Road and Off-road vehicle system dynamics handbook

Road and

Off-Road vehicle

Sy

stem

Dynamic

s

Handbook

Mastinu

•

Ploechl

ISBN: 978-0-8493-3322-4

9 780849 333224

90000

3322

Featuring contributions from leading experts, the Road and Off-Road

Vehicle System Dynamics Handbook provides comprehensive, authoritative

coverage of all the major issues involved in road vehicle dynamic behavior.

While the focus is on automobiles, this book also highlights motorcycles,

heavy commercial vehicles, and off-road vehicles.

The authors of the individual chapters, either from the automotive

industry or universities, address basic issues, but also include references to

significant papers for further reading. Thus the handbook is devoted both

to the beginner, wishing to acquire basic knowledge on a specific topic,

and to the experienced engineer or scientist, wishing to have advanced

information on a particular subject. It can also be used as a textbook for

master courses at universities.

The handbook begins with a short history of road and off-road vehicle

dynamics followed by detailed, state-of-the-art chapters on modeling,

analysis and optimization in vehicle system dynamics, vehicle concepts

and aerodynamics, pneumatic tires and contact wheel-road/off-road,

modeling of vehicle subsystems, vehicle dynamics and active safety,

man-vehicle interaction, intelligent vehicle systems, and road accident

reconstruction and passive safety.

• Provides extensive coverage of modeling, simulation, and

analysis techniques

• Surveys all vehicle subsystems from a vehicle dynamics point

of view

• Focuses on pneumatic tires and contact wheel-road/off-road

• Discusses intelligent vehicle systems technologies and active safety

• Considers safety factors and accident reconstruction procedures

• Includes chapters written by leading experts from all over the world

This text provides an applicable source of information for all people

interested in a deeper understanding of road vehicle dynamics and

related problems.

Automotive Engineering

3322_Cover_final.indd 1 9/5/13 11:34 AM

Road and

off-Road Vehicle

SyStem dynamicS

H a n d b o o k

Edited by

Giampiero mastinu

manfred Ploechl

Road and

off-Road Vehicle

SyStem dynamicS

H a n d b o o k

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accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB® software or related products

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use of the MATLAB® software.

The handbook is not to be used as a manual, that is, as a book containing practical instruction on how to build or modify

existing vehicles or their subsystems. The publisher and the editors agree that the handbook has the only aim of explain￾ing to readers both the relevant physical phenomena and how the solution of technical problems can be obtained by

means of a scientific approach. Technical applications have then to be realized by experienced engineers only on the basis

of national or international standards and/or practical rules that are often omitted in the handbook.

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v

Contents

Preface ..............................................................................................................................................ix

contributors......................................................................................................................................xi

Chapter 1 History of Road and Off-Road Vehicle System Dynamics..........................................1

Masao Nagai

Part I Modeling, Analysis, and Optimization in Vehicle

System Dynamics

Chapter 2 Vehicle Models and Equations of Motion .................................................................. 13

Werner Schiehlen

Chapter 3 Simulation Algorithms and Software Tools............................................................... 45

Martin Arnold

Chapter 4 Nonlinear Solid Mechanics with Finite Elements......................................................69

Anna Pandolfi

Chapter 5 Nonlinear Vehicle Dynamics................................................................................... 121

Hans True

Chapter 6 Controls and Identification ....................................................................................... 159

Stefan Jakubek and Martin Kozek

Chapter 7 Actuators and Sensors.............................................................................................. 221

Yoshihiro Suda

Chapter 8 Optimization of Ground Vehicle Systems................................................................ 241

Massimiliano Gobbi and Panos Y. Papalambros

Chapter 9 Fatigue and Structural Durability of Automotive Components...............................263

Thomas Bruder, Holger Hanselka, Rüdiger Heim, Heinz Kaufmann,

Michael Kieninger, Jürgen Nuffer, and Cetin M. Sonsino

vi Contents

Chapter 10 Reliability Assessment of Mechatronic Devices in Vehicles...................................307

