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DEVELOPMENT of a RIGID RING TIRE MODEL and COMPARISON AMONG VARIOUS TIRE MODELS for RIDE COMFORT SIMULATIONS Norm Frey Clemson University, [email protected]

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DEVELOPMENT of a RIGID RING TIRE MODEL and COMPARISON AMONG VARIOUS TIRE MODELS for RIDE COMFORT SIMULATIONS Norm Frey Clemson University, Norman.Frey@Us.Michelin.Com Clemson University TigerPrints All Theses Theses 8-2009 DEVELOPMENT OF A RIGID RING TIRE MODEL AND COMPARISON AMONG VARIOUS TIRE MODELS FOR RIDE COMFORT SIMULATIONS Norm Frey Clemson University, [email protected] Follow this and additional works at: https://tigerprints.clemson.edu/all_theses Part of the Engineering Mechanics Commons Recommended Citation Frey, Norm, "DEVELOPMENT OF A RIGID RING TIRE MODEL AND COMPARISON AMONG VARIOUS TIRE MODELS FOR RIDE COMFORT SIMULATIONS" (2009). All Theses. 615. https://tigerprints.clemson.edu/all_theses/615 This Thesis is brought to you for free and open access by the Theses at TigerPrints. It has been accepted for inclusion in All Theses by an authorized administrator of TigerPrints. For more information, please contact [email protected]. DEVELOPMENT OF A RIGID RING TIRE MODEL AND COMPARISON AMONG VARIOUS TIRE MODELS FOR RIDE COMFORT SIMULATIONS ____________________________________ A Thesis Presented to the Graduate School of Clemson University ____________________________________ In Partial Fulfillment of the Requirements for the Degree Master of Science Mechanical Engineering ____________________________________ by Norman W. Frey August 2009 Advisor: Dr. E. Harry Law ABSTRACT One vehicle subassembly that is of great importance to automobile manufacturers for tuning final vehicle performance is the pneumatic tire. Pneumatic tires present themselves as unique tuning tools as they 1) are the sole link between the roadway surface and the integrated vehicle suspension, chassis and steering systems, and 2) provide a wide range of tunability over many vehicle performances, including handling (steering feel as well as chassis dynamics), traction (braking, driving, and cornering), and ride comfort (roadway isolation). Therefore the vehicle manufacturing industry continues to research and refine various aspects of tire modeling to improve up-front integrated tire/vehicle CAE/CAD model fidelity over a wide range of operating conditions. Because tires are highly complex, nonlinear, viscous-elastic composite structures they prove to be difficult to accurately model over their entire operating range. As a result, vehicle and tire manufacturers continue to work with relatively simple models that adequately represent the tire for the integrated vehicle performance over an operating regime of interest. This paper evaluates several simple tire models in order to compare their relative advantages and applicability. One of the tire models being compared is a new embodiment in MatLab Simulink of a rigid ring tire model designed for ride comfort modeling of low-frequency and moderate amplitude roadway inputs, and whose data file is capable of being populated quickly using inexpensive standardized laboratory test methods. In addition to the aforementioned tire models, several iterations of an F-Tire tire model are interfaced with Intec’s SIMPACK multi-body simulation software as an industry reference. ii DEDICATION I would like to dedicate this thesis to my parents and my loving wife and family, who have been so supportive of my endeavors. Without them, completion of this thesis would have never been possible. iii ACKNOWLEDGMENTS I would like to express my deepest gratitude to my advisor, Dr. E. Harry Law, for the guidance and encouragement he provided throughout this research. Without his support, I could have never completed this thesis. I would also like to sincerely thank Michelin Americas Research Company for their invaluable support, Mr. Robert Solomon of Intec Incorporated for giving me the opportunity to conduct portions of this research using their SIMPACK multi-body simulation software, and Dr. Michael Gipser of Cosin Inc. for the use of his FTire tire model. I am also extremely grateful to Dr. Imtiaz-Ul Haque and Dr. Tim Rhyne for not only serving as my committee members and for the insights they provided, but also their patience and understanding. Finally, I would like to acknowledge my colleague and fellow Clemson Graduate, Robert Lawson, who helped me stay true to my course. iv TABLE OF CONTENTS Page TITLE PAGE................................................................................................................ i ABSTRACT.................................................................................................................. ii DEDICATION.............................................................................................................. iii ACKNOWLEDGMENTS ............................................................................................ iv LIST OF TABLES........................................................................................................ viii LIST OF FIGURES ...................................................................................................... ix EXPLANATION OF SYMBOLS ................................................................................ xiv 1. INTRODUCTION ....................................................................................... 1 Research Motivation and Problem Statement............................................. 1 Background and Literature Review ............................................................ 9 Outline of Thesis......................................................................................... 12 2. RIDE COMFORT TIRE MODELS............................................................. 14 Introduction................................................................................................. 14 Considerations for Selecting a Ride Comfort Tire Model.......................... 16 Ride Comfort Tire Model Functional Requirements............................ 16 Ride Comfort Tire Model Implementation Considerations.................. 18 Investigated Tire Models ............................................................................ 20 Overview of Tire Models...................................................................... 20 Spring-Type Ride Comfort Tire Models............................................... 23 Adaptation of Spring Tire Models for Fixed Spindle Testing .............. 26 Two Point Contact, Rigid Ring, Ride Comfort Tire Model ................. 29 Five Point Contact Follower Rigid Ring Ride Comfort Tire Model .... 31 Cosin FTire and Intec SIMPACK MBS Automotive Plus ................... 31 3. DERIVATION OF THE RIGID RING TIRE MODELS............................ 33 Introduction................................................................................................. 33 Equations of Motion for the Two Point Follower Rigid Ring Tire Model. 38 Extending from a Two Point to a Five Point Follower for the Rigid Ring. 53 4. CONDUCTING THE INVESTIGATION OF THE TIRE MODEL .......... 60 Introduction................................................................................................. 60 v Cleat Phase – Laboratory Measurement to Validate Tire Models.............. 63 Simulation Software.............................................................................. 63 Laboratory Tests ................................................................................... 63 Testing for Tire Model Parameters....................................................... 66 Development of Tire Models in Simulink .................................................. 68 Implementation Strategy....................................................................... 68 Obstacle “Conditioning”....................................................................... 70 Implementation of the Tire Models in Simulink......................................... 73 Development of the FTire and Simulink Combined Model ....................... 77 Implementation of the Tire Models in SIMPACK Vehicle Plus ................ 80 Ride Phase – Ride Comfort Predictions of Quarter Vehicle Models.......... 87 Tire Selection and Tire Modeling Considerations...................................... 89 5. RESULTS OF FIXED SPINDLE, CLEAT PHASE ................................... 95 Introduction................................................................................................. 95 Cleat Phase Results – Fixed Spindle Road Wheel Investigation................ 97 Fixed Spindle Road Wheel Cleat Testing............................................. 102 Load and Speed Effects on Laboratory Road Wheel Cleat Tests......... 104 Fixed Spindle Results – Point Contact Follower ........................................ 107 Fixed Spindle Results – Ring Contact Follower......................................... 114 Fixed Spindle Results – Constant Footprint Model.................................... 119 Fixed Spindle Results – Adaptive Footprint Model ................................... 124 Fixed Spindle Results – Two Point Follower Rigid Ring Model ............... 128 Fixed Spindle Results – Five Point Follower Rigid Ring Model ............... 132 Fixed Spindle Results – Cosin FTire and SIMPACK MBS ....................... 135 FTire Simulation Considerations .......................................................... 137 Cleat Phase Results – Analysis................................................................... 139 Cleat Phase Peak Spindle Force Objective Metrics.............................. 139 Cleat Phase Objective Metric Analysis................................................. 142 6..RESULTS OF QUARTER VEHICLE, RIDE PHASE ................................ 147 Ride Phase Simulation Overview ............................................................... 147 Ride Phase Roadway Obstacles...........................................................
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