Longitudinal Dynamics

#1- A car with the following specifications. Weight, m = 1550 kg, wheel base length, l =
2620mm. Assume center of gravity is located at the mid-point of wheel base and 720mm height
from the ground, where coefficient of friction of a road surface is μ x = 0.8. Determine the
maximum acceleration of the car if
a. the car is rear-wheel drive
b. the car is front-wheel drive
c. the car is four-wheel drive.
Solution
a. determine Maximum acceleration on a level road , the car is rear-wheel drive

From traction limit acceleration

0.8(1.310)(9.81) m
a max= =¿4.55 2
2.62−0.5(0.72) s
Maximum acceleration at which the front wheel are still on the road
(1.310)(9.81) m
a max=¿ =¿17.85 2
(0.72) s
b. determine Maximum acceleration on a level road , the car is front-wheel drive

From traction limit acceleration

 0.8(1.310)(9.81) m
a max= =¿3.45 2
2.62+0.5(0.72) s
Maximum acceleration at which the Rear wheel are still on the road
( 1.310 )( 9.81 ) m
a max=¿− =−¿17.85 2
( 0.72 ) s
c. determine Maximum acceleration on a level road , the car is four-wheel drive.

0.8(9.81) m
a max= =¿7.85 2
1 s
# 3- A vehicles weighs 20.02 kN and has a wheelbase of 279.4 cm. The center of gravity is 127 cm behind
the front axle and 50.8 cm above ground level. The frontal area of the vehicle is 2.32 m 2 and the
aerodynamic drag coefficient is 0.45. The coefficient of rolling resistance is given by f, = 0.0136 + 0.4 ×
10^-7V 2, where V is the speed of the vehicle in kilometers per hour. The rolling radius of the tires is 33
cm. The coefficient of road adhesion is 0.8. Estimate the possible maximum speed of the vehicle on level
ground and on a grade of 25% as determined by the maximum tractive effort that the tire-road contact
can support if the vehicle is
(a) Rear-wheel drive, and
(b) Front-wheel drive.
(c) Plot the resultant resistance versus vehicle speed, and show the maximum thrust of the vehicle with
the two types of drive.
Solution
FBD
Substituting rolling resistant coefficient through above equation

(a) Rear-wheel drive,

μW (l 1 + ( 0.0136+ 0.4 v 2 ) h ) 0.8 ( 20020 ) ( 1.27−( 0.0136+ 0.4 x 10−7 v 2) 0.508 )
F max= =
l−μh 2.794−0.8 ( 0.508 )
¿ 6708 ( 1.27−( 0.0136+0.4 x 10−7 v2 ) 0.508 )
F max=( 8519.16−3407.66 ( 0.0136+0.4 x 10−7 v 2 ) )
(b) Front-wheel drive.
μW (l 2 + ( 0.0136+ 0.4 v 2 ) h) 0.8(20020)(1.524+ ( 0.0136+ 0.4 x 10−7 v 2 ) 0.508)
F max= =
l+ μh 2.794 +0.8( 0.508)
¿ 5004( 1.524+ ( 0.0136+ 0.4 x 10−7 v 2 ) 0.508)
F max=(7626.1+2542.03 ( 0.0136+0.4 x 10−7 v 2 ) )
Total Road Load

With level road

−7 2 v 2
R=20020 ( 0.0136+0.4 x 10 v ) +0.5( ) (1.225)(0.45) ¿ 2.32)
3.6
R=20020 ( 0.0136+0.4 x 10−7 v 2 ) +0.64 v 2
With grade (25%)
−7 2 v 2
R=20020 ( 0.0136+0.4 x 10 v ) +0.5( ) (1.225)(0.45) ¿ 2.32) + 20020 sin 140
3.6
R=20020 ( 0.0136+0.4 x 10 v ) +0.04 9 v 2+ 4843.27
−7 2

Graphical representation of tractive effort (F) and total resistance (R) VS Vehicle speed (km/hr)

14000.0

12000.0
Tractive force and total Resistance (N)

10000.0

8000.0

6000.0
R(0%grad)
4000.0
R(25%grad)

2000.0 F(rear wheel)

F(front wheel)
0.0
0 50 100 150 200 250 300 350 400 450
Vehicle speed (km/hr)

