Vehicle/Tire/Road Dynamics
Elsevier
Radarweg29,POBox211,1000AEAmsterdam,Netherlands
TheBoulevard,LangfordLane,Kidlington,OxfordOX51GB,UnitedKingdom 50HampshireStreet,5thFloor,Cambridge,MA02139,UnitedStates
Copyright©2023ElsevierInc.Allrightsreserved.
Nopartofthispublicationmaybereproducedortransmittedinanyformorbyanymeans,electronic ormechanical,includingphotocopying,recording,oranyinformationstorageandretrievalsystem,without permissioninwritingfromthepublisher.Detailsonhowtoseekpermission,furtherinformationabout thePublisher’spermissionspoliciesandourarrangementswithorganizationssuchastheCopyright ClearanceCenterandtheCopyrightLicensingAgency,canbefoundatourwebsite: www.elsevier.com/ permissions
ThisbookandtheindividualcontributionscontainedinitareprotectedundercopyrightbythePublisher (otherthanasmaybenotedherein).
Notices
Knowledgeandbestpracticeinthisfieldareconstantlychanging.Asnewresearchandexperiencebroaden ourunderstanding,changesinresearchmethods,professionalpractices,ormedicaltreatmentmaybecome necessary.
Practitionersandresearchersmustalwaysrelyontheirownexperienceandknowledgeinevaluating andusinganyinformation,methods,compounds,orexperimentsdescribedherein.Inusingsuch informationormethodstheyshouldbemindfuloftheirownsafetyandthesafetyofothers,including partiesforwhomtheyhaveaprofessionalresponsibility.
Tothefullestextentofthelaw,neitherthePublishernortheauthors,contributors,oreditors,assume anyliabilityforanyinjuryand/ordamagetopersonsorpropertyasamatterofproductsliability,negligence orotherwise,orfromanyuseoroperationofanymethods,products,instructions,orideascontained inthematerialherein.
ISBN:978-0-323-90176-5
ForinformationonallElsevierpublications visitourwebsiteat https://www.elsevier.com/books-and-journals
Publisher: MatthewDeans
AcquisitionsEditor: ChiaraGiglio
EditorialProjectManager: SaraGreco
ProductionProjectManager: KameshR
CoverDesigner: MilesHitchen
TypesetbySTRAIVE,India
3Tireandvehiclehandlingdynamics95
4Tireandvehicleridedynamics275
5TireandvehicleNVH359 5.1Structure-borneacoustics
6Dependencebetweenhandling,ride,andNVH459
6.1Fundamentaltirematerialproperties
6.2Stressanddeformationdistributionintirecontactpatch
6.3Conflictsbetweensafetyandcomfort
6.4Optimizationwithactivesuspensioncontrol
6.5Brakingandcorneringnoise
7Roadeffectonhandling,ride,andNVH539
7.1Surfacetexturecharacterization
7.2Influenceofsurfacetextureontiregrip
7.3Influenceoftheroadprofileonvehiclecomfort
7.4InfluenceofpavementparametersonNVH
8Intelligenttireandautonomouselectricvehicle589
8.1Vehicle/tirestateandparameterestimation
8.2Dynamicscontrolforelectricvehicles
8.3Smarttire
Appendix1:Examplespecificationsofdifferenttypesofvehicles617 Appendix2:Literaturereviewfortiremodalanalysis631 Index647
Introduction
1.1Background
Kinematicsisasubfieldofclassicalmechanicsthatdescribesthemotionofpoints, bodies(objects),andsystemsofbodies(groupsofobjects)withoutconsideringthe forcesthatcausethemtomove.Dynamicsisthebranchofclassicalmechanicsconcernedwiththestudyofforcesandtheireffectsonmotion.Obviously,thetopicinthis bookconsidersunderlyingforcesandcomputesmotionfrominitialconditionsand physics,sovehicledynamicsisthecorrectterm.
