Blundell / Harty The Multibody Systems Approach to Vehicle Dynamics

2. Auflage 2014
ISBN: 978-0-08-099428-4
Verlag: Elsevier Science & Techn.
Format: EPUB
Kopierschutz: 6 - ePub Watermark

E-Book, Englisch, 768 Seiten

Filling the gaps between subjective vehicle assessment, classical vehicle dynamics and computer-based multibody approaches, The Multibody Systems Approach to Vehicle Dynamics offers unique coverage of both the virtual and practical aspects of vehicle dynamics from concept design to system analysis and handling development. The book provides valuable foundation knowledge of vehicle dynamics as well as drawing on laboratory studies, test-track work, and finished vehicle applications to gel theory with practical examples and observations. Combined with insights into the capabilities and limitations of multibody simulation, this comprehensive mix provides the background understanding, practical reality and simulation know-how needed to make and interpret useful models. New to this edition you will find coverage of the latest tire models, changes to the modeling of light commercial vehicles, developments in active safety systems, torque vectoring, and examples in AView, as well as updates to theory, simulation, and modeling techniques throughout. - Unique gelling of foundational theory, research findings, practical insights, and multibody systems modeling know-how, reflecting the mixed academic and industrial experience of this expert author team - Coverage of the latest models, safety developments, simulation methods, and features bring the new edition up to date with advances in this critical and evolving field

Mike Blundell is Professor of Vehicle Dynamics and Impact, Mechanical & Automotive Engineering, Coventry University, UK. He specializes in vehicle dynamics and safety teaching and research, and has worked with multibody systems applications in vehicle dynamics in industry and academia, publishing many papers on the topic.

Autoren/Hrsg.