Bernd Bertsche, Jochen Gäng, Holger Hanselka, Soong-Oh Han,

Jürgen Nuffer, and Kai Wolf

Part II Vehicle Concepts and Aerodynamics

Chapter 11 Conceptual Design of Road Vehicles Related to Dynamics.................................... 329

Giampiero R.M. Mastinu

Chapter 12 Off-Road Vehicles (Wheeled and Tracked) ............................................................. 395

Günter H. Hohl

Chapter 13 Motorcycles and Three-Wheeled Vehicles............................................................... 477

Robin S. Sharp

Chapter 14 Race Cars: Frame, Suspension, Aerodynamics........................................................497

Andrea Toso

Chapter 15 Race Cars: Braking System...................................................................................... 517

Carlo Maria Domenico Cantoni and Giorgio Previati

Chapter 16 Aerodynamics and Vehicle Dynamics..................................................................... 529

Andreas Wagner

Part III Pneumatic Tires and Contact Wheel-Road/Off-Road

Chapter 17 Tire as a Vehicle Component ................................................................................... 563

Hans B. Pacejka

Chapter 18 Pneumatic Tire Models: The Detailed Mechanical Approach................................. 625

Michael Gipser

Chapter 19 Pneumatic Tire: Construction and Testing............................................................... 657

Maurizio Boiocchi and Giuseppe Matrascia

Chapter 20 Mechanics of Off-Road Vehicle–Terrain Interaction: Terramechanics...................697

Jo Y. Wong

Contents vii

Part IV Modeling of Vehicle Subsystems

Chapter 21 Suspension Systems.................................................................................................. 727

Wolfgang Matschinsky

Chapter 22 Active and Semiactive Suspension Systems............................................................. 769

Davor Hrovat, Eric H. Tseng, Michael Fodor, and Jahan Asgari

Chapter 23 Driveline...................................................................................................................797

Andreas Laschet and Ferit Küçükay

Chapter 24 Brake System Dynamics.......................................................................................... 837

Carlo Maria Domenico Cantoni, Riccardo Cesarini,

Giampiero R.M. Mastinu, Giorgio Previati, and Roberto Sicigliano

Chapter 25 Steering System........................................................................................................ 919

Ichiro Kageyama

Chapter 26 Structural and Dynamic Problems in Car Body Design.......................................... 943

Giovanni Belingardi and Massimiliano Avalle

Part V Vehicle Dynamics and Active Safety

Chapter 27 Basics of Longitudinal and Lateral Vehicle Dynamics............................................ 971

Manfred Ploechl, Peter Lugner, and Johannes Edelmann

Chapter 28 Detailed Modeling, Simulation, and Analysis of Vehicle Dynamics..................... 1023

Dieter Ammon

Chapter 29 Ride Comfort and Road Holding ........................................................................... 1059

Karl Popp

Chapter 30 Control of Horizontal Vehicle Motion ................................................................... 1093

Anton van Zanten

Chapter 31 Active and Semi-Active Suspension Control ..........................................................1179

Davor Hrovat

viii Contents

Chapter 32 Integrated Controls................................................................................................. 1227

Masato Abe

Chapter 33 Dynamics of Heavy Commercial Vehicles and Buses........................................... 1245

John Aurell

Chapter 34 Dynamics of Off-Road Vehicles ............................................................................ 1279

Jo Y. Wong

Chapter 35 Motorcycle Handling Dynamics............................................................................ 1313

Robin S. Sharp

Part VI Man–Vehicle Interaction

Chapter 36 Vehicle Comfort ..................................................................................................... 1379

Karl Siebertz

Chapter 37 Subjective and Objective Evaluations of Car Handling and Ride.......................... 1395

Gwanghun Gim

Chapter 38 Driver Models in Automobile Dynamics Application ........................................... 1477

Manfred Ploechl and Johannes Edelmann

Part VII Intelligent Vehicle Systems

Chapter 39 Automatic Lateral Vehicle Control ........................................................................ 1525

