DOCSLIB.ORG

Andersen, Christoffer Leidland.Pdf

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Andersen, Christoffer Leidland.Pdf PREFACE This Master Thesis are considering the design, analysis and testing of the steering system on a Formula Student racing car. The car is built at the University of Stavanger during the spring 2013 and will compete at the Silverstone Circuit in July 2013. I would like to thank the following persons: Jan Kåre Bording, chief engineer at the workshop at University of Stavanger, for his helpful advice and support during the project Hirpa Lemu Gelgele, associate professor at the University of Stavanger, for being my supervisor during the project and for his help and support during the project Rosenberg Worley Parsons Group for the decision to be our main sponsor and helping us financially to achieve our goals with the car Stavanger, 24.06-2013 Christoffer Leidland Andersen Romertal ii Table of Contents PREFACE ............................................................................................................................................. I TABLE OF CONTENTS .................................................................................................................... III SUMMARY ..................................................................................................................................... VIII 1 INTRODUCTION ................................................................................................................... 10 1.1 Background ...................................................................................................................................... 10 1.2 The Objective ................................................................................................................................... 10 1.3 The Aim ............................................................................................................................................ 11 1.4 Conclusions ....................................................................................................................................... 11 1.5 Recommendations ............................................................................................................................ 11 2 TIRE ........................................................................................................................................... 12 2.1 Lateral force ..................................................................................................................................... 12 2.2 Pneumatic trail ................................................................................................................................. 12 2.3 Mechanical trail ................................................................................................................................ 13 2.4 Slip angle .......................................................................................................................................... 13 3 STEERING SYSTEM ............................................................................................................ 14 3.1 Power Assisted Steering Systems ..................................................................................................... 14 3.1.1 Power Assisted Rack and Pinion ......................................................................................................... 14 3.2 Manual Steering Systems ................................................................................................................. 15 3.2.1 Worm and Roller ................................................................................................................................. 15 3.2.2 Worm and Sector ................................................................................................................................. 16 3.2.3 Worm and Nut ..................................................................................................................................... 16 3.2.4 Cam and Lever .................................................................................................................................... 17 3.2.5 Rack and Pinion ................................................................................................................................... 17 3.3 Stability and Control ........................................................................................................................ 18 3.3.1 Ackerman ............................................................................................................................................ 18 3.3.2 Toe In/Out ........................................................................................................................................... 20 3.3.3 Camber Angle ...................................................................................................................................... 22 3.3.4 Caster Angle ........................................................................................................................................ 22 iii 3.3.5 Bump-steer .......................................................................................................................................... 22 3.3.6 Neutral-/under-/oversteer ..................................................................................................................... 23 4 STEERING SYSTEM DESIGN GUIDELINES .............................................................. 26 4.1 Formula Student SAE 2013 Rules .................................................................................................... 26 4.1.1 Wheels ................................................................................................................................................. 26 4.1.2 Tires ..................................................................................................................................................... 26 4.1.3 Steering ................................................................................................................................................ 26 4.1.4 Steering Wheel .................................................................................................................................... 27 5 STEERING SYSTEM DESIGN ........................................................................................... 28 5.1 Steering System Considerations ....................................................................................................... 28 5.2 The Seering System .......................................................................................................................... 30 5.3 The Acting Forces............................................................................................................................. 31 5.3.1 Down-Forces ....................................................................................................................................... 32 5.3.2 Bump Forces ........................................................................................................................................ 33 5.3.3 Cornering Forces ................................................................................................................................. 33 5.3.4 Braking Forces ..................................................................................................................................... 37 5.4 The Design ........................................................................................................................................ 39 5.4.1 The Offset Arm .................................................................................................................................... 39 5.4.2 Steering Rack Position ......................................................................................................................... 40 5.4.3 Bolt Calculation ................................................................................................................................... 45 5.4.4 Rod End ............................................................................................................................................... 46 5.4.5 Tie rod ................................................................................................................................................. 46 5.4.6 Quick Release Fastening and Position ................................................................................................. 48 5.4.7 The Design’s Influence On The Car .................................................................................................... 48 6 ANALYSIS AND SIMULATIONS ..................................................................................... 50 6.1 Multi-body simulation model ........................................................................................................... 50 6.1.1 Upper control arms .............................................................................................................................. 51 6.1.2 Lower control arms .............................................................................................................................. 51 6.1.3 Tie rod ................................................................................................................................................. 51 6.1.4 Pushrod ................................................................................................................................................ 51 6.1.5 Rocker/Damper ...................................................................................................................................
