MAK 4053E Vehicle Technology

Vehicle Technology
MAK 4053E

Lecture 1b Introduction to Vehicle

Technology Theory
Instructor: Dr. zgen Akaln
Associate Professor of Mechanical Engineering
Slides do not cover the complete course material and can not be
used as a single resource.
Classroom use only!

The driver-vehicle-ground system

Ground conditions

Visual and other inputs

Accelerator, Brakes

Performance

Steering system

Handling

Vehicle

Driver

Ride

Surface irregularities

Aerodynamic inputs

MAK 4053E Vehicle Technology

There are some things that you just dont

want to try experimentally!

It is much safer to approach

stability thresholds in
simulation than in practice.

Fundamental approach to modeling

n

Dynamic behavior of a vehicle is determined by the

forces imposed on the vehicle from tires, gravity, and
aerodynamics.
The vehicle and its components are studied to
determine what forces will be produced by each of
these sources at a particular maneuver and trim
condition, and how the vehicle will respond to these
forces.
For that purpose it is essential to establish a rigorous
approach to modeling the systems and conversions
that will be used to describe motions.

MAK 4053E Vehicle Technology

Problem Formulation
n

Basically, the entire formulation of the problem is how

to abstract from the physical world into some type of
analytical description.

ODE
model

physical
system

x! ( t ) = f ( x,u, t );

level of
abstraction

x ( t = 0) = x 0

Single DOF Car Suspension

n

First approximation: as a 1st approx. to a

vehicle suspension system, lets consider
the car, single DOF system:
Car body
(sprung mass)

m
k

independent
suspension

MAK 4053E Vehicle Technology

Two DOF Car Suspension

n

Now, if we include the unsprung mass dynamics

we have:
ms
ks

Displacements measured
from equilibrium

zs

sprung mass displacement

zu

unsprung mass displacement

zr

road displacement

bs
mu

kt

Here we treat the tire as a linear spring element with

no damping

Car Model and Coupling Effect

forward
velocity

z
b
zsr

ms, I
ksr

bsr
mur

ktr

a
zsf

ksf
muf

zur
zrr

bsf

ktf

zuf
zrf

MAK 4053E Vehicle Technology

Simplified steady-state handling model for

a two axle vehicle. (Bicycle model)
a
b

-v

z2

Fy2

ng
ip a
l
s
e
icl
Veh

!
u
r

z1

Fy1

le

g
g an
n
i
r
Stee

le

Simplified steady-state handling model for

a two axle vehicle. (Bicycle model)

MAK 4053E Vehicle Technology

Seven DOF ride model for passenger car

MAK 4053E Vehicle Technology

Interpretation of Results
n

If you have the resources ($), you can get a nice

package that has extensive GUI front ends and
visualization tools

GUI interface

Parameter
adjustment

Visualization
tools

Interpretation of Results
n

ADAMS
n

CARSIM
n

http://www.carsim.com/

CARMAKER
n

http://www.mscsoftware.com

http://www.ipg.de/CarMaker.609.0.html

VAMPIRE (Rail)
n

http://www.vampire-dynamics.com/

MAK 4053E Vehicle Technology

ADAMS

MAK 4053E Vehicle Technology

CARSIM

MAK 4053E Vehicle Technology

CARSIM

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BIKESIM

Interpretation of Results

VR/w simulation

Actually, a lot of vehicle related video games run on

dynamic simulations of vehicle models

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MAK 4053E Vehicle Technology

Large motion simulator from Simtec GmbH at the DLR in Braunschweig, Germany.

University of Iowa, National Advanced Driving Simulator.

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MAK 4053E Vehicle Technology

University of Iowa, National Advanced Driving Simulator.

Vehicle Axis Systems

Body Fixed Coordinate system

CG

SAE Definition
Ref. Milliken & Milliken, Race Car Vehicle Dynamics, SAE Press 1995, p. 116

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MAK 4053E Vehicle Technology

Vehicle in Earth Fixed Coordinate System

Body Fixed and Earth Fixed Coordinates

n

We will use these transformations between Bodyfixed and Earth-fixed coordinates when discussing
the planar dynamics of the vehicle.
n Bicycle model
This will involve transforming vehicle coordinates to
traffic lane coordinates.

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MAK 4053E Vehicle Technology

Body Fixed and Earth Fixed Coordinates

n

The same approach must be used for other

maneuvers too.
Lane change

yaw
rate
t
lateral
velocity

Wheelbase

Track width (rear)

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MAK 4053E Vehicle Technology

Drive types
Direction

Ff

Ff

Ff

Fr

Fr

Fr

RWD

FWD

Ff

Fr

4WD

Dynamic axle loads

Ra

ha
Wax/g

rst

Rxf

h
Wf
Wf

Ff

Wcos

Wsin

W
W

ax

Rd

l1
L

l2

Rxr

Rd

WFr
Wr r

hd

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