Huei Peng

Chapter 40 Longitudinal Control.............................................................................................. 1549

Paul Fancher and Charles MacAdam

Part VIII Road Accident Reconstruction and Passive Safety

Chapter 41 Analysis and Reconstruction of Road Accidents................................................... 1583

Horst Ecker

Chapter 42 Automotive Structural Crashworthiness and Occupant Protection ........................1611

Jorge Ambrósio

Index............................................................................................................................................ 1663

ix

Preface

Some years ago, Swets & Zeitlinger Publishing Company, together with International Association

of Vehicle System Dynamics (IAVSD) (represented both by the former Secretary General Professor

Robin Sharp and by the former editor in chief of Vehicle System Dynamics, Professor Peter Lugner),

sent us a proposal to publish a handbook on the dynamics of road and off-road vehicles. Since then,

many efforts have been made to gather distinguished contributors to the project. After Swets &

Zeitlinger was acquired by Taylor & Francis Group, these efforts were intensified, and we are now

finally able to show the result to the scientific and technical community.

Our aim was to publish an authoritative set of standard reference works in the area of vehicle

system dynamics. Contemporary publications on the topic are either very specialized (scientific

papers) or rather time consuming to read (dedicated books). This handbook is targeted toward both

the beginner and the experienced engineer. It can also be used as a textbook for master’s courses at

universities.

The chapters of the handbook have been written by highly reputed scientists and engineers;

many of them have already written full books on the topic they have dealt with in the handbook.

The authors have been selected both from industry and universities in order to provide a balance

between scientific and rather practical approaches.

The handbook has been written by more than 50 authors from 12 countries in Europe, America,

and Asia. It consists of 42 chapters, and 23 universities and 9 prominent companies have been

directly or indirectly involved in the project.

The handbook has been conceived as a series of independent chapters covering the state of the

art and has been divided into eight parts (Modeling, Analysis, and Optimization in Vehicle System

Dynamics; Vehicle Concepts and Aerodynamics; Pneumatic Tires and Contact Wheel-Road/

Off-Road; Modeling of Vehicle Subsystems; Vehicle Dynamics and Active Safety; Man–Vehicle

Interaction; Intelligent Vehicle Systems; and Road Accident Reconstruction and Passive Safety) and

begins with a historical introduction.

We have tried not to overemphasize automobiles and have covered motorcycles, commercial

vehicles, and off-road vehicles as well. The main focus, however, is on automobiles.

We have provided the authors with a free hand to express their remarkable experience in their chap￾ters. The contributions were later balanced by a careful reading of all the chapters by the editors. The

topics that were not covered have been respectively requested to the proper authors.

We are fully aware that the handbook will not remain up-to-date forever. Even the delay between

the contributions written first and the publication date is not negligible. Anyway, the contributions

have been written in a plain, informative manner and are centered on basic issues: they will be use￾ful for a relatively long time.

The handbook is a collection of formulae and/or plots that help solve problems without any

mathematical proof (left to a subsequent reading of papers or books cited in the literature). minor

technical problems have been omitted, and only high-level scientific/technical problems have been

dealt with. We have tried to follow the high standards set by the book on the mechanics of pneumatic

tires edited by S. K. Clark, which was published by the U.S. Department of Transportation in 1981.

We wanted this book to mirror the scientific/technical approaches that are used worldwide to

solve vehicle system dynamics design problems. We have therefore allowed different views of the

same topic given by different authors, assigning responsibility to the reader for a (guided) critical

usage of the information collected in the handbook. Engineering is a stimulating, complex field, and

allowing a single opinion on a still open question would have considerably reduced the richness of

the handbook.

x Preface

The handbook can be used starting from… the bottom, that is, by referring to the subject index

to find the desired topic in the book. The experienced reader can go through the book in any order.