Blundell, Michael

Harty, Damian

Inhaltsverzeichnis

1;Front Cover;1
2;The Multibody Systems Approach to Vehicle Dynamics;4
3;Copyright;5
4;Contents;6
5;Preface;12
6;Acknowledgements;16
6.1;MIKE BLUNDELL;16
6.2;DAMIAN HARTY;16
7;Nomenclature;18
8;Chapter 1 - Introduction;28
8.1;1.1 Overview;28
8.2;1.2 What is vehicle dynamics?;30
8.3;1.3 Why analyse?;39
8.4;1.4 Classical methods;40
8.5;1.5 Analytical process;40
8.6;1.6 Computational methods;44
8.7;1.7 Computer-based tools;45
8.8;1.8 Commercial computer packages;47
8.9;1.9 Benchmarking exercises;51
9;Chapter 2 - Kinematics and Dynamics of Rigid Bodies;54
9.1;2.1 Introduction;54
9.2;2.2 Theory of vectors;54
9.3;2.3 Geometry analysis;71
9.4;2.4 Velocity analysis;75
9.5;2.5 Acceleration analysis;80
9.6;2.6 Static force and moment definition;85
9.7;2.7 Dynamics of a particle;91
9.8;2.8 Linear momentum of a rigid body;92
9.9;2.9 Angular momentum;93
9.10;2.10 Moments of inertia;96
9.11;2.11 Parallel axes theorem;100
9.12;2.12 Principal axes;103
9.13;2.13 Equations of motion;109
10;Chapter 3 - Multibody Systems Simulation Software;114
10.1;3.1 Overview;114
10.2;3.2 Modelling features;121
10.3;3.3 Analysis capabilities;187
10.4;3.4 Eigensolutions;199
10.5;3.5 Systems of units;207
10.6;3.6 Further comments on pre- and postprocessing;208
11;Chapter 4 - Modelling and Analysis of Suspension Systems;212
11.1;4.1 The need for suspension;213
11.2;4.2 Types of suspension system;235
11.3;4.3 Quarter vehicle modelling approaches;238
11.4;4.4 Determination of suspension system characteristics;242
11.5;4.5 Suspension calculations;246
11.6;4.6 The compliance matrix approach;261
11.7;4.7 Case study 1 – suspension kinematics;264
11.8;4.8 Durability studies (component loading);268
11.9;4.9 Ride studies (body isolation);286
11.10;4.10 Case study 5 – suspension vector analysis comparison with MBS;310
12;Chapter 5 - Tyre Characteristics and Modelling;362
12.1;5.1 Introduction;362
12.2;5.2 Tyre axis frames and geometry;363
12.3;5.3 The tyre contact patch;370
12.4;5.4 Tyre force and moment characteristics;378
12.5;5.5 Experimental testing;408
12.6;5.6 Tyre Modelling;414
12.7;5.7 Implementation with MBS;464
12.8;5.8 Examples of tyre model data;469
12.9;5.9 Case study 6 – comparison of vehicle handling tyre models;472
13;Chapter 6 - Modelling and Assembly of the Full Vehicle;478
13.1;6.1 Introduction;478
13.2;6.2 The vehicle body;480
13.3;6.3 Measured outputs;482
13.4;6.4 Suspension system representation;484
13.5;6.5 Modelling of springs and dampers;492
13.6;6.6 Anti-roll bars;495
13.7;6.7 Determination of roll stiffness for the equivalent roll stiffness model;498
13.8;6.8 Aerodynamic effects;502
13.9;6.9 Modelling of vehicle braking;505
13.10;6.10 Modelling traction;510
13.11;6.11 Other driveline components;512
13.12;6.12 The steering system;515
13.13;6.13 Driver behaviour;527
13.14;6.14 Case study 7 – trajectory preparation for a NATO lane change;541
13.15;6.15 Case study 8 – comparison of full vehicle handling models;546
13.16;6.16 Summary;560
14;Chapter 7 - Simulation Output and Interpretation;562
14.1;7.1 Introduction;562
14.2;7.2 Case study 9 – variation in measured data;564
14.3;7.3 A vehicle dynamics overview;566
14.4;7.4 Transient effects;603
14.5;7.5 Steering feel as a subjective modifier;610
14.6;7.6 Roll as an objective and subjective modifier;612
14.7;7.7 Frequency response;614
14.8;7.8 The problems imposed by …;616
14.9;7.9 The use of analytical models with a signal-to-noise approach;618
14.10;7.10 Some consequences of using SN ratio;627
15;Chapter 8 - Active Systems;630
15.1;8.1 Introduction;630
15.2;8.2 Active systems;632
15.3;8.3 Which active system?;655
16;Appendix A - Vehicle Model System Schematics and Data Sets;658
17;Appendix B - Fortran Tyre Model Subroutines;680
17.1;B.1 Interpolation tyre model subroutine;680
17.2;B.2 Magic formula tyre model (version 3) subroutine;683
17.3;B.3 The Harty tyre model subroutine;688
18;Appendix C - Glossary of Terms;724
18.1;Agility;724
18.2;Anti-aliasing;724
18.3;Anti-lift;724
18.4;Anti-pitch;725
18.5;Anti-roll;725
18.6;Anti-squat;726
18.7;Articulated;726
18.8;Beta dot;726
18.9;Body slip angle;727
18.10;Body slip rate;727
18.11;Bump;727
18.12;Camber;727
18.13;Castor;728
18.14;Centre of percussion;728
18.15;Centripetal force;728
18.16;Cepstrum;728
18.17;Coherence;728
18.18;Complex numbers;729
18.19;Computational fluid dynamics;729
18.20;Contact patch (tyre);729
18.21;Couple;729
18.22;Damper;730
18.23;Dynamics;730
18.24;Dynamic absorber;730
18.25;Eigensolution, eigenvalues, eigenvectors;731
18.26;Expected and unexpected response;731
18.27;Finite element method;732
18.28;Forced response;732
18.29;Gain;732
18.30;Gyroscope, gyroscopic torques;733
18.31;Handwheel;733
18.32;Harmonic;733
18.33;Heave;733
18.34;Inertial conjugate (centre of percussion);734
18.35;Jounce;734
18.36;Kinematics;734
18.37;Modes, modal analysis;734
18.38;Multibody system analysis, multibody codes;735
18.39;No-slip yaw rate;735
18.40;Non-holonomic constraints;735
18.41;NVH;736
18.42;Objective;736
18.43;Operating Shape;736
18.44;Oversteer, understeer;736
18.45;Path error;737
18.46;Pitch;737
18.47;Predictive methods;738
18.48;PTW;738
18.49;Rake;738
18.50;Rate;738
18.51;Rebound;738
18.52;Refinement;738
18.53;Segment;739
18.54;Shock absorber;739
18.55;Slip, slip angle (of tyres);739
18.56;Stability;739
18.57;Stationary;740
18.58;Steady state;741
18.59;Steering offset;741
18.60;Subjective;741
18.61;Symbolic codes (multibody system analysis);742
18.62;Traction, tractive;742
18.63;Trail;742
18.64;Transient (cornering);742
18.65;Understeer;743
18.66;Vehicle dynamics;743
18.67;Vehicle programme;743
18.68;Weave;743
18.69;Wheelbase;744
18.70;Wheel hop;744
18.71;Wheel trajectory map;744
18.72;Wobble;744
18.73;Yaw, yaw rate;745
19;Appendix D - Standards for Proving Ground Tests;746
20;References;748
21;Index;756

