WELCOME

 
MACHANICAL ENGINEERING DEPARTMENT , PUO
i. Coursework Assessment (CA)
 Quiz (20%)
o Quiz 1 (Chapter 1 & Chapter 2)
o Quiz 2 (Chapter 5 & Chapter 6)
 Test (40%)
o Test 1 (Chapter 1, 2 ,3)
o Test 2 ( Chapter 4, 5, 6)
 Presentation (10%)
 Mini Project (30%)

TOTAL MARKS = 100%

ii. Final Examination Assessment (FE)
 Consist 4 questions
o Question 1 (Chapter 1 & Chapter 2)
o Question 2 (Chapter 3 & Chapter 4)
o Question 3 (Chapter 5)
o Question 4 (Chapter 6 )

(25 marks x 4 = 100 marks)

TOTAL MARKS FOR DJA 6042 VEHICLE DYNAMICS:

CA (50%) + FE (50%) = 100%
 Chapter 1: Introduction To Vehicle Dynamics
 Chapter 2: Acceleration & Braking Performance
 Chapter 3: Road Loads
 Chapter 4: Ride
 Chapter 5: Steady State Cornering
 Chapter 6: Tires
 Gillespie, T. D., 1992, Fundamentals of Vehicle Dynamics,
Society of Automotive Engineers.
 Rill, G., 2005, Lecture Notes Vehicle Dynamics,
http://homepages.fh-regensburg.de/%7Erig39165/.
 Wong, J. Y., 2001, Theory of Ground Vehicles, 3rd Ed., John Wiley
& Sons.
 Jazar, N. R., 2008, Vehicle Dynamics: Theory and Applications,
Springer.
 Pacejka, H., 2005, Tire & Vehicle Dynamics, 2nd Ed., Elsevier.
 Hibbeler, R. C., 2010, Engineering Mechanics – Static, 12th Ed. in
SI Units, Pearson.
 Hibbeler, R. C., 2010, Engineering Mechanics – Dynamics, 12th
Ed. in SI Units, Pearson.
DJA 6042 VEHICLE DYNAMICS

 
 Sub topic in this chapter
1.1 Dawn of the Motor Vehicle Age
1.2 Introduction to Vehicle Dynamics
1.3 Fundamental Approach to Modelling
1.4 Dynamic Axle Loads
 Nicholas Joseph Cugnot, French Military Engineer (1769)
o Build a three-wheeled, steam-drive vehicle for the purpose of pulling
artillery pieces
o Within a few year a model of vehicle was built and cause first
accident in history.
 James Watt, Scottish Engineer (1784)
o Steam power vehicle
 Richard Trevithick, Englishman (1802)
o Develop steam coach that travel from Cornwall to London

Figure 1: First motor vehicle, 1769

 Karl Benz and Gottlieb Daimler (1886)
o First practical automotive powered by gasoline engine
 1900s
o Automotive vehicle were develop by many other pioneer such as
Rene Panhard, Armand Peugeot, Henry ford and other.
 1908
o Automotive industry was well established in United State with Henry
Ford manufacturing the model T
o General Motors Corporation being founded.
o In Europe the familiar company like Daimler, Opel, Renault, Benz
and Peugeot were recognized as automotive manufacturer
 A knowledge of the FORCE and MOMENTS generated by
pneumatic (rubber) tires at the ground is essential to
understanding highway vehicle dynamics.
 Ships, airplanes, railroad train and track-laying vehicle
(rubber tires vehicles) FOCUS

 Performance of a vehicle (motions in accelerating, braking,

cornering and ride)
 2 level of understanding vehicle dynamics:
o Empirical (derive from trial and error )
o Analytical (describe the mechanics of interest based on the known
laws of physics )
 Concerned with the movements of vehicles (automobiles,
trucks, buses and special purpose vehicle) on a road
surface.
 Movements of interest are acceleration and braking, ride
and turning.
 Dynamic behavior = force imposed on the vehicle from tires,
gravity and aerodynamics
 Vehicle and components are studied to determine what
kind of force will produced by each of these sources and
how the vehicle will respond to these force.
 Lumped mass located at vehicle center of gravity (CG) with
appropriate mass and inertia properties
 For acceleration, braking and most turning analysis, ONE
MASS is sufficient.
 For ride analysis, it is often to treat wheels as separately
(lumped mass = sprung mass, wheel = unsprung mass).
.Sprung mass Lumped mass
Mass that is supported
above the suspension

Unsprung mass
Mass of the suspension,
wheel and other component Figure 2: SAE vehicle Axis System
directly connected to them.
 Base on right-hand orthogonal coordinate system (origin in
CG and travel with vehicle)
 By SAE ( figure 2) convention the coordinate are:
o x – Forward and on the longitudinal plane of symmetry
o y – Lateral out the right side of vehicle
o z – Downward with respect to the vehicle
o p – Roll velocity about the x – axis Figure 3: Vehicle axis system

o q - Pitch velocity about y – axis

o r - Yaw velocity about z – axis
 Vehicle motion is usually describe by the velocities:
o Forward
o Lateral
o Vertical
o Roll
o Pitch
o Yaw

