Showing papers in "Vehicle System Dynamics in 1980"

The Influence of Structural Flexibilities on the Straight-running Stability of Motorcycles

Abstract: SUMMARY A new tyre model for studies of motorcycle lateral dynamics, and three new motorcycle models, each incorporating a different form of structural compliance, are developed. The tyre model is based on “taut string” ideas, and includes consideration of tread width and longitudinal tread rubber distortion and tread mass effects, and normal load variation. Parameter values appropriate to a typical motorcycle tyre are employed. The motorcycle models are for small lateral perturbations from straight running at constant speed, and include (a) lateral compliance of the front wheel in the front forks, (b) torsional compliance of the front forks, and (c) torsional compliance in the rear frame at the steering head about an axis perpendicular to the steering axis. Results in the form of eigenvalues, indicating modal damping properties and natural frequencies are presented for each model. The properties of four large production machines for a range of forward speeds, and the practicable range of stiffnesses are ...

Vehicle Energy Dissipation Due to Road Roughness

Abstract: SUMMARY Road roughness and surface texture are known to affect tire rolling resistance; however, little emphasis has been placed on the consequent changes in total vehicle energy dissipation due to road roughness. Thus, tire rolling resistance, in isolation from vehicle contributed losses such as dissipation in the suspension, appears to be a weakness in present evaluation procedures as they relate to fuel economy and pollution level testing: Recent work by Funfsinn and Korst has shown that substantial and measurable increases in energy losses occur for vehicles traveling on rough roads. The present investigation uses vehicle axle accelerations as a means of examining various road surfaces. Correlation with computer simulations has allowed the development of a deterministic road roughness model which permits the prediction of energy dissipation in both the tire and suspension as functions of road roughness, tire pressure, and vehicle speed. Comparison to the experiments of Korst and Funfsinn results in go...

Dynamic interaction of railway train and bridges

Abstract: An analytical method for obtaining the dynamic response of a train moving on a bridge is presented. The ratio of dynamic response to maximum static response is called the amplification factor, and its maximum absolute value minus one is called the impact. Each four-axle locomotive is modelled as a rigid body with three degrees of freedom: bounce, pitch, and roll, and with a suspension system consisting of springs mounted on wheels. The carriages are assumed to be connected by frictionless joints to form the train. The bridge is modelled as a three dimensional structure, with the masses lumped at the truss joints. All joints, including the floor beam connections, are assumed to be rigid, except those for the bracing members, which are assumed to be hinged. Vertical displacements are considered as the only dynamic degree of freedom. The mathematical formulation is described briefly, and a numerical example is given. Locomotive and truss member properties, together with stresses in some typical members, are given in the tables. The amplification factors of the responses in some typical bridge members are shown in the figures.

Dynamic Response of a Six-axle Locomotive to Random Track Inputs

Abstract: SUMMARY Spectral analysis techniques are employed to analyze the dynamic response of a six-axle locomotive on tangent track to vertical and lateral random track irregularities. The locomotive is represented by a thirty-nine (39) degrees of freedom model. A linear model is employed by considering small displacements, linear suspension elements and a linear theory for the wheel-rail interaction. Power spectral densities of displacements, velocities and accelerations and the statistical average frequencies of the system are obtained for each degree of freedom. Comparison of the calculated dominating frequencies with existing experimental values shows good agreement. The technique of spectral analysis is an effective tool for model validation, and for the determination of rail vehicle response to track irregularities. The probability functions for the response can be used as a measure for the ride quality of rail vehicles and for the study of fatigue damage of components. § Numbers in brackets designate refer...

Effect of Frame Compliance on the Lateral Dynamics of Motorcycles

Abstract: SUMMARY The lateral dynamics of an uncontrolled motorcycle, running on a straight, level road surface, is investigated in this paper. The structural compliances in the front and the rear frames of the motorcycle are taken into account by introducing additional degrees of freedom in the analysis. The kinematics of the tires is represented by linear differential equations which are based on the taut-string model of pneumatic tires. The linear differential equations of motion are solved to yield the eigensolutions of the system. Numerical results, obtained for parameters corresponding to a Honda CB750 motorcycle, are presented and discussed.

Roll Dynamics of Commercial Vehicles

Abstract: SUMMARY An analytical model is developed here for studying the roll dynamics of commercial vehicles. Large displacements and rotations are accounted for in this nonlinear model so that it can be used for the study of roll dynamics well beyond the limits of wheel lift-off. The model is used to illustrate some of the dynamic phenomena in vehicle rollover, especially the interactive coupling between the roll and the vertical modes of motion. The influence of suspension backlash on rollover resistance is demonstrated, and the phenomenon of roll motion resonance is illustrated to suggest new means for evaluating vehicle rollover sensitivity.

