Assignment 1

Lateral dynamics
MMF062, Vehicle Dynamics

Nicky Laudas fan car Formula 1 at Swedish Grand Prix, 1978.

Ulysse BISIAUX Shankar PADMANABHAN

11-1-2015

shabam@student.chalmers.se xxx
ulysse@student.chalmers.se 930301C390
Contents
Abstract ................................................................................................................................................... 2
Task 1: Steady State Cornering Characteristics ....................................................................................... 3
Task 1.1 Steady state cornering equations ......................................................................................... 3
Task 1.2: Understeer gradient ............................................................................................................. 3
Task 1.3: Critical/Characteristic speed ................................................................................................ 4
Task 1.4: Steering wheel angle for one certain operating point ......................................................... 4
Task 1.5: Steering wheel angle for varying operating point................................................................ 4
Task 2: Simulation With Single-Track Model ........................................................................................... 5
Task 2.1: Implement model ................................................................................................................. 5
Task 2.2: Verify model for moderate ............................................................................................. 5
Task 2.3: Transient response ............................................................................................................... 5
Task 2.4: Try model at over-critical speed........................................................................................... 5

ULYSSE BISIAUX SHANKAR PADMANABHAN 1

Abstract

ULYSSE BISIAUX SHANKAR PADMANABHAN 2

Task 1: Steady State Cornering Characteristics
In this task, some steady state cornering characteristics are investigated with the following load cases:

= 0.37
= 0.45
= 0.63

Steady state means all derivatives of velocities equal zero. But there is still centrifugal acceleration
because of the motion in the rotating coordinate system.

FIGURE 1. ONE-TRACK MODEL FOR STEADY STATE CORNERING

Task 1.1 Steady state cornering equations

Dynamic forces equilibrium according to x axis:

= +

Dynamic forces equilibrium according to y axis:

= +

Static momentum equilibrium according to xy plan:

= 0 =

Task 1.2: Understeer gradient

The understeering gradient is the additional steering angle needed per increase of lateral force
when driving in high speed steady state cornering on level ground and high road friction.

=

With C is the cornering stiffness for one wheel of the front or the rear:

= 0 + 1 2 (0 = 30.7 1 ; 1 = 0.00235 1 1 )

The vertical force only depends on mass repartition as steady state is studied and can be defined
for front and rear in this way:

= =

= =
= (1 )

ULYSSE BISIAUX SHANKAR PADMANABHAN 3

At his time on can find the understeer gradient for the three different cases:

= . = . = .
5.842. 106 1.864. 106 5.842. 106

Task 1.3: Critical/Characteristic speed

, =

, =

Task 1.4: Steering wheel angle for one certain operating point
The required steering angle to get 4 m/s of lateral acceleration at 100 km/h is defined:
2
= 1 +

Then the corresponding steering wheel angle due to the steering ratio is:
2
15.9 (1 +
)

Task 1.5: Steering wheel angle for varying operating point

In the Figure 1. Are plotted the required steering wheel angle in function of speed for the three load
cases. One can notice each of these cases correspond to basic steer configuration: understeer,
oversteer and neutral steer.

FIGURE 2. REQUIRED STEERING WHEEL ANGLE VS SPEED FOR THE THREE LOAD CASES

ULYSSE BISIAUX SHANKAR PADMANABHAN 4

Task 2: Simulation With Single-Track Model

Task 2.1: Implement model

Task 2.2: Verify model for moderate

Task 2.3: Transient response

Task 2.4: Try model at over-critical speed

ULYSSE BISIAUX SHANKAR PADMANABHAN 5