DynamicsisgovernedbyequationsofmotionorNewton’sSecondLawofMotion. Inthisbook,dynamicsisanalternativetermtomotion.Inphysics,motionisthephenomenoninwhichanobjectchangesitspositionovertime.Motionismathematically describedintermsofdisplacement,velocity,acceleration,andtime.Themotionofa bodyisobservedbyattachingaframeofreferencetoanobserverandmeasuringthe changeinpositionofthebodyrelativetothatframe.Inthisbook,motioniscategorized intomovementandvibration.Inphilosophy,everythingintheUniversemovesand vibrates.Movementisdefinedasacontinualchangeofphysicallocationrelativeto areferenceframe.Generally,theremovalofappliedexternalforceswillnotleadto thebodyreturningtoitsoriginallocation.Forvehiclehandlinganalysisfocusingon planar/horizontalmotion,thevehiclesystemisusuallytreatedasasinglebodyhaving onlyonemovementwithoutconsideringthewheelmovements.Vibrationisdefinedas theoscillationofamechanicalorstructuralsystemarounditspointofequilibrium.After theremovalofexternalexcitations,asystemwilleventuallyreturntoastateofequilibriumaslongasdampingexists.Forvehiclerideanalysisfocusingonverticalmotion, thevibrationsofbodyandwheelsusuallymodeledaslumpedmasses(rigidbodies)are bothconsidered.Modalanalysistechniquesaretypicallyappliedtolinearsystemsto studytheirmodalpropertiesasdescribedbysystemnaturalfrequency,modeshape, anddampingratio.Inthisbook,oscillationisanalternativetermtovibration.
NVHstandsfornoise,vibration,andharshness.Noiseisusuallyconsideredasan unwantedsound.However,“wanted”or“unwanted”dependsuponthelistenerandthe circumstances.Forexample,rockmusiccanbepleasurablesoundtoonepersonbutan annoyingnoisetoanother.Inthisbook,soundisanalternativetermtonoise.Vibration cangeneratenoisebysoundradiationandnoisecanalsocausevibrationbyfluidstructureinteraction.Harshnessisthesubjectiveimpressionsofthenoise.Inhandling andrideanalysis,thevehicleisconsideredasasinglebodyoranintegratedsystemof multiplebodiesconnectedelasticallywitheachother,thatis,eachbodyisonelumped masswheremotionsofitspartsareinphase.However,inNVHanalysis,thebodyhas tobedistributedmasswheremotionsofitspartsarenotinphase,allowingacoustic wavestopropagateinsidethestructureorradiateintotheair.Thesoundfieldand vibrationmapinthevehiclecabinarehighlynonuniform.Thesoundpressurelevel atdriver’searclosertothewindowcanbe3dBhigherthanthatattheotherear;the Vehicle/Tire/RoadDynamics. https://doi.org/10.1016/B978-0-323-90176-5.00003-6
Copyright © 2023ElsevierInc.Allrightsreserved.
soundpressurelevelattherearseatcanalsobe3dBhigherthanatthefrontseat.The vibrationlevelscanalsobedifferentonthefloor,seat,andsteeringwheel,whichis usuallynotinthescopeofridevibrationsfocusedonsmoothnessatthevehiclecenter ofgravity.ItisalsoimpliedthatNVHisahighlysubjectiveperformance,whichis whysoundqualitybecomesmoreandmoreimportantforvehicleproductquality. Similarly,handlingqualityandridequalityintermsofsubjectiveevaluationshave drawnhigherattentionrecently.
Insummary,thereisaspectrumofvehicleperformanceareas:handlingforlowfrequency(<10Hz),rideformiddlefrequency(10–100Hz),andNVHforhighfrequency (>100Hz).Conventionally,“vehicledynamics”onlyimpliedhandlingthatismostcriticalrelatingtosafety,lateritmergedwithridebecausecomfortbecameimportant,now NVHhasdrawnhigherattentionforproductquality.Allofthethreeareasareactually dynamics,butwearenotusedtocallingNVHdynamicsyet.Allthreeareascanbeanalyzedinfrequencyandtimedomain,thoughhandlingisusuallyanalyzedintime domainwhileNVHinfrequencydomain.Inthisbook,bothfrequencydomainanalysis andtimedomainanalysiswillbepresentedforallthreeareas.Asummarycomparison betweenvehiclehandling,ride,andNVHisshownin Table1.1.
