Vehicle Dynamics

Role of Tire Modeling

on the Design Process
of a Tire and Vehicle System

Gwanghun Gim, Yongchul Choi*

Nov., 2001

Hankook Tire Co., Ltd.

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Contents Vehicle Dynamics

Application of a tire model

Tire characteristic
Semi-physical tire model
Validation
Conclusion

2001 Korea ADAMS User Conference, 2001. 11. 8~9

Design Target Vehicle Dynamics

Suspension

? Steering

Tire

2001 Korea ADAMS User Conference, 2001. 11. 8~9

Vehicle Dynamic Simulation Vehicle Dynamics

2001 Korea ADAMS User Conference, 2001. 11. 8~9

Driving Simulator Vehicle Dynamics

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Virtual Subjective Assessment Vehicle Dynamics

Subjective Test Procedure

Lane change

45
0 R 45 0 90 0 L 45 0 45
0
center 0 0 center
L 45 R 45

) Smooth steering input

) Constant speed near limit speed

Subjective Assessment

Oversteer

Understeer

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Coordinate System Vehicle Dynamics

Wheel
Spinning Axis Heading
Direction
x
Mx
s
Traveling
Fz Direction
Fy

Fx Mz y
My
z

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Tire Characteristic Vehicle Dynamics

Straight
StraightRunning
Running Normal
NormalCornering
Cornering Severe
SevereCornering
Cornering

Rl Rl Rl

Fy Fy
y y
Fz Fz Fz
TE TE TE

Fy
Fy
tp tp
LE LE LE

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Semi-physical Tire Model
Semi-physical Vehicle Dynamics

New Concept Physical modeling Empirical Fitting

F Force due to
tread deformation x
l 1.2

E I 1
y(b) y(b)
0.8

0.6
ky(s)
Rl 0.4

0.2
t Elastic Foundation 0
0.2 0.4 0.6 0.8
s
Fy
y
Fz Traveling direction

Fy
SA=0
Friction ellipse
SA=1

TE 1 SA=2
SA=4

Fy
Heading 2
SA=6
SA=8

Fy
direction
Fy
Leading Edge
tp Trailing Edge
tpxy
-
Fx at s=s1 Fx at s=s2 Fx
LE F

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Transient Response Vehicle Dynamics

Steering wheel angle

Heading Direction
at wheel

Heading Direction
at wheel
s Traveling
(c) Direction
Slip angle
at wheel center

Slip angle
at contact patch

Lateral force, Fy z

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Transient Response Vehicle Dynamics

Sinusoidal Ramp Constant

(c) rT
A Ac
T i

i r ( c)i
(c)i i
(c)i
time time time

(t ) = A sin (t ) (t ) = i + r t (t ) = i

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Sinusoidal Input Vehicle Dynamics

Slip angle at wheel center

2nd order diff. equation

(t ) = A sin (t )

&&( c ) + 2wn& ( c ) + wn ( c ) = Slip angle at contact patch

( c ) (t ) = AC sin (t + )

Fy

3 3000
2
F y , raw
2000
F y , fitted
1 F y , avg 1000
,

Fy 0
0 0.2 0.4 0.6 0.8 1 1.2 -3 -2 -1 0 1 2 3
-1 -1000

-2 c -2000
-3 -3000

Time

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Ramp Input Vehicle Dynamics

Slip angle at wheel center

1st order diff. equation

= i + rt

T& ( c ) + ( c ) = Slip angle at contact patch

t
(c) (t ) =i + r(t T) + ((c)i i + rT)e

T

(c )
30 7000

20 5000

3000
10
1000
0 Fy
0 5 10 15 20 25 -1000
Exp. Pred. load
-10
-3000 175%Fz
137%Fz
-20 -5000 100%Fz
67%Fz

-30 -7000 25%Fz

time

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Constant Input Vehicle Dynamics

