Basic Vehicle Dynamics Part 2

Prof. R.G. Longoria

Updated for Spring 2010

ME 379M/397 Prof. R.G. Longoria

Vehicle System Dynamics and Control

Department of Mechanical Engineering

The University of Texas at Austin

Part 2: Two-axle vehicle on an incline

Along the longitudinal (x) axis:
p x = m

dvx
= m ax = Fx
dt

cf. Wong, Chapter 3, Fig. 3.1

ME 379M/397 Prof. R.G. Longoria

Vehicle System Dynamics and Control

= Tractive force Road Loads

Department of Mechanical Engineering

The University of Texas at Austin

Longitudinal tractive force (effort)

In the longitudinal (x) direction, need to estimate forces,

= Ftf + Ftr Ra Rrf Rrr Rd Rg

Rolling resistance forces

What do I plug in here for tractive forces

(effort)?
How can the tractive force be modeled
to estimate the force propelling a
vehicle for specific environmental
conditions?

= Ftf + Ftr Ra Rrf Rrr Rd Rg

Ftf ,r = tractive effort on front and rear

Ra = aerodynamic resistance force
Rrf ,rr = rolling resistance on front and rear
Rd = drawbar load

It is necessary to know something about

the tire and the road/terrain conditions.
ME 379M/397 Prof. R.G. Longoria
Vehicle System Dynamics and Control

Rg = grade resistance = W sin s

Department of Mechanical Engineering

The University of Texas at Austin

Problem description (from Wong)

From Wong (Chapter 3):

This problem statement seeks a steady-state solution for vehicle

speed.
ME 379M/397 Prof. R.G. Longoria
Vehicle System Dynamics and Control

Department of Mechanical Engineering

The University of Texas at Austin

Dynamic model
For vehicle on incline, general relations for 2D motion:

p x = mvx = Fx

l1
l2
l1 + l2 = L

l1 hf r
1

f r

l2 hf r
1
fr

ME 379M/397 Prof. R.G. Longoria

Vehicle System Dynamics and Control

p z = mvz = Fz
h = I = M
y

One way to solve for the unknowns is

to formulate as 3 simultaneous
equations:

0 W f hFt

0 Wr = W cos
m vx Fg + Fa Ft
Department of Mechanical Engineering
The University of Texas at Austin

Normal forces and acceleration

Solution of the three unknowns yields the two normal loads and an
expression for the vehicle acceleration in terms of known
quantities,

(l2 + hf r )
h

W cos
L Ft +

L
W f

h
(l1 hf r )
W =

F
+
W
cos
t
r

L
L
vx

1
[ Ft W sin Fa f rW cos ]
m

The traction force depends on the condition of the front and rear
tires: rolling or slipping?
F = F +F
t

tf
tr


front
ME 379M/397 Prof. R.G. Longoria
Vehicle System Dynamics and Control

rear

Department of Mechanical Engineering

The University of Texas at Austin

Finding solutions for velocity

1. Steady state: assume maximum traction, e.g., Ft max f = W f
Solve for the front and rear forces:

Ft max r

l1 hf r (v)
= W cos

Ft max f

l2 + hf r (v)
= W cos

L
+
h

Plot these forces and all loads as functions of velocity.

Look for intersection between traction force and load curve.

2. Dynamic: need to solve for velocity as a function of time by

integrating the 1st order ODE, considering all the loads, which
are also nonlinear functions of velocity. Need a model for the
traction force for now assume maximum traction as above.
These solutions estimate the traction-limited performance of the
vehicle. It is necessary to also look at power-limited performance.
ME 379M/397 Prof. R.G. Longoria
Vehicle System Dynamics and Control

Department of Mechanical Engineering

The University of Texas at Austin

Summary of vehicle on incline

Involves plane motion analysis of rigid bodies, an
assumption valid for many practical applications.
Typical of what is required for basic vehicle weight
transfer calculations, or simple force analysis, etc.
This type of analysis may not directly lead to models
useful for simulation of braking or traction, or for
control design, although the insight gained is high.
Good for go/no-go type assessment, design analysis,
etc.
Better estimates might require including suspension, or
better tire friction models.
ME 379M/397 Prof. R.G. Longoria
Vehicle System Dynamics and Control

Department of Mechanical Engineering

The University of Texas at Austin

References
1.
2.
3.
4.
5.
6.

J.L. Meriam and L.G. Kraige, Engineering Mechanics: Dynamics (4th

ed.), Wiley and Sons, Inc., NY, 1997.
D.T. Greenwood, Principles of Dynamics, Prentice-Hall, 1965.
T.D. Gillespie, Fundamentals of Vehicle Dynamics, SAE, Warrendale,
PA, 1992.
J.Y. Wong, Theory of Ground Vehicles, John Wiley and Sons, Inc., New
York, 1993 (2nd) or 2001 (3rd) edition.
Hibbeler, Engineering Mechanics: Dynamics, 9th ed., Prentice-Hall.
J.P. Den Hartog, Mechanics, Dover edition.

ME 379M/397 Prof. R.G. Longoria

Vehicle System Dynamics and Control

Department of Mechanical Engineering

The University of Texas at Austin