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Vehicle Dynamics Simulation Using Bond Graphs: Germán Filippini, Norberto Nigro and Sergio Junco
Vehicle Dynamics Simulation Using Bond Graphs: Germán Filippini, Norberto Nigro and Sergio Junco
Vehicle Chassis
Engine and Transmission
Pneumatic tires
Suspensions
Aerodynamic forces
(2)
Bs
Ks
(3)
yaw
Kt
roll
Ks
Bs
y
Bs
Ks
pitch
r1
(1)
(4)
Ks
Kt
Bs
h1
Kt
Fx
Fy
Kt
dp dp
dt dt
p
rel
dh dh
dt
dt
h
rel
v v
v G v
v v
Where,
0
1
0 cos
0 sin
x
y
z
0
sin
cos
cos
0
sin
cos
sin
0
sin
cos
0
x
y
z
x
y
z
0 sin
1
0
0 cos
0
0
1
X
Y
Z
T (T p , Tr , A p ) A p T p ( ) (1 A p ) Tr ( )
Ap accelerator position 0 Ap 1
Tp engine output torque
Tr engine resistant torque
x sign( ) A 1 e b
B K /d
c 2
1/ n
A 1.12 ; C 0.625 ; D 1
K 46 ; d 5 ; n 0.6
with -1< <1 the longitudinal slip
Lateral force
D
Fz
a3 sin 2 arctan
a4
B
C D
c a0 ; y a1 Fz a2 ; D y Fz
E a6 Fz a7
; a0 1.3 ; a1 53.31
Fxaero
1
Cx Af V 2
2
,
air density
Cx drag coefficient
Af vehicle frontal area
V relative velocity between the vehicle and the wind
Simulation Data
Renault Clio RL 1.1
Aerodynamics coefficient
0.33
Frontal area
1.86 m2
Distance between axes
2.472 m
Vehicle weight
8100 N
Centre of mass height
0.6
m
Front axis weight
5100 N ,
Rear axis weight
3000 N
Maximum engine torque 78.5 Nm at 2500 rpm
Maximum engine power 48 CV at 5250 rpm
Planetary drive train (differential) ratio 3.571
First gearbox ratio
3.731
Second gearbox ratio
2.049
Third gearbox ratio
1.321
Four gearbox ratio
0.967
Five gearbox ratio
0.795
Reverse gearbox ratio
3.571
Simulation Results
First Test
Simulation Results
Second Test
.
Sliding angle of one of the rear wheels as a function of time.
Simulation Results
Third Test
.
Slip angle of one of the rear wheels [rad].
Conclusions
One of the main goals of this paper was the extension of
this formalism to include large spatial (3-dimensional)
rotations.
Several elements oriented to multibody systems were
developed allowing work with different reference frames,
operating with them through the usage of translations
and general transformations.
This toolbox works acceptable in the vehicle dynamics
prediction and it was successfully applied to another
project based on vehicle fault diagnostics.