Abstract ADAMS Users Conference 19-21 June, 2000, Orlando

van Oosten, Pacejka, TNO

SWIFT-Tyre: An accurate tyre model for ride and handling studies also at higher frequencies and short road wavelengths
Authors: Jan J.M. van Oosten, Hans B. Pacejka As is well known, Magic Formula tyre modelling (MF-Tyre is a part of ADAMS/Tire) allows an accurate and efficient description of tyre-road interaction forces required for any usual vehicle handling simulation. When it comes to modelling of tyre behaviour at higher frequencies and short road obstacles, which are important for vehicle ride assessment, advanced chassis control systems and chassis system vibrations, a more sophisticated approach is required. In close co-operation with the Delft University of Technology and with involvement of nine automotive companies, TNO has developed the SWIFT (Short Wavelength Intermediate Frequency Tyre) model, which is based upon a rigid ring type of tyre model. The SWIFT model is able to describe dynamic tyre behaviour for in-plane (longitudinal and vertical) and out-ofplane (lateral, camber and steering) motions up to about 60 Hz, and for road obstacles with short wavelength. For reasons of accuracy and calculation speed the SWIFT model has been programmed as a semi-empirical model which is derived using advanced physical models and dedicated high frequency tyre measurements to assess speed effects in tyre behaviour. During the development of SWIFT much attention has been paid to validation of the model with advanced high frequency tyre testing. The extensive testing programme showed that tyre model parameter assessment by a modal analysis approach is certainly not sufficient for accurate tyre F&M modelling. Similar to the MF-Tyre module, the SWIFT-Tyre has been linked to ADAMS using a Standard Tyre Interface and has been extensively validated with tyre measurements especially performed with high frequency excitations. In addition robustness, user friendly-ness and backward compatibility with MF-Tyre have been given high priority. Typical applications of the SWIFT-Tyre module are: active chassis control system development, braking/driving behaviour during cornering on uneven roads, vehicle ride assessment using sharp and short road obstacles, suspension vibration analysis (i.e. steering oscillations) In this presentation the SWIFT tyre model will be explained as well as a comparison between the model and the measurements will be shown. In addition, the use of the SWIFT tyre model in ADAMS simulation models will be illustrated for ABS braking, while cornering over uneven roads.

SWIFT-Tyre
An accurate tyre model for ride and handling studies for high frequencies and short road wavelengths

Jan J.M. van Oosten Hans B. Pacejka

International ADAMS User Conference June 19-21, 2000, Orlando
2000 International ADAMS User Conference

Content
Current DELFT-TYRE modelling SWIFT-Tyre
the objectives the model experiments validation

SWIFT modelling in ADAMS Availability Concluding

2000 International ADAMS User Conference

Design and analysis environment to support in optimization of the vehicle-tyre system

MF-Tyre MF-MCTyre MF-Tool+ MF-MCTool+

2000 International ADAMS User Conference

DELFT-TYRE
current models MF-Tyre and MF-MCTyre:
Steady state and transient tyre modelling for all basic vehicle handling studies up to 8 Hz

New version of MF-Tyre 5.2:

vertical stiffness depends on slip angle and long. slip growth of tyre radius by rotational speed rolling resistance depends on speed improved combined cornering and braking/driving

2000 International ADAMS User Conference

Next step:

SWIFT-Tyre
Short Wavelength Intermediate Frequency Tyre Objective: A general pragmatic tyre model (3D) for the development of active chassis control systems and optimising vehicle ride properties

2000 International ADAMS User Conference

SWIFT-Tyre
applications Dynamic braking/driving (ABS/TCS) Vehicle Dynamic Control (VDC/ESP) Ride comfort & vibrations Suspension and steering system design: combined dynamic braking, cornering and ride 4 post rig ride testing . All kinds of tyres

2000 International ADAMS User Conference

SWIFT-Tyre
Model description Rigid Ring modelling for tyre belt vibrations up to 60 Hz Semi-emperical for optimal accuracy and calculation speed Elaborate contact model for short wavelength slip variations (wavelengths > 0.2 m) Effective inputs for discrete obstacles Magic Formula for slip force calculation Validation with realistic tyre test data
2000 International ADAMS User Conference

SWIFT-Tyre
Model description
belt wheel rim V Z reff belt wheel plane

Fx

Vc C

V* Fy Mz

eff Weff eff. road plane

Fz

residual springs actual road surface

2000 International ADAMS User Conference

SWIFT-Tyre
In- and out-of-plane Non-linear vertical force Load and speed dependent belt frequencies Tyre radius growth with speed Vertical force influenced by contact point displacement Slip dependent transient behaviour Eigenfrequencies of the tyre belt

2000 International ADAMS User Conference

SWIFT-Tyre
Short obstacles
lengthening response swallowing obstacles (enveloping)

filtering unevenesses filtered response at axle road profile

2000 International ADAMS User Conference

SWIFT-Tyre
Short obstacles
Effective input approach: Road profile is transferred into effective inputs
Effective plane height Effective plane angle

