Tire and Vehicle Dynamics

by Pacejka; Besselink

• ISBN13: 9780080970165
• ISBN10: 0080970168
• Edition: 3rd
• Format: Hardcover
• Copyright: 2012-04-09
• Publisher: Elsevier Science

Summary

In this new paperback edition of Tyre and Vehicle Dynamics, theory is supported by practical and experimental evidence. Pacejka provides both basic and advanced explanations of the pneumatic tyre and its impact on vehicle dynamic performance. The book shows the way in which tyre models are incorporated in vehicle models and how important tyre influence is on overall vehicle behaviour. Those working in any industry involving equipment with tyres will continue to find this book both extremely relevant and useful. * Written by a world expert in tyre dynamics * Covers both basic and advanced tyre modelling and simulation, including case studies of application examples and chapter exercises * Indispensable for any engineer working in vehicle system dynamics and for any industry involving equipment with tyres

Table of Contents

Exercises	p. xi
Preface	p. xiii
Tire Characteristics and Vehicle Handling and Stability
Introduction	p. 2
Tire and Axle Characteristics	p. 3
Introduction to Tire Characteristics	p. 3
Effective Axle Cornering Characteristics	p. 7
Vehicle Handling and Stability	p. 16
Differential Equations for Plane Vehicle Motions	p. 17
Linear Analysis of the Two-Degree-of-Freedom Model	p. 22
Nonlinear Steady-State Cornering Solutions	p. 35
The Vehicle at Braking or Driving	p. 49
The Moment Method	p. 51
The Car-Trailer Combination	p. 53
Vehicle Dynamics at More Complex Tire Slip Conditions	p. 57
Basic Tire Modeling Considerations
Introduction	p. 59
Definition of Tire Input Quantities	p. 61
Assessment of Tire Input Motion Components	p. 68
Fundamental Differential Equations for a Rolling and Slipping Body	p. 72
Tire Models (Introductory Discussion)	p. 81
Theory of Steady-State Slip Force and Moment Generation
Introduction	p. 87
Tire Brush Model	p. 90
Pure Side Slip	p. 92
Pure Longitudinal Slip	p. 97
Interaction between Lateral and Longitudinal Slip (Combined Slip)	p. 100
Camber and Turning (Spin)	p. 112
The Tread Simulation Model	p. 128
Application: Vehicle Stability at Braking up to Wheel Lock	p. 140
Semi-Empirical Tire Models
Introduction	p. 150
The Similarity Method	p. 150
Pure Slip Conditions	p. 152
Combined Slip Conditions	p. 158
Combined Slip Conditions with Fx as Input Variable	p. 163
The Magic Formula Tire Model	p. 165
Model Description	p. 165
Full Set of Equations	p. 176
Extension of the Model for Turn Slip	p. 183
Ply-Steer and Conicity	p. 191
The Overturning Couple	p. 196
Comparison with Experimental Data for a Car, a Truck, and a Motorcycle Tire	p. 202
Non-Steady-State Out-of-Plane String-Based Tire Models
Introduction	p. 212
Review of Earlier Research	p. 212
The Stretched String Model	p. 215
Model Development	p. 216
Step and Steady-State Response of the String Model	p. 225
Frequency Response Functions of the String Model	p. 232
Approximations and Other Models	p. 240
Approximate Models	p. 241
Other Models	p. 256
Enhanced String Model with Tread Elements	p. 258
Tire Inertia Effects	p. 268
First Approximation of Dynamic Influence (Gyroscopic Couple)	p. 269
Second Approximation of Dynamic Influence (First Harmonic)	p. 271
Side Force Response to Time-Varying Load	p. 277
String Model with Tread Elements Subjected to Load Variations	p. 277
Adapted Bare String Model	p. 281
The Force and Moment Response	p. 284
Theory of the Wheel Shimmy Phenomenon Introduction	p. 287
Introduction	p. 287
The Simple Trailing Wheel System with Yaw Degree of Freedom	p. 288
Systems with Yaw and Lateral Degrees of Freedom	p. 295
Yaw and Lateral Degrees of Freedom with Rigid Wheel/Tire (Third Order)	p. 296
The Fifth-Order System	p. 297
