Vehicle Dynamics

Dr. Girish Chandran V

Associate Professor
Department of Mechanical engineering
Energy House, Block A
Ph.: 8075061417
[email protected]
Course Outcome
• CO1. Design and Develop the Mathematical Models from Physical
systems
• CO2. Analyze the different Road Loads on a given vehicle
• CO3. Analyze the different Tyre Mechanics under static and
dynamic conditions
• CO4. Design and Analyze the Steering system of a vehicle for its
steady state as well as different driving conditions
• CO5. Design and Analyze Suspension system of a vehicle for its
steady state as well as different driving conditions
• CO6. Design the Dynamic Axle loads transfer due to gradient, low
speed acceleration etc…
UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 2
Lecture 1 Outcome
• LO1. Understand the course syllabus and Evaluation plan
• LO2. Basic understanding of mathematical models and its
application to vehicle dynamics
• LO3. Degrees of freedom and its importance in mathematical
modelling
• LO4. Basic understanding of Single Degree freedom systems

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 4

Course Syllabus
• INTRODUCTION
• Single, Two Degree of Freedom with Free Forced and damped vibrations –
Development of Mathematical models – Inputs and Outputs for Mathematical
models – ISO 8555/DIN 7000, Lumped Mass – Vehicle Fixed Coordinate system
– Earth fixed coordinate system – Dynamic Axle Loads
• TIRE MECHANICS:
• Elastomers- Viscoelasticity- Influence of low and High frequency on
viscoelasticity of elastomers-temperature influence- Temperature Vs.
Frequency- Tire temperature – Tire inflation Pressure /load – Velocity – Tire
materials & Design – Tire Slip- Membrane force formation & effect of radius of
curvature – Free rolling conditions- Sidewall bending & its influence on effect
of contact patch, inflation of pressure – inflation of pressure Vs. Contact patch-
longitudinal forces acting on contact patch – Development of lateral forces in
tyres- ply steer & conicity- Tyre brush model.

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 5

Course Syllabus Contd..
• BRAKING PERFORMANCE & ROAD LOADS
• Basic Equations: Aerodynamic Forces- – Rolling Resistances: Spring,
Dashpot and Friction, contact patch, locking of front and rear wheels and
their effects, influence of slip and slip angle for longitudinal and lateral
forces.
• RIDE CHARACTERSTICS
• Excitation Sources – Vehicle response properties: Suspension Isolation,
Stiffness, damping – Wheel Hop Resonances, Rigid Body bounce,
Bounce/ pitch frequencies.

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 6

Course Syllabus Contd..
• STAEDY STATE CORNERING
• Low speed turning- high speed cornering – tire cornering forces –
suspension effects on cornering –– Anti squat and Anti Pitch suspension
geometry – Antidive suspension geometry – Static Rollover of a rigid
vehicle & suspended Vehicle.
• FORWARD VEHICLE DYNAMICS
• Parked car on a level road, Inclined road and Banked Road – Accelerating
Car on level & inclined road- Calculation of Tractive Effort and reactions
for different drives

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 7

Text Book and Ref
• Text Book

Fundamentals of Vehicle Dynamics by Thomas D. Gillespie

Vehicle Dynamics Theory and Applications by Reza N. Jazar, Springer

• Reference:
• Refer Course Plan

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 8

Evaluation
• Internal Assessment - 30%
• Mid- term Examination - 20%
• End -term Examination - 50%

• Internal Assessment:
• Class test (2 Nos, before mid exam and before end exam) – 40%
• Assignment (Quizzes, Tutorials, Home work) - 30%
• General Conduct (Attendance, class discipline, on time submission) -30%

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 9

Vehicle Dynamics
• Why do we need to study Vehicle dynamics?

The primary forces by which a high speed motor vehicle is

controlled are developed in “four patches” – where tire is in
contact with road.

Two basic approach in VD – Empirical approach

Analytical Approach

1
UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 0
Vehicle Dynamics – Analytical Approach
• Mathematical Modelling

INPUT Mathematical OUTPUT

Model

Testing standards:
ISO 15037

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 11

Vehicle Dynamics
• Vehicle Dynamics study includes
• Longitudinal Dynamics
• Lateral Dynamics
• Vertical Dynamics

• Vehicle Dynamics study may be considered as

• Driving Dynamics
• Safety Dynamics
• Ride Comfort

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 12

Vehicle Dynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 13

Vehicle Dynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 14

Vehicle Dynamics-mathematical modelling

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 18

Vehicle Dynamics-mathematical modelling

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 19

Vehicle Dynamics-mathematical modelling

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 20

Vertical Dynamics
Components:
Lumped Mass (Mass of vehicle)
Tyre
Suspension

Mathematical model elements:

Mass
Spring (Elastic)
Dashpot (Damping)
Friction
UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 21
Vertical Dynamics
Inputs:

Outputs:

Effect:

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 22

Vertical Dynamics
Selection of mathematical model:

Degrees of freedom (DOF)

