricultural & Biological Engineering, College of Engineering, Purdue University-Main Campus, 225 S. University Street, West Lafayette, IN 47907, USA; [email protected] (G.W.); [email protected] (J.L.J.) * Correspondence: [email protected] Received: 26 March 2019; Accepted: 19 April 2019; Published: 28 April 2019 Abstract: The powertrain efficiency deeply affects the performance of off-road vehicles like wheel loaders in terms of fuel economy, load capability, smooth control, etc. The hydrostatic transmission (HST) systems have been widely adopted in off-road vehicles for providing large power density and continuous variable control, yet using relatively low efficiency hydraulic components. This paper presents a hydrostatic-mechanical power split transmission (PST) solution for a 10-ton wheel loader for improving the fuel economy of a wheel loader. A directly-engine-coupled HST solution for the same wheel loader is also presented for comparison. This work introduced a sizing approach for both PST and HST, which helps to make proper selections of key powertrain components. Furthermore, this work also presented a multi-domain modeling approach for the powertrain
    [Show full text]
  • Vehicle Handling Dynamics: Theory and Application
    Contents Preface .......................................................................................................................... xi Preface to Second Edition .......................................................................................... xiii Symbols........................................................................................................................ xv CHAPTER 1 Vehicle Dynamics and Control .........................................1 1.1 Definition of the Vehicle.....................................................................1 1.2 Virtual Four-Wheel Vehicle Model ....................................................1 1.3 Control of Motion...............................................................................2 CHAPTER 2 Tire Mechanics .................................................................5 2.1 Preface.................................................................................................5 2.2 Tires Producing Lateral Force ............................................................5 2.2.1 Tire and Side-Slip Angle.......................................................... 5 2.2.2 Deformation of Tire with Side Slip and Lateral Force ........... 7 2.2.3 Tire Camber and Lateral Force................................................ 8 2.3 Tire Cornering Characteristics............................................................9 2.3.1 Fiala’s Theory........................................................................... 9 2.3.2 Lateral Force..........................................................................
    [Show full text]
  • VEHICLE DYNAMICS NVRIYO PLE SCIENCES APPLIED of UNIVERSITY AHOHCUEREGENSBURG FACHHOCHSCHULE OHCUEFÜR HOCHSCHULE HR COURSE SHORT Rf R Er Rill Georg Dr
    FACHHOCHSCHULE REGENSBURG UNIVERSITY OF APPLIED SCIENCES HOCHSCHULE FÜR TECHNIK WIRTSCHAFT SOZIALES SHORT COURSE Prof. Dr. Georg Rill © Brasil, August 2007 VEHICLE DYNAMICS Contents Contents I 1 Introduction 1 1.1 Terminology ................................... 1 1.1.1 Vehicle Dynamics ............................ 1 1.1.2 Driver .................................. 1 1.1.3 Vehicle .................................. 2 1.1.4 Load ................................... 3 1.1.5 Environment .............................. 3 1.2 Definitions .................................... 3 1.2.1 Reference frames ............................ 3 1.2.2 Toe-in, Toe-out ............................. 4 1.2.3 Wheel Camber ............................. 5 1.2.4 Design Position of Wheel Rotation Axis ............... 5 1.2.5 Steering Geometry ........................... 6 1.3 Driver ....................................... 8 1.4 Road ....................................... 9 2 TMeasy - An Easy to Use Tire Model 11 2.1 Introduction ................................... 11 2.1.1 Tire Development ............................ 11 2.1.2 Tire Composites ............................ 11 2.1.3 Tire Forces and Torques ........................ 12 2.1.4 Measuring Tire Forces and Torques ................. 13 2.1.5 Modeling Aspects ........................... 14 2.1.6 Typical Tire Characteristics ...................... 17 2.2 Contact Geometry ................................ 18 2.2.1 Basic Approach ............................. 18 2.2.2 Local Track Plane ............................ 21 2.2.3
    [Show full text]