Generally,therearefivemajornoisesourcesforavehiclewithinternalcombustion engine(ICE):powertrain,intakesystem,exhaustsystem,aerodynamicturbulence (wind),andtire-roadinteraction.Foranelectricvehicle(EV),thepowertrainnoisefrom electricmotorismuchlowerthanICE,andtheintake/exhaustnoiseisremoved.This bookmainlyfocusesontire-road-inducedNVH,whichisdominantforregularvehicle speeds.Traditionally,vehicleperformanceislimitedbytheICE,astheenginedeterminesthevehicletractioncapabilityandgeneratesmostoftheinteriornoiseunderregularconditions.However,electricmotorwithhightorqueandlownoisecaneliminate thosedisadvantagesofICE.Hence,theperformanceofEVswillbelargelydependent ontiresprovidingsufficientgripandminimizingroadnoise.Vehicleelectrificationcan alsoprovidemorespaciouspassengercompartmentduetocompactpowertrain/ drivetrainsystemandlowerheightofcenterofgravityduetothebatteryarrangement underthevehiclebody,whichimprovesridecomfortandrollstability.Theadvanced suspensiontechnologyalsoputstireinamoreimportantroleinimprovingvehiclecomfort.Therefore,tire,asacomponentofvehiclesystem,willbecriticalforthemajor vehicleperformancesincludinghandling,ride,andNVH.Thetirecontactpatchis theonlyinteractionbetweenavehicleandtheroad;theforcesgeneratedinthispatch dictatethemovementandvibrationofthevehicle.Fortheautonomousvehicle,dueto littleornocontrolofthevehicle,occupantsmayhavedifferentperspectivesregarding handling(lowerrequirementsforsteeringfeelbuthigherrequirementsforsafety/stability)andhigherstandardsforridecomfortandNVH.
1.2Literature
Acomprehensivesearchforpublishedbooksonvehiclehandling/ride/NVHhasbeen performed,aslistedin Table1.2.Thesearegoodreferencesforreaderstodelveinto specificareasofinterest.However,itcanbeseenthatthereisaneedtoputtogethera bookcoveringalltheareas. 2Vehicle/Tire/RoadDynamics
Table1.1 Comparisonsbetweenvehiclehandling,ride,andNVH. HandlingRideNVH
Vehicle model OnelumpedmassMultiple lumped/discrete masses(rigid body)
Multipledistributed/ continuousmasses (flexiblecomponent)
TiremodelSpringSpringorfinite element Finiteelement
Driver input Steeringwheel,throttle/ brake,gear MostlycruiseMostlycruise/coast
ExcitationTire-roadfrictionRoad irregularity impact
Tire-pavement roughness
Motion category MovementMovementand vibration Vibration
Vibration response NAFreeresponseForcedresponse
Typical analysis domain TimeTimeand frequency (below100Hz)
Time domain scope MaxperformanceImpactpeakand damping
Frequency domain scope StabilitycontrolModal oscillation
Roll/pitchangle, max,andrmsof accelerations
Frequency(above 100Hz)
Soundquality: fluctuation, roughness
Spectraldistribution andweighting
StateSteady-stateortransientMostlytransientMostlysteady-state Parameters ofinterest Maxvehiclelongitudinal/ lateralacceleration/ velocity,yawrate,sideslip angle
Soundpressure,rms ofaccelerations
ImplicationSafety,stability,reliabilityComfort,easePleasantness, quality,identity
1.3Organization
Tofilltheknowledgegapbetweendifferentareas, Chapter2 presentedthebasicdefinitionsandfundamentalsrelatedtovehiclehandling,ride,andNVH.
Inthegeneralizedvehicle/tiredynamics,thesteadystateortheshort-timetransient tireforcesdominatethevehiclehandlingbehavior(Chapter3);then,thefluctuationof thereactionforcesinfluencestheridequality(Chapter4);finally,thestabilizedoscillationofeachvehicle/tirecomponentrelatestoNVHperformance(Chapter5).However,therearenoclear-cutboundariesbetweenvehiclehandling,ride,andNVH.
Table1.2 Listofrelevantbooks(✓ denotesover20%; denotes5–20%;Xdenotesbelow5%).