Respect to the fix coordinate system where the velocities are

referenced to the earth fix coordinate system,
 Vehicle attitude and trajectory through the course of a
maneuver defined with the respect to a right – hand
orthogonal axis system fixed on the earth.
 The coordinate are:
o X – Forward travel
o Y – Travel to right
o Z – Vertical travel (positive downward)
o Ψ – Heading angle (angle between x and X in the ground plane)
o ν - Course angle (angle between the vehicle’s vector and X axis)
o β – Sideslip angle ( angle between x axis and the vehicle velocity
vector)
 X – Forward travel
Y – Travel to right
Z – Vertical travel
Ψ – Heading angle
ν - Course angle
β – Sideslip angle

Figure 4: Vehicle in an Earth Fixed Coordinate system

 Define as relationship of the vehicle fixed coordinate
system to the earth fixed coordinate system.
 Determine by a sequence of three angular rotations:
o Earth fixed system (beginning)
o Yaw, around z axis, (1st angular rotation)
o Pitch, around y axis, (2nd angular rotation)
o Roll, around x axis, (3rd angular rotation)
 Define as act on the vehicle
 Longitudinal (x axis) positive force, direction on the vehicle
is forward (←).
 Load on tire (z axis) positive force, direction is upward(↑).

Figure 5: Force acting on vehicle

 Fundamental law from most vehicle dynamic begin.
 Applies on translational system and rotational system.
 Translational system
o The sum of the external force acting on a body in a given direction is
equal to the product of its mass and the acceleration in that
direction (assuming the mass id fixed)
o σ 𝐹𝑥 = 𝑀. 𝑎𝑥 where; 𝐹𝑥 = force in the x-direction,
M = mass of the body
𝑎𝑥 = acceleration in the x – direction
 Rotational system
o The sum of the torques acting on a body about a given axis is equal
to the product of its rotational moment of inertia and the rotational
acceleration about that axis.
o σ 𝑇𝑥 = 𝐼𝑥𝑥 . ∝𝑥 where; 𝑇𝑥 = torques about the x-axis
𝐼𝑥𝑥 = moment of inertia about x–axis
∝𝑥 = acceleration about x-axis
 Consider the vehicle in figure, in which most of the
significant force on the vehicle.

Figure 6: arbitrary forces acting on vehicle

 Base on figure 6
o Base on SAE convection, clockwise torque about A is positive
o ↻+σ 𝑀𝐴 = 0
𝑊
o 𝑊𝑓 𝐿 + 𝐷𝐴 ℎ𝑎 + 𝑎 ℎ + 𝑅ℎ𝑥 ℎℎ + 𝑅ℎ𝑧 𝑑ℎ + 𝑊ℎ sin 𝜃 − 𝑊𝑐 𝑐𝑜𝑠𝜃 =
𝑔 𝑥
0 (𝒆𝒒𝟏)

o ↻+σ 𝑀𝐵 = 0
𝑊
o −𝑊𝑟 𝐿 + 𝐷𝐴 ℎ𝑎 + 𝑎 ℎ + 𝑅ℎ𝑥 ℎℎ + 𝑅ℎ𝑧 (𝑑ℎ +𝐿) + 𝑊ℎ sin 𝜃 −
𝑔 𝑥
𝑊𝑏 𝑐𝑜𝑠𝜃 = 0 (𝒆𝒒 𝟐)
 Simplify the eq 1 and eq 2
𝑊
(𝑊𝑐 𝑐𝑜𝑠𝜃 −𝐷𝐴 ℎ𝑎 − 𝑔 𝑎𝑥 ℎ − 𝑅ℎ𝑥 ℎℎ − 𝑅ℎ𝑧 𝑑ℎ − 𝑊ℎ sin 𝜃 )
o 𝑊𝑓 = (eq 3)
𝐿

𝑊
(𝑊𝑏 𝑐𝑜𝑠𝜃 + 𝐷𝐴 ℎ𝑎 + 𝑎 ℎ + 𝑅ℎ𝑥 ℎℎ + 𝑅ℎ𝑧 𝑑ℎ +𝐿 + 𝑊ℎ sin 𝜃 )
𝑔 𝑥
o 𝑊𝑟 = (eq )4
𝐿
 Static Load on Ground
o When the vehicle sits statically on level ground, the load equations
simplify considerably. The sine is zero and he cosine is one, and the
variable s 𝑅ℎ𝑥 , 𝑅ℎ𝑧 , 𝑎𝑥 𝑎𝑛𝑑 𝐷𝐴 are zero. Thus:

𝑐
𝑊𝑓𝑠 = 𝑊 𝑤𝑒𝑖𝑔ℎ𝑡 𝑎𝑡 𝑓𝑟𝑜𝑛𝑡
𝐿
𝑏
𝑊𝑟𝑠 = 𝑊 𝑤𝑒𝑖𝑔ℎ𝑡 𝑎𝑡 𝑟𝑒𝑎𝑟
𝐿
 Low Speed Acceleration
o When the vehicle is accelerating on level ground at a low speed,
such that 𝐷𝐴 is zero, the load on the axles are:, sin 1≈ 0, cos 1≈ 1,
𝑅ℎ𝑥 = 𝑅ℎ𝑧 ≈ 0

𝑐 𝑎𝑥 ℎ 𝑎𝑥 ℎ
𝑊𝑓 = 𝑊 − = 𝑊𝑓𝑠 − 𝑊 , 𝑤𝑒𝑖𝑔ℎ𝑡 𝑎𝑡 𝑓𝑟𝑜𝑛𝑡
𝐿 𝑔 𝐿 𝑔 𝐿
𝑏 𝑎𝑥 ℎ 𝑎 ℎ
𝑊𝑟𝑠 = 𝑊 + = 𝑊𝑟𝑠 + 𝑊 𝑥 , 𝑤𝑒𝑖𝑔ℎ𝑡 𝑎𝑡 𝑟𝑒𝑎𝑟
𝐿 𝑔 𝐿 𝑔 𝐿

𝑎𝑥
*Note : 𝑊 = d’Alembert force
𝑔
 Load on Grades
o Grade define as the “rise’” over the “run”. The ratio is the tangent of
the grade angle, θ.
o The common grade in highway are limited to 4% and on primary and
secondary road can reach 10% to 12%.
o Assume cos θ = 0.99++ ≈ 1
o Assume sin θ ≈ θ
o So that:
𝑐 ℎ ℎ
𝑊𝑓 = 𝑊 − θ = 𝑊𝑓𝑠 − 𝑊 θ , 𝑤𝑒𝑖𝑔ℎ𝑡 𝑎𝑡 𝑓𝑟𝑜𝑛𝑡
𝐿 𝐿 𝐿
𝑏 ℎ ℎ
𝑊𝑟𝑠 = 𝑊 + θ = 𝑊𝑟𝑠 + 𝑊 θ , 𝑤𝑒𝑖𝑔ℎ𝑡 𝑎𝑡 𝑟𝑒𝑎𝑟
𝐿 𝐿 𝐿
 The curb weight of a Continental 4-door sedan without
passenger are 1049 kg on the front axel and 560 kg on the
rear. The wheelbase, L is 277cm. Determine the fore/ aft
position of the center of gravity for the vehicle.
  The fore/aft position of the CG is defined by either
parameter c or b, which apply to a vehicle sitting at rest on
level ground.

𝑏 𝐿 560 × 277
𝑊𝑟𝑠 = 𝑊 , 𝑏 = 𝑊𝑟𝑠 = = 96.41 𝑐𝑚
𝐿 𝑊 1049 + 560

𝑐 𝐿 1049 × 277
𝑊𝑓𝑠 = 𝑊 , 𝑐 = 𝑊𝑓𝑠 = = 180.59 𝑐𝑚
𝐿 𝑊 1049 + 560

 So that, the CG of the vehicle is 96.41 cm aft of the front

axle and 180.59 cm fore of the rear axle.
 The Taurus GL sedan with 3.0L engine accelerates from a
standing start up a 6 percent grade at an acceleration
6 𝑚/𝑠 2 . Find the load distribution on the axles at this
condition. Given the curb weight are 884 kg on the front
axel and 498 kg on the rear; the wheelbase is 265 cm and
front passenger’s weight is distributed 49 percent on the
front axle and 51 percent on rear. Assuming a 100kg driver
and CG height, h is 50 cm.
 So that;
𝑊𝑓𝑠 = 884 + 49 = 933 𝑘𝑔 , 𝑊𝑟𝑠 = 498 + 51 = 549 𝑘𝑔
𝑊 = 1482 𝑘𝑔

𝑏 𝐿 549 × 265
𝑊𝑟𝑠 = 𝑊 , 𝑏 = 𝑊𝑟𝑠 = = 98.17 𝑐𝑚
𝐿 𝑊 1482

𝑐 𝐿 933 × 265
𝑊𝑓𝑠 = 𝑊 , 𝑐 = 𝑊𝑓𝑠 = = 166.82 𝑐𝑚
𝐿 𝑊 1482

tan 𝜃 = 0.06 ; 𝜃 = 𝑡𝑎𝑛−1 0.06 = 3.434𝑜

 So that;
 From eq 3 and Eq 4

ℎ
𝑊(𝑐 𝑐𝑜𝑠𝜃 − 𝑔𝑎𝑥 − ℎ sin 𝜃 )
𝑊𝑓 = = 743.49 𝑘𝑔
𝐿

ℎ
𝑊(𝑐 𝑐𝑜𝑠𝜃 − 𝑎 −ℎ sin 𝜃 )
𝑔 𝑥
𝑊𝑟 = = 735.77 𝑘𝑔
𝐿

𝑊𝑓 + 𝑊𝑟 = 1479.26 𝑘𝑔