Vehicle Dynamics Simulation

Rennstall Esslingen

FSG Academy 2020/2021 powered by

Introduction

Niels Meinke Jannik Bauer Pascal Ballauf

Teamleader Suspension Suspension/VD Suspension/VD
Dampers and Uprights VD Simulation VD Simulation and Driver

https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 2

Agenda

▪ Lap Time Simulation

▪ Sensitivity Validation
▪ Steady State Calculation Tool
▪ Suspension Force Calculation
▪ VI-grade and 4-Post Simulation
▪ Compliance Simulation

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Lap Time Simulation with Matlab

▪ Two track model for corners

and point mass for straights
▪ Extremely simplified tire model
▪ General vehicle data: mass,
COG, engine, drivetrain,
aerodynamics
▪ Fast assessment of overall
trends in development
▪ Not suitable for in depth
vehicle dynamics studies

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Validation: COG Height vs Laptime

▪ Additional weight inside

and on top of the chassis
▪ Calculate and/or measure
different COG heights
▪ Simulate influence on
aerodynamics

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Validation: Aero vs Laptime

▪ Only with validated aero

simulation
▪ Combined lap time
validation is easier to set
up but harder to debug
▪ Keep aero balance, weight,
COG and inertia in mind

Testing before Covid-19

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Validation Checklist

▪ Track temperature
▪ Tire pressure and temperature
▪ Tire wear
▪ Reference
▪ Car weight (fuel)
▪ Driver: physics, track
▪ Time for reruns

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Steady State Calculation Tool

▪ Tool for fast and easy calculations of suspension parameters

▪ Compare influence of spring rates, MRs,…

https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 8

Steady State Calculation Tool

▪ Tool for fast and easy calculations of suspension parameters

▪ Compare influence of spring rates, MRs,…

https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 9

Steady State Calculation Tool

▪ Tool for fast and easy calculations of suspension parameters

▪ Compare influence of spring rates, MRs,…

https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 10

Steady State Calculation Tool

▪ Tool for fast and easy calculations of suspension parameters

▪ Compare influence of spring rates, MRs,…

https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 11

Suspension Force Calculation

▪ Self developed Matlab tool

▪ Car Parameters: mass, COG

height, weight distribution,
downforce and drag
coefficient, aero balance, brake
bias, roll stiffness distribution
and kinematic points
▪ Define speeds and lateral,
longitudinal and vertical
accelerations for different load
cases

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Suspension Force Calculation

▪ Accelerations of load cases based on measured data and

simulation
▪ Calculate the tire forces of all four wheels for the different
load cases based on the car parameters
→ Longitudinal & lateral load transfer
→ respect tire limits in combined cases

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Suspension Force Calculation
▪ Calculate wishbone forces with equilibrium of forces around the wheel
centre:
Normalized directional
vectors of wishbones
𝐹𝑥,𝑊𝐶 𝑥1 ⋯ 𝑥6 𝐹1
Forces and 𝐹𝑦,𝑊𝐶 𝑦1 𝐹2
moments at
𝐹𝑧,𝑊𝐶 𝑧1 𝐹 Wishbone, pushrod and
wheel centre = 𝑟 ⋱ ⋮ ∗ 3
based on load 𝑀𝑥,𝑊𝐶 𝑥1 𝐹4 track rod forces
cases 𝑀𝑦,𝑊𝐶 𝑟𝑦1 𝐹5
𝑀𝑧,𝑊𝐶 𝑟𝑧1 ⋯ 𝑟𝑧6 𝐹6

Lever arms of the

Validation possibilities: wishbones to the wheel
- Check with simple kinematic and hand calculation centre
- FEA simulation
- Real measurements with strain gauges

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Vehicle Dynamics Simulation

VI-Grade Car Real Time

▪ Real time vehicle simulation software

▪ Easy to implement external systems like rear wheel steering
with Simulink
▪ Simpler than multi body simulation
▪ Possibility to use with driving simulator

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VI-Grade Car Real Time

How we started?

▪ Parameterization of last years car to validate model

▪ Check and validate smaller subsystems like kinematics, load
transfer, aerodynamics, …
▪ Then validation of full vehicle

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Validation

Vertical – 4 Post

▪ Validation of simulation results with

test bench results
▪ Comparing of body accelerations and
wheel loads

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Validation

▪ Objective measurement to validate lateral

behaviour

▪ Ramp steer
▪ Step steer
▪ Sinus sweep

▪ Lateral acceleration
▪ Yaw rate
▪ Slip angle

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Compliance Simulation

▪ Full vehicle simulation using an

inertia relief analysis
▪ Validation of model with torsional
stiffness test
▪ Analysis of different load cases

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Compliance Simulation

▪ Determine parameters for vehicle

dynamics model
▪ Variation of stiffness in single
directions
▪ Analyzing influence of compliance on
vehicle dynamics

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Thank you for your attention

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