Load more

Recommended publications
  • Mechanics of Pneumatic Tires
    CHAPTER 1 MECHANICS OF PNEUMATIC TIRES Aside from aerodynamic and gravitational forces, all other major forces and moments affecting the motion of a ground vehicle are applied through the running gear–ground contact. An understanding of the basic characteristics of the interaction between the running gear and the ground is, therefore, essential to the study of performance characteristics, ride quality, and handling behavior of ground vehicles. The running gear of a ground vehicle is generally required to fulfill the following functions: • to support the weight of the vehicle • to cushion the vehicle over surface irregularities • to provide sufficient traction for driving and braking • to provide adequate steering control and direction stability. Pneumatic tires can perform these functions effectively and efficiently; thus, they are universally used in road vehicles, and are also widely used in off-road vehicles. The study of the mechanics of pneumatic tires therefore is of fundamental importance to the understanding of the performance and char- acteristics of ground vehicles. Two basic types of problem in the mechanics of tires are of special interest to vehicle engineers. One is the mechanics of tires on hard surfaces, which is essential to the study of the characteristics of road vehicles. The other is the mechanics of tires on deformable surfaces (unprepared terrain), which is of prime importance to the study of off-road vehicle performance. 3 4 MECHANICS OF PNEUMATIC TIRES The mechanics of tires on hard surfaces is discussed in this chapter, whereas the behavior of tires over unprepared terrain will be discussed in Chapter 2. A pneumatic tire is a flexible structure of the shape of a toroid filled with compressed air.
    [Show full text]
  • Nonlinear Finite Element Modeling and Analysis of a Truck Tire
    The Pennsylvania State University The Graduate School Intercollege Graduate Program in Materials NONLINEAR FINITE ELEMENT MODELING AND ANALYSIS OF A TRUCK TIRE A Thesis in Materials by Seokyong Chae © 2006 Seokyong Chae Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy August 2006 The thesis of Seokyong Chae was reviewed and approved* by the following: Moustafa El-Gindy Senior Research Associate, Applied Research Laboratory Thesis Co-Advisor Co-Chair of Committee James P. Runt Professor of Materials Science and Engineering Thesis Co-Advisor Co-Chair of Committee Co-Chair of the Intercollege Graduate Program in Materials Charles E. Bakis Professor of Engineering Science and Mechanics Ashok D. Belegundu Professor of Mechanical Engineering *Signatures are on file in the Graduate School. iii ABSTRACT For an efficient full vehicle model simulation, a multi-body system (MBS) simulation is frequently adopted. By conducting the MBS simulations, the dynamic and steady-state responses of the sprung mass can be shortly predicted when the vehicle runs on an irregular road surface such as step curb or pothole. A multi-body vehicle model consists of a sprung mass, simplified tire models, and suspension system to connect them. For the simplified tire model, a rigid ring tire model is mostly used due to its efficiency. The rigid ring tire model consists of a rigid ring representing the tread and the belt, elastic sidewalls, and rigid rim. Several in-plane and out-of-plane parameters need to be determined through tire tests to represent a real pneumatic tire. Physical tire tests are costly and difficult in operations.
    [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]
  • INFORMATION to USERS the Most Advanced Technology Has Been Used to Photo­ Graph and Reproduce This Manuscript from the Microfilm Master
    INFORMATION TO USERS The most advanced technology has been used to photo­ graph and reproduce this manuscript from the microfilm master. UMI films the text directly from the original or copy submitted. Thus, some thesis and dissertation copies are in typewriter face, while others may be from any type of computer printer. The quality of this reproduction is dependent upon the quality of the copy submitted. Broken or indistinct print, colored or poor quality illustrations and photographs, print bleedthrough, substandard margins, and improper alignment can adversely affect reproduction. In the unlikely event that the author did not send UMI a complete manuscript and there are missing pages, these will be noted. Also, if unauthorized copyright material had to be removed, a note will indicate the deletion. Oversize materials (e.g., maps, drawings, charts) are re­ produced by sectioning the original, beginning at the upper left-hand corner and continuing from left to right in equal sections with small overlaps. Each original is also photographed in one exposure and is included in reduced form at the back of the book. These are also available as one exposure on a standard 35mm slide or as a 17" x 23" black and white photographic print for an additional charge. Photographs included in the original manuscript have been reproduced xerographically in this copy. Higher quality 6" x 9" black and white photographic prints are available for any photographs or illustrations appearing in this copy for an additional charge. Contact UMI directly to order. UMI University Microfilms International A Bell & Howell Information Company 3 0 0 Nortfi Z eeb Road, Ann Arbor, Ml 48106 -1 3 4 6 USA 313/761-4700 800/521-0600 Order Number 8907262 Application of suspension derivative formulation to ground vehicle modeling and simulation Maalej, Aref Younes, Ph.D.