Vertical and long. tyre forces Rolling radius variations

effective plane height [mm] 10 5 0 -200

30 mm 10 mm trapezoid cleat

6000 4000 2000 vertical -100 load 0 0 100 position2000 International ADAMS User Conference [mm] [N] 200

SWIFT-Tyre
Experiments & Validation

2000 International ADAMS User Conference

F&M testing
for SWIFT parameters Dynamic tyre testing for SWIFT parameters (at different loads and speeds)
dynamic braking cleat testing dynamic cornering effective input tests

Model analysis approach

Identified frequencies not representative for tyre behaviour under driving conditions Not suitable to assess speed and load effects
2000 International ADAMS User Conference

Validation
Step wise brake torque input
3000 2500 2000 1500 1000 500 0 -500 0 0.5
measured SWIFT-Tyre

Longitudinal force [N]

1 1.5 2 2.5 time International ADAMS User Conference [s] 2000

Validation
Step wise brake torque input
amplitude Fx /Mb [N/Nm] 30 in-phase 20 rotational mode 10 0 180 phase [deg] 90 0 -90 -180 0 20 40 60 80 100 frequency [Hz] ADAMS User Conference 2000 International
measured SWIFT-Tyre

out-of-phase rotational mode

Validation
Vertical force when rolling over cleat
2000 1500 1000 500 0 -500 -1000 -1500
measured SWIFT-Tyre

Vertical force [N] V = 25 km/h V = 39 km/h V = 59 km/h

-2000 -0.05 0.0 0.05 0.10 -0.05 0.0 0.05 0.10 -0.05 0.0 0.05 0.10 time [s] time [s] time [s]
2000 International ADAMS User Conference

Validation
Vertical force when rolling over cleat
60 Auto-spectral density vertical force [N/Hz] V = 25 km/h
measured SWIFT-Tyre

V = 39 km/h

V = 59 km/h vertical first flexible mode 2nd ?

40

20

50 100 150 0 50 100 150 0 50 100 150 frequency [Hz] frequency [Hz] frequency [Hz]

2000 International ADAMS User Conference

Validation
Long. force when rolling over cleat
Wheel velocity during passage over a trapezoid cleat 4 V = 25 km/h 3 2 1 0 -1 -2 -3 -4 -0.05 0.0 0.05 0.10 time [s] -0.05 0.0 0.05 0.10 time [s]
measured SWIFT-Tyre

V = 39 km/h

V = 59 km/h

-0.05 0.0 0.05 0.10 time [s]

2000 International ADAMS User Conference

Validation
Lateral force due to slip angle step
Lateral force [N] (detail)
3000 2500 2000 1500 1000 500 0 -500 0.2
measured SWIFT-Tyre

Fz=4000 N, V=92 km/h

0.4

0.6

0.8

1.2

1.4

2000 International ADAMS User Conference

SWIFT in ADAMS
implementation New Standard Tyre Interface:
More than 2 states possible At least 2 x faster (benchmark with MF-Tyre) More flexible GUI allows change of tyre and road parameters

2000 International ADAMS User Conference

SWIFT in ADAMS
example
Quarter vehicle model Tyre rolling over cleats with 6 slip angle ABS-pulse braking Vertical load variations during cornering Interaction between steering and braking forces

2000 International ADAMS User Conference

SWIFT in ADAMS
example
Road steps input 2000 Fx [N] 0 -2000 800 600 400 200 0 -200 Fy [N] 10 15 20 Fx [N] 4000 2000 0 -2000 -4000 -6000 700 Fy [N] 600 500 5000 Fz [N] 4500 4000 Torque [Nm] 0 -500 -1000 2 2.5 3 Time [s] 3.5 2 2.5 3 3.5 2 2.5 3 3.5 Pulse brake input

2.5

3.5

10

15

20

Fz [N]

5000 0

10

15

20

Height [m]

0.04 0.02 0 10 15 Travelled distance [m] 20

2000 International ADAMS User Conference

ABS simulation
comparison of tyre models
Wheel rotational speed [rad/s] Wheel speed and brake torque during ABS simulation with various tyre models 120 SWIFT-Tyre MF-Tyre, Transient MF-Tyre, Steady State

100

80

60 1.5 1000

2.5

3.5

Brake torque [Nm]

500 0 -500 -1000 1.5

2.5 Time [s]

3.5

2000 International ADAMS User Conference

Availability
Now: SWIFT-Tyre SWIFT-Datasets First half 2000: SWIFT-Tool SWIFT-Fit

2000 International ADAMS User Conference

Concluding...
SWIFT is next step in DELFT-TYRE modelling robust, fast and accurate tyre modelling for ride and advanced chassis control applications validated with advanced dynamic tyre testing parameter assessment under realistic driving conditions allows state of the art tyre modelling by any ADAMS user
2000 International ADAMS User Conference