Leseproben

Preface

This book, the second edition, is intended to bridge a gap between the subject of classical vehicle dynamics and the general-purpose computer-based discipline multibody systems (MBS) analysis. Whilst there are several textbooks that focus entirely on the subject, and mathematical foundations, of vehicle dynamics and other more recent texts dealing with MBS there are none yet that link the two subjects in a comprehensive manner.

After 10 years a second edition of this book is indeed timely. Since the first edition there have been notable developments in the understanding and use of active systems, tyre modelling and the use of MBS software.

MBS analysis became established as a tool for engineering designers during the 1980s in a similar manner to the growth in finite element analysis technology during the previous decade. A number of computer programs were developed and marketed to the engineering industry, such as MSC ADAMS™ (Automatic Dynamic Analysis of Mechanical Systems), which in this edition still forms the basis for many of the examples provided. During the 1990s MBS became firmly established as part of the vehicle design and development process. It is inevitable that the engineer working on problems involving vehicle ride and handling in a modern automotive environment will be required to interface with the use of MBS to simulate vehicle motion. During the last 10 years several other MBS programmes have become more established, most notably SIMPACK which appropriately receives more coverage in this edition.

The book is aimed at a wide audience including not only undergraduate, postgraduate and research students working in this area, but also practising engineers in industry requiring a reference text dealing with the major relevant areas within the discipline.

The book was originally planned as an individual effort on the part of Mike Blundell drawing on past experience consulting on and researching into the application of MBS to solve a class of problems in the area of vehicle dynamics. From the start it was clear that a major challenge in preparing a book on this subject would be to provide meaningful comment on not only the modelling techniques but also the vast range of simulation outputs and responses that can be generated. Deciding whether a vehicle has good or bad handling characteristics is often a matter of human judgement based on the response or feel of the vehicle, or how easy the vehicle is to drive through certain manoeuvres. To a large extent automotive manufacturers still rely on track measurements and the instincts of experienced test engineers as to whether the design has produced a vehicle with the required handling qualities. To address this problem the book has been co-authored by Damian Harty. At the time of writing the first edition Damian was the Chief Engineer – Dynamics at Prodrive. In the 10 years since the first edition he continued in that role and after a few years working as a Senior Research fellow at Coventry University he moved to his current position with Polaris where he enjoys the additional challenge of modelling vehicles on wide ranging terrain. With experience not only in the area of computer simulation but also the in the practical development and testing of vehicles on the proving ground Damian continues to help in documenting the realistic application of MBS in vehicle development.

Chapter 1 is intended to document the emergence of MBS and provide an overview of its role in vehicle design and development. Previous work by contributors including Olley, Segel, Milliken, Crolla and Sharp is identified providing a historical perspective on the subject during the latter part of the twentieth century.

Chapter 2 is included for completeness and covers the underlying formulations in kinematics and dynamics required for a good understanding of MBS formulations. A three-dimensional vector approach is used to develop the theory, this being the most suitable method for developing the rigid body equations of motion and constraint formulations described later.