    [Show full text]
  • Study on Cornering Stability Control Based on Pneumatic Trail Estimation by Using Dual Pitman Arm Type Steer-By-Wire on Electric Vehicle
    Study on Cornering Stability Control Based on Pneumatic Trail Estimation by Using Dual Pitman Arm Type Steer-By-Wire on Electric Vehicle Ryo Minaki Yoichi Hori The University of Tokyo The University of Tokyo Department of Electrical Engineering Graduate School of Frontier Sciences Hongo, Bunkyo-ku, Japan Kashiwa, Chiba, Japan [email protected] [email protected] Abstract—This paper proposes novel high accuracy road margin). In addition, we propose a novel cornering stability condition estimation called Tire Grip Margin (TGM), and TGM control technique based on the tire grip margin with active is estimated by using dual pitman arm type steer-by-wire and front steering and in-wheel motor on electric vehicle. Finally, lateral force sensor and estimator. In addition, we propose we verify the technique by the vehicle dynamics simulator cornering stability control technique based on the TGM. It can CarSim. help driver and vehicle before unstable state. We verify our proposed system achieves robust vehicle dynamics control on the low friction road by CarSim. CarSim is simulator for the vehicle II. TIRE GRIP MARGIN (TGM) dynamics. A. Ground Contact Length of Tire and Lateral Keywords-active front steering; electric power steering; electric Displacement of Tire Tread Rubber vehicle; in-wheel motor; pitman arm; pneumatic trail; steer-by- A Tire has ground contact length caused by vehicle load, wire; tire grip margin; deflection because tire is made of hollow rubber. It is about 15- 20 [cm]. When a tire is rolled ground contact is started. After a I. INTRODUCTION few second, it is ended.
    [Show full text]
  • Tire - Wikipedia, the Free Encyclopedia
    Tire - Wikipedia, the free encyclopedia http://en.wikipedia.org/wiki/Tire Tire From Wikipedia, the free encyclopedia A tire (or tyre ) is a ring-shaped covering that fits around a wheel's rim to protect it and enable better vehicle performance. Most tires, such as those for automobiles and bicycles, provide traction between the vehicle and the road while providing a flexible cushion that absorbs shock. The materials of modern pneumatic tires are synthetic rubber, natural rubber, fabric and wire, along with carbon black and other chemical compounds. They consist of a tread and a body. The tread provides traction while the body provides containment for a quantity of compressed air. Before rubber was developed, the first versions of tires were simply bands of metal that fitted around wooden wheels to prevent wear and tear. Early rubber tires were solid (not pneumatic). Today, the majority of tires are pneumatic inflatable structures, comprising a doughnut-shaped body of cords and wires encased in rubber and generally filled with compressed air to form an inflatable cushion. Pneumatic tires are used on many types of vehicles, including cars, bicycles, motorcycles, trucks, earthmovers, and aircraft. Metal tires are still used on locomotives and railcars, and solid rubber (or Stacked and standing car tires other polymer) tires are still used in various non-automotive applications, such as some casters, carts, lawnmowers, and wheelbarrows. Contents 1 Etymology and spelling 2 History 3 Manufacturing 4 Components 5 Associated components 6 Construction types 7 Specifications 8 Performance characteristics 9 Markings 10 Vehicle applications 11 Sound and vibration characteristics 12 Regulatory bodies 13 Safety 14 Asymmetric tire 15 Other uses 16 See also 17 References 18 External links Etymology and spelling Historically, the proper spelling is "tire" and is of French origin, coming from the word tirer, to pull.