Author/EditorYearPublisherTitle ScopeSystemDepthApplication
Handlingseries
Yongetal. [1] 1984Elsevier Science VehicleTraction Mechanics: Volume3
Gargand Dukkipati [2] 1984AcademicPress ofElsevier Dynamicsof RailwayVehicle Systems
Haug [3] 1989Allynand Bacon ComputerAided Kinematicsand Dynamicsof Mechanical Systems:Basic Methods
Gillespie [4] 1992SAE International Fundamentalsof VehicleDynamics
Millikenand Milliken [5] 1994SAE International RaceCarVehicle Dynamics
Genta [6] 1996World Scientific Publishing MotorVehicle Dynamics: Modelingand Simulation
Dixon [7] 1996SAE International Tires,Suspension andHandling(2nd Edition)
Wong [8] 2001JohnWiley& Sons TheoryofGround Vehicles(3rd Edition)
Howardetal. [9] 2004SAE International CarSuspension andHandling(4th Edition)
Dukkipatietal. [10] 2008SAE International RoadVehicle Dynamics
Unique feature HandlingRideNVHVehicleTireRoadTheoryPracticeExperimentSimulation
XVehicle-terrain energytransfer, FEM, trafficability
Railwayvehicle
Multibody applicationto vehicle
XXXSteering, rollover
XRacehandling metrics, aerodynamics
Vehiclemodel datasets
system
Trackedvehicle, terramechanics
Suspensions, durability
XTheoryof dynamics, accident
Jazar [11]
Wong [12]
2008SpringerVehicle Dynamics: Theoryand Application
2009ButterworthHeinemannof Elsevier Terramechanics andOff-Road Vehicle Engineering: TerrainBehavior, Off-RoadVehicle Performanceand Design(2nd Edition)
Poppand
Schiehlen [13]
Pacejka [14]
Rajamani [15]
2010SpringerGroundVehicle Dynamics
2012ButterworthHeinemannof Elsevier TireandVehicle Dynamics(3rd Edition)
2012SpringerVehicleDynamics andControl(2nd Edition)
Doumiatietal. [16]
Mastinuand Ploechl(Eds.) [17]
Blundelland Harty [18]
Vehicle kinematics
Abe [19]
2012JohnWiley& Sons VehicleDynamics EstimationUsing KalmanFiltering: Experimental Validation
2014CRCPressof Taylor& Francis RoadandOffRoadVehicle SystemDynamics Handbook
2015ButterworthHeinemannof Elsevier TheMultibody Systems Approachto VehicleDynamics (2ndEdition)
2015ButterworthHeinemannof Elsevier VehicleHandling Dynamics: Theoryand Application(2nd Edition)
Terrain behavior, computer-aided method
Autonomous control
Tirevariable estimation
manvehicle
Datasetforfull vehicle
Handling quality,rearwheelsteering Continued
Author/EditorYearPublisherTitle
Meywerk [20] 2015JohnWiley& Sons VehicleDynamics
Pauwelussen [21] 2015ButterworthHeinemannof Elsevier Essentialsof VehicleDynamics
Chenetal. [22] 2016JohnWiley& Sons IntegratedVehicle Dynamicsand Control
Taghavifarand Mardani [23] 2017SpringerOff-roadVehicle Dynamics: Analysis, Modelingand Optimization
Balkwill [24] 2017ButterworthHeinemannof Elsevier Performance Vehicle Dynamics: Engineeringand Applications
Guiggiani [25] 2018SpringerTheScienceof Vehicle Dynamics: Handling, Braking,andRide ofRoadandRace Cars(2ndEdition)
Maclaurin [26] 2018JohnWiley& Sons High-SpeedOffRoadVehicles: Suspensions, Tracks,Wheels andDynamics
Zhangetal. (Eds.) [27] 2018Woodhead Publishingof Elsevier Modeling, Dynamics,and Controlof Electrified Vehicles
Mechatronics
Statespace, vehicle-driver interface
ASS,AFS,ABS, EPS,VSC,4WS, DYC
energy,AI
Performance costfunctions, ADAMS
Racecar,MAP, VIP
Off-roadmagic formula
EVcomponents andcontrol
Schrammetal. [28]
Minaker [29]
2018SpringerVehicle Dynamics: Modelingand Simulation(2nd Edition)
2019JohnWiley& Sons Fundamentalsof VehicleDynamics andModeling:A Textbookfor EngineersWith Illustrationsand Examples
RillandCastro [30]
Complete multibody vehiclemodel
Multibody dynamics
Vangi [31]
2020CRCPressof Taylor& Francis RoadVehicle Dynamics: Fundamentalsand Modelingwith MATLAB® (2nd Edition)
2020ButterworthHeinemannof Elsevier VehicleCollision Dynamics: Analysisand Reconstruction
Azadietal. [32]
2021ElsevierVehicleDynamics andControl: Advanced Methodologies
Fleetand articulated vehiclecontrol Rideseries
Henryand Wambold(Eds.) [33]
Guglielmino etal. [34]
1992ASTMVehicle,Tire, Pavement Interface
2008SpringerSemi-active Suspension Control: ImprovedVehicle RideandRoad Friendliness
roughness
Suspension control Continued
Author/EditorYearPublisherTitle