Gradient Drive Type Maximum speed at R=F from plot

Rear wheel 258km/hr @ 8463N
25% Front wheel 226km/hr@7665N
Rear wheel 402km/hr @ 8450N
0% Front wheel 386km/hr@7675N
Tire dynamics
#2-Compare the power required to overcome the rolling resistance of a passenger car weighing
15.57 kN and having radial-ply tires with that of the same vehicle, but having bias-ply tires in
the speed range 40-100 km/h. The variations of the coefficient of rolling resistance of the radial-
ply and bias-ply passenger car tire with speed are described by fr = 0.0136 + 0.4 × 10−7V 2 and
fr = 0.0169 + 0.19 × 10−6V 2 respectively.
Radial-ply passenger car rolling coefficient Bias-ply passenger car rolling coefficient
fr = 0.0136 + 0.4 × 10−7V 2 fr = 0.0169 + 0.19 × 10−6V 2
Power= fr x car weight(N)x speed(m/s)/1000 (kw) Power= fr x car weight(N) x speed(m/s)/1000
(kw)

Table: Result obtained from both Radial-ply and Bias-ply passenger car rolling coefficient
v(km/hr) 40 50 60 70 80 90 100
Radial (fr) 0.013664 0.0137 0.013744 0.013796 0.013856 0.013924 0.014
Bias ply (fr) 0.017204 0.017375 0.017584 0.017831 0.018116 0.018439 0.0188
Weight(N) 15570 15570 15570 15570 15570 15570 15570
Radial (Force)(N) 212.74848 213.309 213.9941 214.8037 215.7379 216.7967 217.98
Bias ply(Force)(N) 267.86628 270.5288 273.7829 277.6287 282.0661 287.0952 292.716
Radial(Power required)(kw) 2.363872 2.962625 3.566568 4.176739 4.794176 5.419917 6.055
Bias ply(Power required)(kw) 2.976292 3.757344 4.563048 5.398335 6.268136 7.177381 8.131
POWER REQUIRED DIFFERENCE 0.61242 0.794719 0.99648 1.221596 1.47396 1.757464 2.076

 From the following graph of power required by radial and bias ply tire with respect to
vehicle speed, bias ply tire type need more power to overcome rolling resistance when it
compared with radial type. but the power required in both cases increases as vehicle
speed increases.
Vertical dynamics
#1- Do the following for quarter car model including driver as shown in the figure
a. Draw a complete free body diagram
b. determine the equation of motion
c. Rewrite the equation of motion is matrix form
a. complete free body diagram(FBD)

b. determined equation of motion

mu ẍ u +c u ( ẋ u− ẏ ) +c s ( ẋ u− ẋ s ) + k u ( x u− y ) +k s ( xu −x s )=0 (eq 1)

m s ẍ s +c s ( ẋ s− ẋ u ) +c d ( ẋ s− ẋ d ) + k s ( x s−x u ) +k d ( x s−x d ) =0( eq 2)

md ẍ d +c d ( ẋ d − ẋ s ) + k d ( x d −x s )=0 (eq 3)
c. Rewrite the equation of motion in matrix form
Without ignoring tire damping
mu 0 0 ẍu c u +c s −c s 0 ẋu k u+ k s −k s 0 x u c u ẏ + k u y

|0 0 m d ẍ d 0 | ||
−cd c d ẋ d 0 −k d | ||
0 m s 0 ẍ s + −c s c s +c d −c d ẋ s + −k s k s + k d −k d x s =
kd xd
0
0
(eq 3)
| || |
#5- For the following vehicle parameters: Front suspension stiffness (ride rate) k f=35kN/m,
Rear Suspension stiffness (Rear ride rate), kr=40KN/m, Sprung mass, ms=1600 kg, Radius of
gyration, ry=1.2 m, distance between the front axle and the vehicle C.G, a=1.5mand distance
between the rear axle and the vehicle C.G, b=1.8 m
a. Calculate the natural frequencies for pure bounce and the pure pitch motions
b. Determine the natural frequencies and oscillation center for coupled the bounce and pitch
motion
Solution
FBD