Shimmy and Energy Flow	p. 311
Unstable Modes and the Energy Circle	p. 311
Transformation of Forward Motion Energy into Shimmy Energy	p. 317
Nonlinear Shimmy Oscillations	p. 320
Single-Contact-Point Transient Tire Models
Introduction	p. 329
Model Development	p. 330
Linear Model	p. 330
Semi-Non-Linear Model	p. 335
Fully Nonlinear Model	p. 336
Nonlagging Part	p. 345
The Gyroscopic Couple	p. 348
Enhanced Nonlinear Transient Tire Model	p. 349
Applications of Transient Tire Models
Vehicle Response to Steer Angle Variations	p. 356
Cornering on Undulated Roads	p. 356
Longitudinal Force Response to Tire Nonuniformity, Axle Motions, and Road Unevenness	p. 366
Effective Rolling Radius Variations at Free Rolling	p. 367
Computation of the Horizontal Longitudinal Force Response	p. 371
Frequency Response to Vertical Axle Motions	p. 374
Frequency Response to Radial Run-out	p. 376
Forced Steering Vibrations	p. 379
Dynamics of the Unloaded System Excited by Wheel Unbalance	p. 380
Dynamics of the Loaded System with Tire Properties Included	p. 382
ABS Braking on Undulated Road	p. 385
In-Plane Model of Suspension and Wheel/Tire Assembly	p. 386
Antilock Braking Algorithm and Simulation	p. 390
Starting from Standstill	p. 394
Short Wavelength Intermediate Frequency Tire Model
Introduction	p. 404
The Contact Patch Slip Model	p. 406
Brush Model Non-Steady-State Behavior	p. 406
The Model Adapted to the Use of the Magic Formula	p. 426
Parking Maneuvers	p. 436
Tire Dynamics	p. 444
Dynamic Equations	p. 444
Constitutive Relations	p. 453
Dynamic Tire Model Performance	p. 462
Dedicated Dynamic Test Facilities	p. 463
Dynamic Tire Simulation and Experimental Results	p. 466
Dynamic Tire Response to Short Road Unevennesses
Model Development	p. 475
Tire Envelopment Properties	p. 476
The Effective Road Plane Using Basic Functions	p. 478
The Effective Road Plane Using the 'Cam' Road Feeler Concept	p. 485
The Effective Rolling Radius When Rolling Over a Cleat	p. 487
The Location of the Effective Road Plane	p. 493
SWIFT on Road Unevennesses (Simulation and Experiment)	p. 497
Two-Dimensional Unevennesses	p. 497
Three-Dimensional Unevennesses	p. 504
Motorcycle Dynamics
Introduction	p. 506
Model Description	p. 508
Geometry and Inertia	p. 509
The Steer, Camber, and Slip Angles	p. 511
Air Drag, Driving or Braking, and Fore-and-Aft Load Transfer	p. 514
Tire Force and Moment Response	p. 515
Linear Equations of Motion	p. 520
The Kinetic Energy	p. 521
The Potential Energy and the Dissipation Function	p. 523
The Virtual Work	p. 524
Complete Set of Linear Differential Equations	p. 525
Stability Analysis and Step Responses	p. 529
Free Uncontrolled Motion	p. 529
Step Responses of Controlled Motion	p. 536
Analysis of Steady-State Cornering	p. 539
Linear Steady-State Theory	p. 540
Non-Linear Analysis of Steady-State Cornering	p. 555
Modes of Vibration at Large Lateral Accelerations	p. 563
The Magic Formula Tire Model	p. 565
Tire Steady-State and Dynamic Test Facilities	p. 567
Outlines of Three Advanced Dynamic Tire Models
Introduction	p. 577
The RMOD-K Tire Model (Christian Oertel)	p. 578
The Nonlinear FEM Model	p. 578
The Flexible Belt Model	p. 579
Comparison of Various RMOD-K Models	p. 581
The FTire Tire Model (Michael Gipser)	p. 582
Introduction	p. 582
Structure Model	p. 583
Tread Model	p. 584
Model Data and Parametrization	p. 586
The MF-Swift Tire Model (Igo Besselink)	p. 586
Introduction	p. 586
Model Overview	p. 587
MF-Tire/MF-Swift	p. 588
Parameter Identification	p. 589
Test and Model Comparison	p. 589
References	p. 593
List of Symbols	p. 603
Sign Conventions for Force and Moment and Wheel Slip	p. 609
Online Information	p. 611
MF-Tire/MF-Swift Parameters and Estimation Methods	p. 613
Index	p. 627
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