Yangetal. [35] 2015SpringerDynamicsof Vehicle–Road CoupledSystem
GentaandGenta [36] 2016World Scientific Publishing RoadVehicle Dynamics: Fundamentalsof Modelingand Simulation
Inman [37] 2017JohnWileyand Sons Vibrationwith Control(2nd Edition)
NVHSeries
Ewins [38] 1984Research StudiesPress ModalTesting: Theoryand Practice
Kinsleretal. [39] 2000JohnWileyand Sons Fundamentalsof Acoustics(4th Edition)
Sandbergand Ejsmont [40]
2002INFORMEXTyre/RoadNoise ReferenceBook
Roaddynamics
Rigidvehiclevs. elastic suspensions
Modalcontrol
XModalanalysis
XClassicbookon TRN Harrison [41] 2004ButterworthHeinemannof Elsevier Vehicle Refinement: ControllingNoise andVibrationin RoadVehicles
Fahyand Gardonio [42]
2007AcademicPress ofElsevier Soundand Structural Vibration: Radiation, Transmissionand Response
XInteriorand exteriornoise assessmentand control
Fastland Zwicker [43]
Crocker(Ed.) [44]
2007SpringerPsychoacoustics: FactsandModels (3rdEdition)
2008JohnWiley& Sons Handbookof Noiseand VibrationControl
Thompson [45] 2009Elsevier Science RailwayNoise andVibration: Mechanisms, Modelingand MeansofControl
Wang(Ed.) [46]
2010Woodhead Publishingof Elsevier VehicleNoiseand Vibration Refinement
Sheng [47] 2012SAE International VehicleNoise, Vibration,and SoundQuality
KraftandWhite (Eds.) [48]
2013Woodhead Publishingof Elsevier Memsfor Automotiveand Aerospace Applications
Inman [49] 2014PearsonEngineering Vibration(4th Edition)
Fuchsetal. (Eds.) [50]
BiesandHansen [51]
2016SpringerAutomotiveNVH Technology
2017SponPressof Taylor& Francis Engineering NoiseControl: Theoryand Practice(4th Edition)
Pang [52]
2018JohnWiley& Sons Noiseand VibrationControl inAutomotive Bodies
XSoundquality
Comprehensive NVcontrol
refinement
fundamentals andevaluations
FEMfor vibration systems
engineering
NVH Continued
Author/EditorYearPublisherTitle
Wang(Ed.) [53] 2020ButterworthHeinemannof Elsevier AutomotiveTire Noiseand Vibrations
Unique feature HandlingRideNVHVehicleTireRoadTheoryPracticeExperimentSimulation
TireNVH Tireseries
Haysand Browne(Eds.) [54]
1974SpringerThePhysicsof TireTraction: Theoryand Experiment
Kovac [55] 1978GoodyearTireTechnology (5thEdition)
XTire manufacture Flemingand Livingston (Eds.) [56] 1979ASTMTire Reinforcement andTire Performance
Clark [57] 1981NHTSAMechanicsof PneumaticTires
Meyerand Walter(Eds.) [58]
1983ASTMFrictional InteractionofTire andPavement
Ridhaand Theves [59] 1994iSmithersRapra Publishing AdvancesinTyre Mechanics
Rivers [60] 2001CharlesC ThomasPub Ltd TireFailuresand EvidenceManual: ForTraffic Accident Investigation
Evans [61] 2002iSmithersRapra Publishing Tyre Compoundingfor Improved Performance
GentandWalter (Eds.) [62] 2005NHTSAThePneumatic Tire
XTirecord
XFirstbookontire (bias)
XTire/Road traction
XTire performance, references
XTirefailure
references
XPassengercar radialtire
TRB [63] 2006TheNational Academies Press Tiresand PassengerVehicle FuelEconomy: Informing Consumers, Improving Performance
Giapponi [64] 2008SAE International TireForensic Investigation: AnalyzingTire Failure
Tireforensic Marketal. (Eds.) [65] 2013AcademicPress ofElsevier TheScienceand Technologyof Rubber(4th Edition)
Leister [66] 2018SpringerPassengerCar TiresandWheels: DevelopmentManufacturingApplication
Nakajima [67] 2019SpringerAdvancedTire Mechanics
Statisticsfor67referencebooks
XRubber properties
XTire/Wheel development
Tirestructural mechanics
Presentbook
TanLi2023ElsevierVehicle/Tire/ RoadDynamics: Handling,Ride,
Fullsystemfor spectralvehicle dynamics
12Vehicle/Tire/RoadDynamics
Forexample,theridemovementofthevehicleandtirehasaneffectonthedistribution ofvehicleloadandtireforceand,thus,influencesthehandling;theridevibrationof thevehicleandtirecontributestothenoisegeneration(low-frequencyNVH).Thatis tosay,ridedynamicsissomethingbridginghandlingdynamicsandNVH.Inthis book,thechapterforhandlingdynamicsprovideselementaryintroductiontoride dynamics,andthechapterforridedynamicsprovideselementaryintroductionto NVH,presentingbettercoherenceandsynergybetweenthesethreemajorareasof vehicle/tiredynamics.Severaltopicsonthedependencebetweenhandling,ride, andNVHarediscussedin Chapter6.
