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    Vehicle Technologies

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    Ahmet Yaylı
    This document provides an introduction to vehicle technology theory through a series of slides. It discusses the driver-vehicle-ground system and factors that influence vehicle performance, handling, ride, and stability. Models of increasing complexity are presented to analyze vehicle dynamics, from a single degree of freedom quarter-car suspension to a seven degree of freedom passenger car model. Commercial vehicle dynamics software packages and simulators are described for interpreting modeling results. Coordinate systems and drive types are also defined.

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    © All Rights Reserved
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    Vehicle Technologies

    Uploaded by

    Ahmet Yaylı
    81 views16 pages
    This document provides an introduction to vehicle technology theory through a series of slides. It discusses the driver-vehicle-ground system and factors that influence vehicle performance, handling, ride, and stability. Models of increasing complexity are presented to analyze vehicle dynamics, from a single degree of freedom quarter-car suspension to a seven degree of freedom passenger car model. Commercial vehicle dynamics software packages and simulators are described for interpreting modeling results. Coordinate systems and drive types are also defined.

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    Slides for automiotive engineers

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    This document provides an introduction to vehicle technology theory through a series of slides. It discusses the driver-vehicle-ground system and factors that influence vehicle performance, handling, ride, and stability. Models of increasing complexity are presented to analyze vehicle dynamics, from a single degree of freedom quarter-car suspension to a seven degree of freedom passenger car model. Commercial vehicle dynamics software packages and simulators are described for interpreting modeling results. Coordinate systems and drive types are also defined.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    81 views16 pages

    Vehicle Technologies

    Uploaded by

    Ahmet Yaylı
    This document provides an introduction to vehicle technology theory through a series of slides. It discusses the driver-vehicle-ground system and factors that influence vehicle performance, handling, ride, and stability. Models of increasing complexity are presented to analyze vehicle dynamics, from a single degree of freedom quarter-car suspension to a seven degree of freedom passenger car model. Commercial vehicle dynamics software packages and simulators are described for interpreting modeling results. Coordinate systems and drive types are also defined.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 16

    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

    10

    MAK 4053E Vehicle Technology

    BIKESIM

    Interpretation of Results

    VR/w simulation

    Actually, a lot of vehicle related video games run on


    dynamic simulations of vehicle models

    11

    MAK 4053E Vehicle Technology

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

    University of Iowa, National Advanced Driving Simulator.

    12

    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

    13

    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.

    14

    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)

    15

    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

    16

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