    [Show full text]
  • The Pneumatic Tyre – Understanding Its Role and Modelling Its Performance in Virtual Computer Based Design
    The Pneumatic Tyre – Understanding its Role and Modelling its Performance in Virtual Computer Based Design Mike Blundell Professor of Vehicle Dynamics and Impact Centre for Mobility and Transport Coventry University, UK Presentation to the IMechE Central Canada Branch Toronto, 15th June 2016 Contents • The Role of the Tyre • History • CAE Environment • Tyre Force and Moment Generation • Tyre Models for Handling and Durability - Magic Formula Tyre Model - Harty Tyre Model - FTire (Flexible Ring Model) • Aircraft Tyre Modelling • New Developments The Role of the Tyre Issues that effect tyre performance include: – Grip - handling safety on different surfaces – Fuel Economy (20% of fuel lost due to tyre rolling resistance) – Noise (most of what you hear is from tyres) – Durability and off-road performance – Emissions (wear and rubber particles) https://dc602r66yb2n9.cloudfront.net/pub/web/ images/article_thumbnails/article-tire- construction.png Tyres are complex and subject to: – Extensive research and development in mechanical design and material chemistry – Involves Extensive Testing and Computer Modelling – Manufacturing is complex – Future Contribution as an Intelligent Tyre History of Tyres The first pneumatic tyre, 1845 by John Boyd Dunlop Robert William Thomson. reinvented the pneumatic http://www.blackcircles.com/general/history tyre in1887 http://www.lookandlearn.com/blog/2065 In 1895 the pneumatic tyre was first 4/john-dunlop-was-the-vet-who- used on automobiles, by Andre and invented-the-pneumatic-tyre/ Edouard Michelin. http://www.blackcircles.com/general/history
    [Show full text]
  • Advance Vehicle Technology
    Advanced Vehicle Technology To my long-suffering wife, who has provided sup- port and understanding throughout the preparation of this book. Advanced Vehicle Technology Second edition Heinz Heisler MSc., BSc., F.I.M.I., M.S.O.E., M.I.R.T.E., M.C.I.T., M.I.L.T. Formerly Principal Lecturer and Head of Transport Studies, College of North West London, Willesden Centre, London, UK OXFORD AMSTERDAM BOSTON LONDON NEW YORK PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO Butterworth-Heinemann An imprint of Elsevier Science Linacre House, Jordan Hill, Oxford OX2 8DP 225 Wildwood Avenue, Woburn, MA 01801-2041 First published by Edward Arnold 1989 Reprinted by Reed Educational and Professional Publishing Ltd 2001 Second edition 2002 Copyright # 1989, 2002 Heinz Heisler. All rights reserved The right of Heinz Heisler to be identified as the author of this work has been asserted in accordance with the Copyright, Designs and Patents Act 1988 No part of this publication may be reproduced in any material form (including photocopying or storing in any medium by electronic means and whether or not transiently or incidentally to some other use of this publication) without the written permission of the copyright holder except in accordance with the provisions of the Copyright, Designs and Patents Act 1988 or under the terms of a license issued by the Copyright Licensing Agency Ltd, 90 Tottenham Court Road, London, England W1T 4LP. Applications for the copyright holder's written permission to reproduce any part of this publication should be addressed to the publishers Whilst the advice and information in this book are believed to be true and accurate at the date of going to press, neither the authors nor the publisher can accept any legal responsibility or liability for any errors or omissions that may be made.
    [Show full text]
  • Striated Tire Yaw Marks—Modeling and Validation
    energies Article Striated Tire Yaw Marks—Modeling and Validation Wojciech Wach * and Jakub Z˛ebala Institute of Forensic Research in Kraków, 31-033 Kraków, Poland; [email protected] * Correspondence: [email protected]; Tel.: +48-12-61-85-763 Abstract: Tire yaw marks deposited on the road surface carry a lot of information of paramount importance for the analysis of vehicle accidents. They can be used: (a) in a macro-scale for establishing the vehicle’s positions and orientation as well as an estimation of the vehicle’s speed at the start of yawing; (b) in a micro-scale for inferring among others things the braking or acceleration status of the wheels from the topology of the striations forming the mark. A mathematical model of how the striations will appear has been developed. The model is universal, i.e., it applies to a tire moving along any trajectory with variable curvature, and it takes into account the forces and torques which are calculated by solving a system of non-linear equations of vehicle dynamics. It was validated in the program developed by the author, in which the vehicle is represented by a 36 degree of freedom multi-body system with the TMeasy tire model. The mark-creating model shows good compliance with experimental data. It gives a deep view of the nature of striated yaw marks’ formation and can be applied in any program for the simulation of vehicle dynamics with any level of simplification. Keywords: yaw marks striations; tire model; multibody dynamics; vehicle accident simulation 1. Introduction Citation: Wach, W.; Z˛ebala,J.