Chapter7 highlightstheroadeffectonhandling,ride,andNVH. Chapter8 talks aboutintelligenttireandautonomousEVwherethevehicle/tire/roaddynamicsplaysa greatrole.
Accompanyingthefundamentaltheories,casestudiesaregiventofacilitatecomprehensionthroughoutthechapters.Besidestheexperimentalimplementations,the state-of-the-artapproachestosimulatingvehicle/tiredynamicsarealsopresented fromtheviewpointofbothindustryandacademia.
References
[1] R.N.Yong,E.A.Fattah,N.Skiadas,VehicleTractionMechanics,Vol.3,ElsevierScience,1984.
[2] V.K.Garg,R.V.Dukkipati,DynamicsofRailwayVehicleSystems,AcademicPress, 1984.
[3] E.J.Haug,ComputerAidedKinematicsandDynamicsofMechanicalSystems:Basic Methods,AllynandBacon,1989.
[4] T.D.Gillespie,FundamentalsofVehicleDynamics,SAEInternational,1992.
[5] W.F.Milliken,D.L.Milliken,RaceCarVehicleDynamics,SAEInternational,1994.
[6] G.Genta,MotorVehicleDynamics:ModellingandSimulation,WorldScientificPublishing,1996.
[7] J.C.Dixon,Tires,SuspensionandHandling,secondEdition,SAEInternational,1996.
[8] J.Y.Wong,TheoryofGroundVehicles,thirdEdition,JohnWiley&Sons,2001.
[9] G.Howard,J.P.Whitehead,D.Bastow,CarSuspensionandHandling,fourthEdition, SAEInternational,2004.
[10] R.Dukkipati,J.Pang,M.Qatu,G.Sheng,S.Zuo,RoadVehicleDynamics,SAEInternational,2008.
[11] R.N.Jazar,VehicleDynamics:TheoryandApplication,Springer,2008.
[12] J.Y.Wong,TerramechanicsandOff-RoadVehicleEngineering:TerrainBehaviour,OffRoadVehiclePerformanceandDesign,secondEdition,Butterworth-Heinemannof Elsevier,2009.
[13] K.Popp,W.Schiehlen,GroundVehicleDynamics,Springer-Verlag,BerlinHeidelberg, 2010.
[14] H.B.Pacejka,TireandVehicleDynamics,thirdEdition,Butterworth-Heinemann,2012.
[15] R.Rajamani,VehicleDynamicsandControl,secondEdition,Springer,2012.
[16] M.Doumiati,A.Charara,A.Victorino,D.Lechner,VehicleDynamicsEstimationUsing KalmanFiltering:ExperimentalValidation,JohnWiley&Sons,2012.
[17] G.Mastinu,M.Ploechl(Eds.),RoadandOff-RoadVehicleSystemDynamicsHandbook, Taylor&Francis,2014.
[18] M.Blundell,D.Harty,TheMultibodySystemsApproachtoVehicleDynamics,second Edition,Butterworth-Heinemann,2015.
[19] M.Abe,VehicleHandlingDynamics:TheoryandApplication,secondEdition, Butterworth-Heinemann,2015.
[20] M.Meywerk,VehicleDynamics,JohnWiley&Sons,2015.
[21] J.P.Pauwelussen,EssentialsofVehicleDynamics,Butterworth-Heinemann,2015.
[22] W.Chen,H.Xiao,Q.Wang,L.Zhao,M.Zhu,IntegratedVehicleDynamicsandControl, JohnWiley&Sons,2016.
[23] H.Taghavifar,A.Mardani,Off-RoadVehicleDynamics:Analysis,Springer,Modelling andOptimization,2017.
[24] J.Balkwill,PerformanceVehicleDynamics:EngineeringandApplications,ButterworthHeinemann,2017.