Assume harmonic solution for free vibration and solving the resulting equations.
If x and Ɵ are used as independent coordinates, the equations of motion are given by,
m 0 ẍ + (k ¿ ¿ 1+ k 2 )¿−(k 1 l 1−k 2 l 2 ) (k ¿¿ 1 l 2+ k l 2 ) x = 0 eq 1
| | ||
0 J o θ̈ ¿
1 2 2|| | | |
θ 0
With k1 = kf, k2 = kr and Jo = mr2. For free vibration, we assume a harmonic solution;
x ( t )= X cos ( ωt +∅ ) ,θ ( t )=Ɵ cos (ωt +∅) eq 2
a. Calculate the natural frequencies for pure bounce and the pure pitch motions
Where a and b represented by l1 and l2 respectively

(k ¿ ¿ 1+k 2)
ω nz =
√ ms √ =
(35+ 40) 6.846 rad
1600
=
s
Pure Bounce ¿

(k ¿ ¿ 1 l 21+ k 2 l 22 ) (35 x 1.52 +40 x 1.8 2) 9.501rad

ω nθ =
√ I
=
1600 x 1.2
2
=
s
Pure pitch¿

b. Determining the natural frequencies and oscillation center for coupled the bounce and pitch
Using eq 1 and 2, we obtain
(−m ω2 +k 1 +k 2) (−k 1 l1 + k 2 l 2 )
| || | | |
X = 0 eq 3
(−k 1 l 1+ k 2 l2 ) (−J O ω + k 1 l 1 +k 2 l 2) θ 0
2 2 2

For the known data eq 3 become

(−1600 ω2 +75000)
| (19500)
(19500)
2
X = 0 eq 4
(−2304 ω +208350) θ 0 | | ||
From which the frequency equation can be derived
3.6864 ω 4−506.16 ω2 +15,246 ¿=0
Divide all term by 3.6864
ω 4−137.3046 ω 2+ 4135.742 ¿=0 eq 5
Let y=ω2, then y 2=ω4
y 2−137.3046 y + 4135.742¿=0 eq 6
−b ± √ b2−4 ac
y= eq 7
2a
137.3046 ± √ 137.32−4 ( 1 ) ( 4131.7 ) 137.3046 ± √ 2309.585 137.3046± 48.058
y 1,2= = =
2 (1 ) 2 2
y1= 44.6232 , y2=92.6813
y 1=ω 2=44.6232,∧ y 2=ω 2=92.175
The natural frequency become
ω n 1=6.6801rad /s , ω n 2=9.62711 rad / s
The ratio of amplitude, for ωn 1=6.6801rad / s become
1
3602.02 19500 X 0 X −19500 −105,536.9
| = , 1=
19500 105,536.9 θ 0 θ || | | |
3602.0
=
19500
=−5.41

The ratio of amplitude, for ωn 2=9.62711 rad /s become

 2
19500 X 0 X 19500 5187.593
|−73290
19500 −5187.593 θ 0 θ|| | | |
= , 2=
73290
=
19500
=0.266

The node locations can be obtained by noting that, the tangent of a small angle is approximately
equal to angle itself. Thus from figure we find the distance between the CG. And the node as
-5.41m for ω 1 and0.266 m for ω 2. The mode shapes are shown by red dotted line.
Lateral Dynamics
Consider a bicycle model of the front-wheel-steering vehicle shown in Figure 3. Construct a two
dimensional state-space model of the vehicle, where x1 = ẏ and x1 = θ̇. The input U = δf and the
output y = x2. In your derivation assume small angles. Vehicle data are given in Table 1.

Solution
From two dimensional bicycle model
C af + Car −l C +l C (C af )
ÿ ¿
{}
θ̈
|
−(
−(
mV x
)

l 1 Caf −l 2 C ar
I zz V x
)
( 1 af 2 ar −V x )

−(
mV x
2 2
l 1 C af +l 2 C ar
I zz V x
)
ẏ
θ̇
+
|| | [( )]
m
l 1 Caf
I zz
( )
{ U (t) }

|ac db||θ̇ẏ|+ [ B ] {U (t)}

Where, the steer angle δf (t) (input function,) can be
(C )
(
[( )]
m )
af

∧U ( t )=δ , X = ẏ A= a b
B=
l C 1 af
|θ̇|f 1 , | |
c d
I zz

The above equation is written in state space form

| A| X 1+ [ B ] { U (t) }
Where [𝐴] is the coefficient matrix and {x} is the state variable