    [Show full text]
  • Master's Thesis
    2006:341 CIV MASTER’S THESIS Simulation and Validation of Tire Deformation under Certain Load Cases HENRIK ANDERSSON MASTER OF SCIENCE PROGRAMME Mechanical Engineering Luleå University of Technology Department of Applied Physics and Mechanical Engineering Division of Computer Aided Design 2006:341 CIV • ISSN: 1402 - 1617 • ISRN: LTU - EX - - 06/341 - - SE Eine einfache Formel genügt nicht mehr, auch wenn sie magisch ist — Michael Gipser Abstract This master’s thesis deals with computer aided simulations of mechanical systems in the automotive industry. The specific target of simulation is the pneumatic tire and its behaviour. The aim is to establish a method to use computer simulations for shortening the development cycle and reducing the need for testing and physical prototypes. The work has been separated into several steps, starting with a thorough information study, continuing with creative methods and concept creation. Later on, an evaluation of the concepts has been performed, to find the best approach to continue working on. The selected concepts from the evaluation were further developed to result in the final simulation method. The results of the simulations have then been validated against measurements. A proposal for further work in the subject has been made, as well as ideas for other projects. Keywords Tire simulation, Vehicle simulation, Product development process. i Preface The work presented in this masters thesis is to obtain the Master of Science degree in Mechanical Engineering, with specialization in Computer Aided Engineering. This the- sis has been written at the BMW Group Research and Innovation Center (FIZ) in Munich Germany, during the second half of 2006.
    [Show full text]
  • Arxiv:2006.16319V2 [Eess.SY]
    Estimation and Decomposition of Rack Force for Driving on Uneven Roads Akshay Bhardwaja, Daniel Slavinb, John Walshb, James Freudenberg c, R. Brent Gillespiea aDepartment of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA; bFord Motor Company, Dearborn, MI, USA; cDepartment of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA ARTICLE HISTORY Compiled July 14, 2020 ABSTRACT The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate road feedback and reduce driver effort. Further, estimates of the components of rack force (arising, for example, due to steering angle and road profile) can be used to separately compen- sate for each component and thereby enhance steering feel. In this paper, we present three vehicle and tire model-based rack force estimators that utilize sensed steer- ing angle and road profile to estimate total rack force and individual components of rack force. We test and compare the real-time performance of the estimators by performing driving experiments with non-aggressive and aggressive steering maneu- vers on roads with low and high frequency profile variations. The results indicate that for aggressive maneuvers the estimators using non-linear tire models produce more accurate rack force estimates. Moreover, only the estimator that incorporates a semi-empirical Rigid Ring tire model is able to capture rack force variation for driving on a road with high frequency profile variation. Finally, we present results from a simulation study to validate the component-wise estimates of rack force.
    [Show full text]
  • Ftire Model Documentation
    FTire - Flexible Structure Tire Model Modelization and Parameter Specification i Document Revision: 2021-3-r25132 Contents 1 Legal Notices 1 2 Aims and Scope of FTire 2 3 FTire Implementation and Interfaces 3 4 FTire Modelization 4 4.1 Mechanical Model ......................................... 4 4.2 Thermal Model .......................................... 5 4.2.1 Thermal Model Structure ................................. 5 4.2.2 Heat Generation and Heat Transfer Model ........................ 5 4.2.3 Determination of Heat Transfer Coefficients on Basis of Steady-State Temperatures . 6 4.2.4 Determination of Heat Capacities on Basis of Heating Time Constants ......... 8 4.3 Tread Wear Model ......................................... 8 4.4 Air Volume Vibration Model ................................... 9 4.5 Flexible and Viscoplastic Rim Model ............................... 10 5 FTire Data 12 5.1 Data Files ............................................. 12 5.2 Parameterization Process ..................................... 12 5.2.1 Preparation of the Identification Process ......................... 13 5.2.2 Identification/Validation of Footprint Images ...................... 13 5.2.3 Identification/Validation of Static Properties ....................... 13 5.2.4 Identification/Validation of Steady-State Rolling Properties ............... 14 5.2.5 Identification/Validation of Friction Characteristics ................... 14 5.2.6 Identification/Validation of Dynamic Cleat Tests .................... 14 6 FTire Parameter Specification 16 6.1 Scheme of tables
    [Show full text]