[25] M.Guiggiani,TheScienceofVehicleDynamics:Handling,Braking,andRideofRoad andRaceCars,secondEdition,Springer,2018.
[26] B.Maclaurin,HighSpeedOff-RoadVehicles:Suspensions,Tracks,WheelsandDynamics,JohnWiley&Sons,2018.
[27] H.Zhang,D.Cao,H.Du(Eds.),Modeling,Dynamics,andControlofElectrifiedVehicles, WoodheadPublishing,2018.
[28] D.Schramm,M.Hiller,R.Bardini,VehicleDynamics:ModelingandSimulation,second Edition,Springer,2018.
[29] B.P.Minaker,FundamentalsofVehicleDynamicsandModelling:ATextbookforEngineerswithIllustrationsandExamples,JohnWiley&Sons,2019.
[30] G.Rill,A.A.Castro,RoadVehicleDynamics:FundamentalsandModelingwith MATLAB®,secondEdition,Taylor&Francis,2020.
[31] D.Vangi,VehicleCollisionDynamics:AnalysisandReconstruction,ButterworthHeinemann,2020.
[32] S.Azadi,R.Kazemi,H.R.Nedamani,VehicleDynamicsandControl:AdvancedMethodologies,Elsevier,2021.
[33] J.J.Henry,J.C.Wambold(Eds.),Vehicle,Tire,PavementInterface,ASTM,1992.
[34] E.Guglielmino,T.Sireteanu,C.W.Stammers,G.Gheorghe,M.Giuclea,Semi-Active SuspensionControl:ImprovedVehicleRideandRoadFriendliness,Springer,2008.
[35] S.Yang,S.Li,L.Chen,DynamicsofVehicle-RoadCoupledSystem,Springer,2015.
[36] G.Genta,A.Genta,RoadVehicleDynamics:FundamentalsofModelingandSimulation, WorldScientificPublishing,2016.
[37] D.J.Inman,VibrationwithControl,secondEdition,JohnWileyandSons,2017.
[38] D.J.Ewins,ModalTesting:TheoryandPractice,ResearchStudiesPressLtd.,1984, pp.1–269.
[39] L.E.Kinsler,A.R.Frey,A.B.Coppens,J.V.Sanders,FundamentalsofAcoustics,fourth Edition,JohnWileyandSonsInc.,2000.
[40] U.Sandberg,J.A.Ejsmont,Tyre/RoadNoiseReferenceBook,INFORMEX,Kisa,Sweden;Harg,Sweden,2002.
[41] M.Harrison,VehicleRefinement:ControllingNoiseandVibrationinRoadVehicles, Butterworth-Heinemann,2004.
[42] F.Fahy,P.Gardonio,SoundandStructuralVibration:Radiation,Transmissionand Response,AcademicPressofElsevier,2007.
[43] H.Fastl,E.Zwicker,Psychoacoustics:FactsandModels,thirdEdition,Springer,2007.
[44] M.J.Crocker(Ed.),HandbookofNoiseandVibrationControl,JohnWiley&Sons,2008.
[45] D.Thompson,RailwayNoiseandVibration:Mechanisms,ModellingandMeansofControl,ElsevierScience,2009.
14Vehicle/Tire/RoadDynamics
[46] X.Wang(Ed.),VehicleNoiseandVibrationRefinement,WoodheadPublishing,2010.
[47] G.Sheng,VehicleNoise,Vibration,andSoundQuality,SAEInternational,2012.
[48] M.Kraft,N.M.White(Eds.),MemsforAutomotiveandAerospaceApplications, WoodheadPublishing,2013.
[49] D.J.Inman,EngineeringVibration,fourthEdition,Pearson,2014.
[50] A.Fuchs,E.Nijman,H.-H.Priebsch(Eds.),AutomotiveNVHTechnology,Springer, 2016.
[51] D.A.Bies,C.H.Hansen,EngineeringNoiseControl:TheoryandPractice,fourthEdition, SponPressofTaylor&Francis,2017.
[52] J.Pang,NoiseandVibrationControlinAutomotiveBodies,JohnWiley&Sons,2018.
[53] X.Wang(Ed.),AutomotiveTireNoiseandVibrations,Butterworth-Heinemann,2020.
[54] D.F.Hays,A.L.Browne(Eds.),ThePhysicsofTireTraction:TheoryandExperiment, Springer,1974.
[55] F.J.Kovac,TireTechnology,fifthEdition,GoodyearTyre&RubberCompany,1978.
