ME 457

Some Concepts in
Vehicle Dynamics
Steve Rohde, Ph.D.
steve@quantumsignal.com

Spring 2003
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The Chevrolet SSR

SSR Movie
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Major Automotive Vehicle Subsystems

•Powertrain
•Accessories
•Brakes
•Steering
•Suspension
•Body
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Automotive Vehicle Subsystem Interactions

Heat, Noise, Vibration, Engine Vibration Torque

Torque Delivered to Driven Wheels

Heat, Noise, Driver Visibility, Airflow
Hydraulic/Pneumatic Pressure Suspension Forces
Vibration
Engine Speed Hydraulic Flow, Electrical Voltage Braking Torque Noise
Coolant Temp.
Vacuum
Electrical Voltage Steering Angle

Powertrain
Powertrain Accessories
Accessories Brakes
Brakes Steering
Steering Suspension
Suspension Body
Body

Vacuum Load
Electrical Current Steering Forces
Accessory Torque Load
Battery Voltage Suspension Geometry
Coolant Flow & Heat Loss
Wheel Rotational Body Attitude &
Hydraulic Pressure, Electrical Current Speed Position
Aerodynamic drag
Hydraulic/Pneumatic Flow
Heating & Cooling Loads
Driven Wheel Rotational Speeds
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Coordinate System

y
Pitch

c.g.

x
Rol Yaw
l z
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Somewhat Simplified Model

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The Real Thing!

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“Top Level” Longitudinal Forces

a M
F
R

Ma = F – D - R
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Longitudinal Forces

Ma = F – D - R
D

M
F
R
F = Tractive Force
D = Aerodynamic Drag = ½ρACDV2
R = Rolling Resistance = Mg(r0+r1V)
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Forces on an Incline

D
F
M
M

θs
R
Ma = F – D – R – Mgsin(θ)
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Some Interesting Facts

Ma = F – D – R

• F > 0  Positive Tractive Effort (traction)

• F – D – R > 0  Accelerating
• F – D – R < 0  Decelerating
• │F│ > μN  Wheels Spin
• amax ~ g
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Consider WOT (max acceleration)

Instantaneous power:
Mav = Fv – Dv – Rv

Integrating between 0 and T:

½ Mv2 = ∫Fvdt – ∫Dvdt – ∫Rvdt

½ Mv2 ~ ∫Fvdt

Suppose engine is at Pmax and no losses:

½ Mv2 ~ T*Pmax
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Powertrain “Matching”

Road Load ~ v3
Power

Engine Power

Speed
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How about the energy you use driving a vehicle?

E = ∫FV Χ(F)dt
Where X(F) = 1 iff F>0, =0 otherwise
DB = ∫FV Χ(-F)dt
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Some simple approximate results

• E/(MS) = (7.741 r0 + 111.2 r1) + 113.4 ACD/M + 0.1518

• DB/(MS) = 0.1518 - (2.064 r0 + 22.83 r1) – 18.05 ACD/M

Tractive & Braking Energy are Linear with Mass!

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Forces Acting on a Two Axle Vehicle

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Equations of Motion

Assume that θs=0, forces at wheels are combined

and aero & towing forces are neglected as are
vertical and pitch accelerations. Then:

0 = W f + Wr – W

0 = Wf l1 - Wrl2 + (Ff + Fr)h

ma = Ff + Fr
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Loads on Axles

Wf = W {l2/(l1+l2) – h/(l1+l2)a/g}

Wr = W {l1/(l1+l2) + h/(l1+l2)a/g}
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Maximum Acceleration

For a rear drive vehicle:

armax = g l1/(l1+l2)/{1/µ – h/(l1+l2)}

For a front drive vehicle:

afmax = g l2/(l1+l2)/{1/µ + h/(l1+l2)}

Where µ = Coefficient of friction

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Forces Acting on a Tractor-Semitrailer

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Examples of Math Model Use in GM

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Beetle Lane Change*

* Courtesy of MSC.Software
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Truck Rear Suspension*

* Courtesy of MSC.Software
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Durability Simulation*

* Courtesy of MSC.Software
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Large Vehicle Simulation*

* Courtesy of MSC.Software
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Tractor-Trailer Simulation*

* Courtesy of MSC.Software
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Motorcycle Drop Simulation*

* Courtesy of MSC.Software