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Vehicle Dynamics and

Motion

D Y N A M I C S O F V E H I C L E S,
here assumed to be ground vehicles

Definitions
Vehicle dynamics refers to the dynamics of vehicles, here
assumed to be ground vehicles. Vehicle dynamics is a part of
engineering primarily based on classical mechanics.
Operational Definition
Predicting Vehicle System Mechanical Dynamic Behavior and
Performance during Drive Off, Braking, Ride, and Steering
maneuvers
ISO 15037-1:2006
Road vehicles -- Vehicle dynamics test methods
General conditions for passenger cars

ISO 15037-1:2006
specifies the general conditions that apply
when vehicle dynamics properties are
determined according to ISO test methods.
In particular, it specifies general conditions for:
variables,
measuring equipment and data processing,
environment (test track and wind velocity),
test vehicle preparation (tuning and loading),
initial driving, and
test reports (general data and test conditions).

Outline

Resistance
Tractive effort
Vehicle acceleration
Braking
Stopping distance

Driving Dynamics:
Straight line tracking
Maneuverability
Self Steer Behaviors
( Relationship) slip
angle between the
front an rear tires.
Oscillatory

VEHICLE DYNAMICS -- VEHICLES IN


MOTION

3 MODULES

Engine ; Gearbox ;
Power
Axles
Chassi Suspension ; Tires ;
s
Steering
Aerodynamics
Body
Resistance

Vehicle Point of Interest -- Mathematical System


Safety , Comfort and Economics
Vehicle
Driver
Road
Disturbed Air
Around the vehicle
Response

Input
(Driver)

Mathemat
ical Model

Output
(Response
s)

Mathematical Model for a Vehicle


Vehicle Behavior
Mass
Forces
Moments of inertia
Stiffness
Damping
Friction
Longitudinal ,
Lateral and Vertical
dynamics

Vehicle Free Body Diagram


System Of coordinates (ISO)

Longitudinal
Dynamics

Forces Newtons Law


Momentums (distances)

and

Rolling Resistance no only frictional resistant of


Property of the rubber and visco - elasticity

ter
s
y
H
esis

Coefficient of rolling
the
tire.
resistance

Fr

Tire contact
pressure =
Inflation pressure
Pulse tread
forces and
Resistance
force

For example, a rubber tire will have higher rolling resistance on a paved
road than a steel railroad wheel on a steel rail. Also, sand on the ground
will give more rolling resistance than concrete.

Lateral Dynamics
Rolling Resistance
Contact patch of tire pressure distribution of the contact
Elastomer material
Loss of energy
Pulse forces
Rolling
Resistance
Moment

Energy
Consumption

Pulse force
Un-Load
compression

Reaction force
Load
compression

Rolling Resistance

Traction
Resistance
Force: Ft
Solving

Rolling
Resistance

for NrForce:
andFrr
Nf= fr

- h/L [ Ft fr W ]
h/L [ Ft fr W ]

[ Fr ]

F=ma
m a = Ftr + Ftf Fr Fa w
sin -Fd
Assumption -- h = ha
= hd

Momentum
L1
+ L2

L=

=+
0 Fa (h) + m g (h) w
Nf ( L) + w sin (h)
cos (L2) = 0

Available Tractive Effort


The minimum of:
1. Force generated by the
engine, Fe

2. Maximum value that is a


function of the vehicles
weight distribution and
road-tire interaction, Fmax

Available tractive effort min Fe , Fmax

Traction Force
Calculation [ Ft ]
Engi
ne
Force
Ft

F max

Tire
F max

on Rear Wheel Drive

Vehicle
F r = ( ) Nr
Substituting on Previous Equations of
(Nr)

Fr ( L1 - fr h) /L /[ 1 - h/L]

on Front Wheel Drive

Vehicle
F f = ( ) Nf
Substituting on Previous Equations of (Nf)

Ff ( L2 + fr h) /L /[ 1 + h/L]

Aerodynamic Resistance Ra
Composed of:
ft lb
1
hp

550
1. Turbulent air flow around vehicle body (85%)
sec
2. Friction of air over vehicle body (12%)
3. Vehicle component resistance, from radiators and
air vents (3%)

2
Ra CD A f V
2

3
PRa C D A f V
2
Power is in ft-lb/sec

Rolling Resistance Rrl


Composed primarily of

1. Resistance from tire deformation (90%)


2. Tire penetration and surface compression
( 4%)
3. Tire slippage and air circulation around
wheel ( 6%)
4. Wide range of factors affect total rolling
resistance
5. Simplifying approximation:

Rrl f rlW
PR rl f rlWV

f rl 0.01 1

147

Rolling resistance
coefficient

Grade Resistance Rg
Composed of Gravitational force acting on the vehicle

Engine-Generated Tractive
Effort

Vehicle Speed vs. Engine Speed

Typical Torque-Power Curves

Torque and HP always


cross at 5252 RPM. Why?
Look at the equation for
HP

Maximum Tractive Effort

Vehicle Acceleration

Braking Force
Front axle
W lr h f rl
Fbf

max

Rear axle
Fbr max

W l f h f rl

Braking Distance

braking efficiency x coefficient of


road adhesion b = 1.04 usually

Stopping Sight Distance (SSD)

SSD Quick and Dirty

Example # 1 Center of Gravity


The curb weights of a Continental 4 doors sedan without
passengers or cargo are 2,313 lb on the front axle and 1,322
lb. The wheelbase is 109 inches. Determine the fore/aft
position of the center of gravity for the vehicle.
Formula: static loads on level ground:
Solving for b :
b = L Wrs / W
= 109 1322-lb/(2313+ 1322)-lb
= 39.64 aft of the front axle.

Example # 2
Load on grade

A Taurus GL sedan with 3.0L engine accelerates from a


standing start up a 6% grade at an acceleration of 6
ft/sec^2. Find the total load distribution on the axles at
this condition.

So: c = 66.85 ; b = 39.15 and 6% grade = 3.433 degree


angle
Adding
=
Wf = W( c cos ax/g h h sen ) / L
3,239.5-lb
=
Wf = [3246 ( 66.85 (.998) 6/32.2( 20) 20 (0.599) ]/
106 =
1892.2-lb
3,246
cos
(3.43)
Wr = = W( b cos + ax/g h + h sen ) / L = 1,347.3-lb

Example # 3 Braking Dynamics


A Doge Viper (1705 kg [ 3759 lb]) traveling at 80 mph (35.76 m/s) stopped with the
maximum sustained deceleration (.65 g @ SAE vol. 2 Section 25) . Determine (a)
the force required to bring the car to a stop (b) average power absorbed by the
brakes and weight distribution. ( WB = 2.45-m ; h = .51-m 49/51)

(a) Force required to bring the car to


a
[ Fb
]
Fbstop
= Mass
x Acceleration
= 1705 ( .65) 9.81
10.87
KN power Pavg Pavg = 10.87
(b) =
The
average
Pavg = Force x Velocity = Fb
x
V avg

( 35.76)/2
= 194 kw

Static weight distribution :


and

These equations are Combine to Determine the Dynamic


weight on. the front and rear wheels during Braking.

References
Automotive Engineering Fundamentals, Richard Stone and Jeffrey
Ball (2004) SAE International Warrendale, Pa.
Mannering, F.L.; Kilareski, W.P. and Washburn, S.S. (2005).
Principles of Highway Engineering and Traffic Analysis, Third
Edition). Chapter 2

American Association of State Highway and Transportation Officals


(AASHTO). (2001). A Policy on Geometric Design of Highways and
Streets, Fourth Edition. Washington, D.C.

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