[56] R.A.Fleming,D.I.Livingston(Eds.),TireReinforcementandTirePerformance,ASTM, 1979.
[57] S.K.Clark,MechanicsofPneumaticTires,U.S.DepartmentofTransportation,National HighwayTrafficSafetyAdministration,1981.
[58] W.E.Meyer,J.D.Walter,FrictionalInteractionofTireandPavement,ASTM,1983.
[59] R.A.Ridha,M.Theves,AdvancesinTyreMechanics,iSmithersRapraPublishing,1994.
[60] R.W.Rivers,TireFailuresandEvidenceManual:ForTrafficAccidentInvestigation, CharlesCThomasPubLtd,2001.
[61] M.S.Evans,TyreCompoundingforImprovedPerformance,iSmithersRapraPublishing, 2002.
[62] A.N.Gent,J.D.Walter,ThePneumaticTire,NationalHighwayTrafficSafetyAdministration,2005.
[63] TransportationResearchBoard,TiresandPassengerVehicleFuelEconomy:Informing Consumers,ImprovingPerformance,TheNationalAcademiesPress,2006.
[64] T.Giapponi,TireForensicInvestigation:AnalyzingTireFailure,SAEInternational, 2008.
[65] J.E.Mark,B.R.Erman,C.M.Roland(Eds.),TheScienceandTechnologyofRubber, fourthEdition,AcademicPress,2013.
[66] G.Leister,PassengerCarTiresandWheels:Development-Manufacturing-Application, Springer,2018.
[67] Y.Nakajima,AdvancedTireMechanics,Springer,2019.
Definitionsandfundamentals
Thevehicle/tire/roaddynamicsinthisbookcovershandling,ride,andNVH(noise, vibration,andharshness).Thefundamentalsofvehiclehandlingaremultibody dynamics,whichwillbeintroducedin Section2.1.Thefundamentalsofvehicleride arevibrationsofdiscretesystemsandwillbediscussedin Section2.2.Controltheory istypicallyaccompaniedwithvibrationsandthuswillbeintroducedin Section2.3, whichisalsothefoundationfortheautonomousvehiclethatwillbediscussedin Chapter8.Ashigherleveldynamics,NVHincludesbothstructure-borneacoustics (Section2.4)andairborneacoustics(Section2.5).In Section2.6,theacousticresonanceisdiscussed,whichisalsoacommonphenomenoninthevehicle/tire/road system.
2.1Multibodydynamics
Advancedvehiclehandlinganalysisistypicallyconductedthroughnonlinear(withall sourcesofcompliance,stiffness,anddamping)multibodyvehiclemodels,including powertrain/drivetrain,suspensions,steeringsystem,tire/wheelassemblies,andvehiclebody.Inthissection,thebrieftheoryofkinematicsanddynamicsofthemultibody systemisintroduced.
Multibodydynamicsystemsaremechanicalsystemsthatcontainseveralrigidbodiesconnectedbyjoints,suchasindustrialrobots,heavymachinery,spacecraft,automobilesuspensionandsteeringsystem,machinetools,andsoon.Ajointallows certaindegreesoffreedom(DOFs)andpreventsothers,asshownin Table2.1[1]
Forexample, Fig.2.1 showsaplanarslider-cranksystem(2D),composedoffour bodies:thecrank(body1),theconnectingrod(body2),theslider(body3),andthe ground(body4).Body1andbody4areconnectedbyrevolutejoint;body1andbody 2areconnectedbyrevolutejoint;body2andbody3areconnectedbyrevolutejoint; body3andbody4areconnectedbytranslationaljoint.
Tocompletelydescribeamultibodysystem,asetofparameters(coordinates)must bechosentounequivocallydefinetheposition,velocity,andaccelerationofthesystematalltimes.ThenumberofcoordinatesshouldbeequaltothenumberofDOFplus thenumberofconstraints.AplanarbodyhasthreeDOFs(twotranslationsandone rotation)whereasaspatialbodyhassixDOFs(threetranslationsandthreerotations).
Intheplanarslider-cranksystem,eachbodyhasthreeDOFs(xi, yi, φi);thegeneralized coordinatesareexpressedinvectorformas
Table2.1 Differenttypesofjointinmultibodydynamics.
ClassJointSymbolDOFIllustration
ClassIjoint(2D, allows1DOF)
RevoluteR1rotation
Prismaticor translational PorT1translation
ClassIIjoint (3D,allows2 DOFs) CylindricalC1rotationand1translation
UniversalU2rotations