Slip angle at wheel center

1st order diff. equation

= i

T& ( c ) + ( c ) = Slip angle at contact patch

t
( c ) (t ) = i + ( ( c ) i i )e

T

Fy Fy

0 0
6 experimented predicted sweep rate
5
(c ) -1000 -1000
24 deg /sec
12 deg /sec
4 -2000 -2000 8 deg /sec
4 deg /sec
3
-3000 -3000
2
F y (exp .)
1 F y ( pred .) -4000 -4000

0 -5000 -5000
0.5 1 1.5
-1
Time Time

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Lateral Force Vehicle Dynamics

Analytical Formulation
For tan ( c ) < tan ( c ) p of Lateral Force

Fy Fy ( , Fz ) = C sin ( 0 ) + C tan ( ( c ) 0 )ln2

ypFz
{ }(
+ C sin ( 0 ) + yp Fz 1 3ln2 + 2ln3 )
ysFz

45 p
C

Empirical Formulation
For tan ( c ) > tan ( c ) p of Lateral Friction
0
Fy ( , Fz ) =
tan ( c ) tan ( c ) p
ys + ( yp ys ) sec h S y Fz
1 tan ( c )

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Validation Vehicle Dynamics

Lateral Force
Fy
Exp. Pred. load

175%Fz
137%Fz
5000
100%Fz
67%Fz
3000 25%Fz

1000

-20 -10 -1000 0 10 20

-3000

-5000

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Pneumatic Trail Vehicle Dynamics

TE

Fy

tp

LE
Empirical Formulation
tp
of Pneumatic Trail
at pxy p
at pxy sh
S t pxy S t pxy = at pxy s + (at pxy s at pxy p ) sec h St pxy S
1


at pxy sh at pxy s

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Self-aligning moment
Self-aligning Vehicle Dynamics

Fy -tp*Fy

Mz

Self-aligning Moment

M z = RM z t p Fy

Fy
RM z : Residual aligning moment
-tp*Fy

RMz

Mz

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Validation Vehicle Dynamics

Pneumatic trail Self-aligning moment

tp Mz
60 200

50 150
40
100
30
50
20

10 0
-20 -10 0 10 20
0
-50

-10 -100 Exp. Pred. load

-20 175%Fz
-20 -10 0 10 20 -150
137%Fz
-200 100%Fz
67%Fz
25%Fz

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Lateral Deformation Vehicle Dynamics

Fy
y Empirical Formulation
Fz
of Lateral Deformation
y
y = a ,3 Fy 3 + a , 2 Fy 2 + a ,1 Fy + a
y y y y ,0

Fy
Fy
where Fy =
Fz

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Overturning moment Vehicle Dynamics

Fy Overturning moment

M x = RM x + y Fz

RMx
RM x : Residual overturning moment
y*Fz

Mx

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Validation Vehicle Dynamics

Lateral deformation Overturning moment

tp
Mx
25
200
20
150
15

10 100

5 50

0 0
-6000 -4000 -2000 0 2000 4000 6000 Fy -6000 -4000 -2000 0 2000 4000 6000 Fy
-5 -50
-10 -100
Exp. Pred. load
-15 175%Fz -150
137%Fz
-20
100%Fz -200
67%Fz
25%Fz

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Loaded Radius Vehicle Dynamics

Rl

Fy
y
Fz Empirical Formulation
of Loaded Radius
Rl
aRl , 0
aRl , 2
Rl = aRl , 2 ( Fy a Rl ,1 ) 2 + a Rl , 0

Fy
aRl ,1 Fy
where Fy =
Fz

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Validation Vehicle Dynamics

Loaded radius
Rl

315

310

305

300

295

290
Exp. Pred. load
285
175%Fz
137%Fz
280
100%Fz
67%Fz
-6000 -4000 -2000 0 2000 4000 6000 Fy 25%Fz

2001 Korea ADAMS User Conference, 2001. 11. 8~9

 Conclusion
Conclusion
Conclusion Vehicle Dynamics

VehicleBehavior
Vehicle Behavior + Human
HumanPerception
Perception

transient response
Semi-Physical pneumatic trail
Forces & moments Tire Model lateral deformation
loaded radius

Vehicle dynamic simulation

Virtual subjective assessment
Driving simulator

2001 Korea ADAMS User Conference, 2001. 11. 8~9