Chapter 3 covers the modelling, analysis and postprocessing capabilities of a typical simulation software. There are many commercial programs to choose from including not only MSC ADAMS but also other software packages such as DADS and SIMPACK. The descriptions provided in Chapter 3 are based in the main on MSC ADAMS; the main reason for this choice being that the two authors have between them 25 years of experience working with the software. The fact that the software is also well established in automotive companies and academic institutions worldwide is also a factor. It is not intended in Chapter 3 to provide an MSC ADAMS primer. There is extensive user documentation and training material available in this area from the program vendors MSC Software. The information included in Chapter 3 is therefore limited to that needed to introduce a new reader to the subject and to provide a supporting reference for the vehicle modelling and analysis methodologies described in the following chapters. As discussed, the emergence of SIMPACK and its growing use by the automotive community has led to additional examples to illustrate the modelling approaches with that software.

Existing users of MSC ADAMS will note that the modelling examples provided in Chapter 3 are based on a text-based format of model inputs, known in MSC ADAMS as solver data sets. This was the original method used to develop MSC ADAMS models and has subsequently been replaced by a powerful graphical user interface (GUI) known as ADAMS/View™ that allows model parameterisation, and design optimisation studies. The ADAMS/View environment is also the basis for customised versions of MSC ADAMS such as ADAMS/Car™ that are becoming established in industry and are also discussed in Chapter 3. The use of text-based data sets has been adopted here for a number of reasons. The first of these is that the GUI of a modern simulation program such as MSC ADAMS is subject to extensive and ongoing development. Any attempt to describe such a facility in a textbook such as this would become outdated after a short passage of time. As mentioned, the software developers provide their own user documentation covering this in any case. It is also clear that the text-based formulations translate more readily to book format and are also useful for demonstrating the underlying techniques in planning a model, preparing model schematics and establishing the degrees of freedom in a system model. These techniques are needed to interpret the models and data sets that are described in later chapters and appendices. It is also hoped that by treating the software at this fundamental level the dependence of the book on any one software package is reduced and that the methods and principles will be adaptable for practitioners using alternative software. Examples of the later ADAMS/View command file format are included in Chapters 6 and 8 for completeness.

Chapter 4 addresses the modelling and analysis of the suspension system. An attempt has been made to bridge the gap between the textbook treatment of suspension systems and the MBS approach to building and simulating suspension models. As such a number of case studies have been included to demonstrate the application of the models and their use in the vehicle design process. The chapter concludes with an extensive case study comparing a full set of analytical calculations, using the vector-based methods introduced in Chapter 2, with the output produced from MSC ADAMS. It is intended that this exercise will demonstrate to readers the underlying computations in process when running an MBS simulation.

Chapter 5 addresses the tyre force and moment generating characteristics and the subsequent modelling of these in an MBS simulation. As a major area of importance it deserves to be the largest chapter in the book. Examples are provided of tyre test data and the derived parameters for established tyre models. The chapter concludes with a case study using an MBS virtual tyre test machine to interrogate and compare tyre models and data sets. Since the first edition new tyre models such as the FTire model from Gipser and the TAME Tire model from Michelin have become established and therefore receive a more extended coverage in this edition.

Chapter 6 describes the modelling and assembly of the rest of the vehicle, including the anti-roll bars and steering systems. Near the beginning a range of simplified suspension modelling strategies for the full vehicle is described. This forms the basis for subsequent discussion involving the representation of the road springs and steering system in simple models that do not include a model of the suspension linkages. The chapter includes a consideration of modelling driver inputs to the steering system using several control methodologies and concludes with a case study comparing the performance of several full vehicle modelling strategies for a vehicle handling manoeuvre.

Chapter 7 deals with the simulation output and interpretation of results. An overview of vehicle dynamics for travel on a curved path is included. The classical treatment of understeer/oversteer based on steady state cornering is presented followed by an alternative treatment that considers yaw rate and lateral acceleration gains. The subjective/objective problem is discussed with consideration of steering feel and roll angle as subjective modifiers. The chapter concludes with a consideration of the use of analytical models with a signal-to-noise approach.

Chapter 8 concludes with a review of the use of active...