Modeling and dynamic simulation of vehicle

Simulation Draft Document Part I

Prepared by

Brajesh Chandra

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 CONTENTS

Page
List of Tables iv
List of Figures v
List of Symbols vi
SUMMARY viii
ACKNOWLEDGEMENTS ix

Draft 2
System block diagram 3
Equation of Motion 4
Vehicle load distribution 4
Drag forces 5
Tractive properties of the tyre/road interface 5
Wheel dynamics equation 8
Powertrain model 9
Engine torque curve 10
Engine dynamics 11
Gearbox model 11
Brake system model 12
Servo actuated brake system 13
Brake friction characteristics 13
Step-wise programming procedures 15
Procedure E1 15
Procedure E2 15
Procedure E3 (Gear box modeling) 16

Additional material 18

Appendix-A
Acceleration performance 19
Power limited acceleration 19
Engines 19
Power train 21
Automatic transmissions 26
Traction –Limited Acceleration 31

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 Page
Transverse weight shift due to Drive torque 31
Traction limits 35

Appendix-B
Braking performance 36
Basic equations 36
Constant Deceleration 37
Deceleration with wind resistance 38
Energy/Power 39
Braking forces 39
Rolling resistance 39
Aerodynamic drag 40
Driveline drag 40
Grade 41
Brakes 41
Brake factor 42
Tire-road Friction 44
Velocity 46

References 47

References recommended for purchase 48

Military tracked vehicle model 48

Tracked Tension estimation in tracked vehicles under various

maneuvering tasks 50

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 List of Tables
Page
Table no. Table description
1. Equivalent Model Parameters 7
2. Power graph modeling 15

iv
 List of Figures
Figure no. Title Page
1. Schematic diagram of system 2
2. High level system block diagram for vehicle simulation 3
3. Plot of Friction/Slip Characteristics 6
4. Power train block diagram 9
5. Typical Toque vs RPM plot 10
6. Typical 5 speed gearbox 12
7. Throttle vs speed 16
8. Twin dual cam V6 19
9. Performance characteristics of gasoline and diesel engines 20
10. Effect of velocities on acceleration capabilities of cars and trucks 23
11. Tractive effort speed characteristics for a manual transmission 26
12. Characteristics of a typical torque converter 27
13. Tractive force vs Speed 28
14. Selection of gear ratios based on geometric progression 29
15. Gear ratios on a typical passenger car 29
16. Specific fuel consumption map of a V8 engine 30
17. Free body diagram of a solid drive axle 32
18. Diagram of drive torque reactions on the chassis 33
19. ABS test drive 36
20. Drum brake and disk brake 41
21. Forces acting on the shoes of a simple drum brake 42
22. Mechanisms of tire-road friction 44
23. Braking deformations in the contact patch 45
24. Braking coefficient versus slip 46

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 List of Symbols

A Frontal area of the vehicle

B Distance between centre of front wheel and centre of mass
C Distance between centre of rear wheel and centre of mass
Cd Aerodynamic drag coefficient
C fi Coefficient of rolling friction
Cr Rolling resistance coefficient
Cj Viscous friction co-efficient of the i'th wheel
Fr Total rolling resistance
FX i Force in X (forward) direction
FZ i Force in Z (downward) direction
Fd (V ) Resistance force due to air drag
Fa Aerodynamic resistance
Fr Rolling resistance
g Earth gravity
H Height of centre of mass from the road
Ji Rotational moment of Inertia
K ci Simple pressure gain
K bi Pressure/torque
L Distance between the front and rear axles
m Lumped mass
Pbi Pressure applied to the brake disk
P Power at required RPM
Pj Power at j’th RPM
Pj +1 Power at (j+1)’th RPM
Ri Radius of the i’th wheel
R, RPM Revolution per Minute
r Radius of wheel
T Torque at required RPM
Tj Torque at j’th RPM
Tj+1 Torque at (j+1)’th RPM
Tmax Maximum available engine torque
Ut Forward velocity at time t
ubi Input brake setting
VT Vehicle longitudinal acceleration
VT Vehicle longitudinal velocity
V Forward acceleration
θ Road gradient

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ω Rotational rate/ Wheel velocity
ωr Rear rotational velocity
ωf Forward rotational velocity
λi Slip ratio (describes either the front or rear wheel)
μ Friction coefficient
µe Coefficient of friction/ Energy transfer co-efficient
µe t
Coefficient of friction (describes either the front or rear wheel
µi Effective coefficient of force transfer
τe i
Torque delivered by the engine to each wheel
τef Actual torque applied by front wheel
τes A single equivalent time lag
τb i
Torque applied to each wheel due to the brakes
τr i
Reaction torque on each wheel due to the tyre tractive force
τ d i ( ωi ) Viscous friction torque
ηf Final drive ratio
ηg Current gear ratio
µe Input throttle setting

Suffixes

f Front
r Rear

eehehf

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