Lecture # 2 Vehicle Dynamics and Motion

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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What are the main factors that affect vehicle dynamics?

What are the main factors that affect vehicle dynamics?

What are the main forces acting on a vehicle?

What are the main forces acting on a vehicle?

Vehicle Dynamics and

VEHICLE DYNAMICS -- VEHICLES IN

Vehicle Point of Interest -- Mathematical System

Mathematical Model for a Vehicle

Vehicle Free Body Diagram

Forces Newtons Law

Rolling Resistance no only frictional resistant of

Available Tractive Effort

2. Maximum value that is a

Available tractive effort min Fe , Fmax

on Rear Wheel Drive

on Front Wheel Drive

Rolling Resistance Rrl

1. Resistance from tire deformation (90%)

Vehicle Speed vs. Engine Speed

Typical Torque-Power Curves

Torque and HP always

Maximum Tractive Effort

braking efficiency x coefficient of

Stopping Sight Distance (SSD)

SSD Quick and Dirty

Example # 1 Center of Gravity

A Taurus GL sedan with 3.0L engine accelerates from a

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

Example # 3 Braking Dynamics

(a) Force required to bring the car to

Static weight distribution :

These equations are Combine to Determine the Dynamic

American Association of State Highway and Transportation Officals

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