The inexperienced reader may benefit from studying the “horizontal” chapters, positioned at the

beginning of the handbook, that deal with general topics (such as system modeling, analysis, and

optimization, Chapters 2 through 10). Such horizontal chapters are the basis for the subsequent

reading of the “vertical” chapters that deal with special topics (such as tires and vehicle subsystems,

man–vehicle interaction, and active and passive safety, Chapters 11 through 42). In any case, the

subject index can help the reader identify the parts of the handbook (belonging either to the hori￾zontal or to the vertical chapters) that are of his or her interest.

As mentioned earlier, the handbook is devoted both to the beginners wishing to acquire a basic

knowledge on a topic and to the experienced engineer or scientist wishing to have an up-to-date

information on a particular field. This apparently conflicting aim was achieved by asking the authors

to deal with basic issues and to add proper references to specialized papers for further reading.

We would like to thank all the authors for their great efforts and for having participated enthu￾siastically in the project. They have patiently edited and revised their chapters and have provided

a final shape to the handbook, reflecting current knowledge on road and off-road vehicle system

dynamics.

Giampiero R.M. Mastinu

Milan, Italy

Manfred Ploechl

Vienna, Austria

MATLAB® is a registered trademark of The MathWorks, Inc. For product information, please

contact:

The MathWorks, Inc.

3 Apple Hill Drive

Natick, MA 01760-2098 USA

Tel: 508-647-7000

Fax: 508-647-7001

E-mail: [email protected]

Web: www.mathworks.com

xi

Masato Abe

Department of Vehicle System Engineering

Kanagawa Institute of Technology

Atsugi-shi, Japan

Jorge Ambrósio

Institute of Mechanical Engineering

Instituto Superior Tecnico

Technical University of Lisbon

Lisbon, Portugal

Dieter Ammon

Daimler AG

Stuttgart, Germany

Martin Arnold

Institute of Mathematics

University of Halle-Wittenberg

Halle, Germany

Jahan Asgari

Research and Innovation Center

Ford Motor Company

Dearborn, Michigan

John Aurell

Volvo Trucks

Gothenburg, Sweden

Massimiliano Avalle

Department of Mechanical and Aerospace

Engineering

Politecnico di Torino

Turin, Italy

Giovanni Belingardi

Department of Mechanical and Aerospace

Engineering

Politecnico di Torino

Turin, Italy

Bernd Bertsche

Institute of Machine Components

University of Stuttgart

Stuttgart, Germany

Maurizio Boiocchi

Pirelli Tire S.p.A.

Milan, Italy

Thomas Bruder

BMW Group

Munich, Germany

Carlo Maria Domenico Cantoni

Brembo S.p.A.

Bergamo, Italy

Riccardo Cesarini

Brembo S.p.A.

Bergamo, Italy

Horst Ecker

Institute of Mechanics and Mechatronics

Engineering Dynamics

Vienna University of Technology

Vienna, Austria

Johannes Edelmann

Institute of Mechanics and Mechatronics

Vehicle System Dynamics Research Group

Vienna University of Technology

Vienna, Austria

Paul Fancher

Transportation Research Institute

The University of Michigan

Ann Arbor, Michigan

Michael Fodor

Research and Innovation Center

Ford Motor Company

Dearborn, Michigan

Jochen Gäng

Institute of Machine Components

University of Stuttgart

Stuttgart, Germany

Gwanghun Gim

Cheng Shin Tire & Rubber Co., Ltd.

Kunshan, Jiangsu, People’s Republic of China

Contributors

xii Contributors

Michael Gipser

Department of Automotive Engineering

Esslingen University of Applied Sciences

Esslingen, Germany

Massimiliano Gobbi

Department of Mechanical Engineering

Politecnico di Milano

Milan, Italy

Soong-Oh Han

Freudenberg Forschungsdienste SE & Co. KG

Weinheim, Germany

Holger Hanselka

Fraunhofer Institute for Structural Durability

and System Reliability LBF

Darmstadt, Germany

Rüdiger Heim

Fraunhofer Institute for Structural Durability

and System Reliability LBF

Darmstadt, Germany

Günter H. Hohl

Austrian Society of Automotive Engineers

Vienna, Austria

Davor Hrovat

Research and Innovation Center

Ford Motor Company

Dearborn, Michigan

Stefan Jakubek

Division of Control and Process

Automation

Institute of Mechanics and Mechatronics

Vienna University of Technology

Vienna, Austria

Ichiro Kageyama

Director of Nihon University Center for

Automotive Research ( NU-CAR)