The number of degrees of freedom of a vibrating system is the sum total of all
ways in which the masses of the system can be independently displaced from
their respective equilibrium positions

Minimum number of coordinates required to specify a configuration

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 23

Single DOF systems

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 24

Single DOF systems

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 25

Lecture 2 Outcome
• LO1. Application of mathematical modelling to a vehicle
• LO2. Degrees of freedom and its importance in mathematical
modelling
• LO3. Basic understanding of Single Degree freedom systems

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 26

Lecture 3 Outcome
• LO1. Modelling of 1DOF systems.
• LO2. Derive equations for natural frequencies
• LO3. Applications of 1 DOF systems

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 27

Lecture 4 Outcome
• LO1. Modelling of 2DOF systems.
• LO2. Derive equations for natural frequencies
• LO3. Applications of 2 DOF systems

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 28

Lecture 5 Outcome
• LO1. Basic understanding and significance of mode shapes.
• LO2.
• LO3.

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 29

Tire Mechanics
• Functions of Tire:
• Supports Vertical load (cushion for road shock)
• Develop longitudinal forces (Acceleration and Braking)
• Develop Lateral forces (Cornering, turning)

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 30

Tire Mechanics
• Forces and moments acting on Tire:

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 31

Tire Mechanics
• Vehicle and earth coordinate systems:

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 32

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 33

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 34

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 35

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 36

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 37

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 38

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 39

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 40

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 41

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 42

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 43

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 44

Tire Mechanics
Hydroplaning

Dynamic Hydroplaning
Viscous Hydroplaning
Rubber Hydroplaning

Dynamic Hydroplaning Speed V= 16.66 𝑝

where V in Km/hr, p in psi

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 45

Tire Mechanics - Elastomers

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 46

Tire Mechanics - Elastomers

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 47

Tire Mechanics - Elastomers
•VISCOELASTIC DEFORMATION
• Polymeric materials when subjected to a uni-axial force or a shear stress,
behave differently from perfectly elastic material or a Newtonian fluid.
• A perfectly elastic material on application of uni-axial force, follow Hook’s
law which states the induced stress is directly proportional to the
resultant strain. The proportionality constant is referred as elastic
modulus of the material.
• A Newtonian fluid on application of shear stress, deform continuously at
a strain rate proportional to the applied shear stress. The proportionality
constant is referred as viscosity of the fluid.
• Polymeric materials exhibit mechanical properties which are in between
these ideal cases and hence are termed viscoelastic

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 48

 Tire Mechanics - Elastomers
•VISCOELASTIC DEFORMATION

• The most characteristic features of viscoelastic materials are that they exhibit
a time dependent strain response to a constant stress (creep) and a time
dependent stress response to a constant strain (relaxation).
• In addition when the applied stress is removed the materials have the ability
to recover slowly over a period of time.

• These effects can also be observed in metals but the difference is that in
plastics they occur at room temperature whereas in metals they only occur
at very high temperatures
UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 49
Tire Mechanics - Elastomers

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 50

Tire Mechanics - Elastomers

Like the young’s modulus is different from storage modulus,

complex viscosity (η*) is different from dynamic viscosity (η).

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 51

Tire Mechanics - Elastomers

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 52

Tire Mechanics - Elastomers

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 53

Tire Mechanics - Elastomers
The time-temperature superposition principle states that the time
response of a material at different temperature can be shifted in the
time scale by a shift factor aT if the underlying molecular motions for the
time response at different temperature share the same mechanism and
change in temperature only affects the corresponding response speed

WLF equation:

Arheneus equation:

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 54

Tire Mechanics - Elastomers

Time Temperature Super

position:

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 55

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 56

Tire Mechanics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 57

Vehicle Aerodynamics
Drag
Pressure drag – Due to change in velocity because of form and shape
Friction drag – Due to surface roughness, boundary layer
Vortex drag – Due to bluff body and flow separtion

Lift
Positive lift – Lifts the car upwards
Negative lift – Creates downward force

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 58

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 59

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 60

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 61

Vehicle Aerodynamics
Objectives of improvement of flow past vehicle bodies:
•reduction of fuel consumption
•more favorable comfort characteristics(mud deposition on body, noise,
ventilating and cooling of passenger compartment)
•improvement of driving characteristics(stability, handling, traffic safety)

Vehicle aerodynamics includes three interacting flow fields:

•flow past vehicle body
•flow past vehicle components (wheels, heat exchanger, brakes, windshield),
•flow in passenger compartment

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 62

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 63

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 64

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 65

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 66

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 67

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 68

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 69

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 70

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 71

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 72

Vehicle Aerodynamics

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 73

Vehicle Aerodynamics

Learn more about:

Wings
Spoiler
Splitter
Air dam
Canards
Under tray
Diffusers and strakes
Side skirts
Vortex generators

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 74

Steady state Cornering

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 75

Steady state Cornering
Bicycle model

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 76

Steady state Cornering

UNIVERSITY OF PETROLEUM & ENERGY STUDIES VEHICLE DYNAMICS - Dr Girish Chandran V 77