Department of Mechanical Engineering

College of Industrial Technology

Nihon University, Japan

Heinz Kaufmann

Fraunhofer Institute for Structural Durability

and System Reliability LBF

Darmstadt, Germany

Michael Kieninger

Fraunhofer Institute for Intelligent

Analysis and Information Systems IAIS

Sankt Augustin, Germany

Martin Kozek

Division of Control and Process

Automation

Institute of Mechanics and Mechatronics

Vienna University of Technology

Vienna, Austria

Ferit Küçükay

Institute of Automotive Engineering

Braunschweig University of Technology

Braunschweig, Germany

Andreas Laschet

ARLA Maschinentechnik GmbH

Wipperfürth, Germany

Peter Lugner

Institute of Mechanics and Mechatronics

Vehicle System Dynamics Research Group

Vienna University of Technology

Vienna, Austria

Charles MacAdam

The University of Michigan

Ann Arbor, Michigan

Giampiero R.M. Mastinu

Department of Mechanical Engineering

Politecnico di Milano

Milano, Italy

Giuseppe Matrascia

Pirelli Tire S.p.A.

Milan, Italy

Wolfgang Matschinsky

Büssing AG

Brunswick, Germany

and

BMW AG

Munich, Germany

Contributors xiii

Masao Nagai

Faculty of Engineering

Department of Mechanical Systems

Engineering

Tokyo University of Agriculture and

Technology

Tokyo, Japan

Jürgen Nuffer

Fraunhofer Institute for Structural Durability

and System Reliability LBF

Darmstadt, Germany

Hans B. Pacejka

Delft University of Technology

Delft, the Netherlands

Anna Pandolfi

Department of Civil and Environmental

Engineering

Politecnico di Milano

Milan, Italy

and

Division of Engineering and Applied

Sciences

California Institute of Technology

Pasadena, California

Panos Y. Papalambros

Department of Mechanical Engineering

The University of Michigan

Ann Arbor, Michigan

Huei Peng

Department of Mechanical Engineering

The University of Michigan

Ann Arbor, Michigan

Manfred Ploechl

Institute of Mechanics and Mechatronics

Vehicle System Dynamics Research Group

Vienna University of Technology

Vienna, Austria

Karl Popp

Institute of Dynamics and Vibration Research

Leibniz Universitaet Hannover

Hannover, Germany

Giorgio Previati

Department of Mechanical Engineering

Politecnico di Milano

Milano, Italy

Werner Schiehlen

Institute of Engineering and Computational

Mechanics

University of Stuttgart

Stuttgart, Germany

Robin S. Sharp

Faculty of Physical and Engineering Sciences

Department of Mechanical Engineering

Sciences

University of Surrey

Guildford, United Kingdom

Roberto Sicigliano

Brembo S.p.A.

Bergamo, Italy

Karl Siebertz

Ford Forschungszentrum

Aachen, Germany

Cetin M. Sonsino

Fraunhofer Institute for Structural Durability

and System Reliability LBF

Darmstadt, Germany

Yoshihiro Suda

The University of Tokyo

Tokyo, Japan

Andrea Toso

Dallara

Parma, Italy

Hans True

DTU Compute

Technical University of Denmark

Lyngby, Denmark

eric H. Tseng

Research and Innovation Center

Ford Motor Company

Dearborn, Michigan

xiv Contributors

Andreas Wagner

Audi AG Ingolstadt

Ingolstadt, Germany

Kai Wolf

Institute for Security Systems

University of Wuppertal

Velbert, Germany

Jo Y. Wong

Department of Mechanical and Aerospace

Engineering

Carleton University

Ottawa, Ontario, Canada

Anton van Zanten (retired)

Robert Bosch GmbH

Abstatt, Germany