A Comparison of Tyre Representations in a Simple Wheel Shimmy Problem

Abstract: SUMMARY A simple system capable of wheel shimmy is analysed in three different ways and the results are compared. The tyre in each case is taken to be representable by a “taut string”, and the three ways involve (a) developing a digital tyre simulation which operates sequentially with a digital simulation of the mechanical system, (b) representing the tyre responses by linear constant coefficient differential equations derived empirically to match the string responses, and (c) as in (b) but employing fundamentally derived equations which approximate the exact string responses. The approximations are shown to give good results at reduced frequencies typical of the wheel shimmy phenomenon.

Random Response of Tractor-Semitrailer System

Abstract: SUMMARY This work describes an analytical study of the dynamic behaviour of a tractor-semitrailer vehicle. A digital computer simulation was used to describe the longitudinal, vertical, and pitching motions of the vehicle travelling over a stationary random road surface. A man-seat model was also incorporated into the simulation. Vehicle response to road irregularities has been studied by assuming two different roads for loaded and unloaded cases. Numerical results are presented for vehicle, showing system eigenvalues, power spectral densities and root mean square values of the linear and angular accelerations and displacements. Vehicle acceleration response is compared with the ISO riding comfort standard. All results for the loaded and unloaded cases and for smooth and rough roads indicated that an uncomfortable ride would result from vehicle response.

Natural Frequencies of Bernoulli–Euler Beams Resting on Two Elastic Supports: Application to Railway Vehicles

Abstract: SUMMARY The purpose of the present study is to investigate the effect of the different parameters of the elastic supports upon which a deformable beam lies, upon the natural frequencies of the system. The influence of support parameters is obtained by exploiting characteristic transcendental equations. The natural flexural vibrations of the beam are only affected by the stiffness of the supports over a very restricted range; outside this range the frequencies are those of a completely free beam or of a beam supported by two simple rigid supports (infinite stiffness).

A theoretical analysis of the ride vibration of agricultural tractor and trailer combinations.

Abstract: SUMMARY A six degree of freedom model of an agricultural tractor and trailer combination has been developed. Results from eigenvalue and frequency response calculations indicated that tractor operator vibration levels will be higher when operating with a trailer than for the tractor alone, due mainly to increased tractor pitch motion. Although minor improvements could be made to present tractor and trailer combinations by moving the hitch forward of the tractor rear axle or providing some damping at a sprung hitch, the scope for a significant improvement in ride lies in changing the configuration. If higher speed specialised transport vehicles prove economical for agriculture, there are some advantages in ride vibration to be gained by changing the layout of the tractor and trailer combination to resemble an off-road version of a commercial articulated lorry.

Comparison of Ride Comfort Criteria for Computer Optimization of Vehicles Travelling on Randomly Profiled Roads

Abstract: SUMMARY This paper discusses and compares some ride comfort criteria which may be suitable for randomly vibrating vehicles. The criteria consider single-figure measures based on response mean square spectral densities for plane linear combined vehicle-passenger models. Eight different measures divided into three groups are studied. The two vehicle suspension damper stiffnesses are numerically optimized with respect to the eight measures of ride comfort. The results are compared and discussed. Two optimizations with respect to five vehicle parameters are also reported.

Ride vibration measurements of agricultural tractor and trailer combinations.

Abstract: SUMMARY Tractor ride vibration levels have been measured when operating with and without a two wheel (2W) unbalanced and a four wheel (4W) balanced trailer. Measurements were made in the vertical, pitch, longitudinal and roll directions with the trailers unladen and laden over four typical farm surfaces The results showed that tractor ride vibration levels were usually increased in all directions-particularly the longitudinal direction- when operating with the laden trailers. But for the unladen trailers, they were increased only in the longitudinal direction. Predominant tractor frequencies tended to be lower with the trailers attached, and coupling between the tractor longitudinal, vertical, roll and pitch co-ordinates was generally increased Comparisons of the results with the trends predicted by a simplified theoretical model of a tractor and 2W trailer, suggested that the model should be extended to include, (a) the roll direction, (b) more realistic ground inputs, and (c) a 4W trailer

Stability criteria for automobile-trailer combinations

Abstract: The characteristic equation for a simple automobile-trailer combination is analyzed, revealing the parameter groups which are important in determining the stability characteristics. Application of Routh's method results in separate criteria for oscillatory and non-oscillatory criteria which can be evaluated algebraically, and which can also be displayed graphically showing a region of stability on a two-dimensional plot. The stability region is bounded by limits of oscillatory and non-oscillatory stability, and the evaluation of a specific case corresponds to the location of a point relative to the boundaries.

Some Design Aspects of Anti-Lock Brake Systems for Commercial Vehicles

Abstract: SUMMARY In this paper a simulation model of tractor-semitrailers suitable for design and performance analysis of anti-lock systems is presented. The model is used to evaluate the effects of various methods of prediction and reselection of the anti-lock system on the braking performance of tractor-semitrailers. The characteristics and the equivalent control logic of a commercially available anti-lock system are examined and its deficiencies are identified. To rectify these deficiencies, improved methods of prediction and reselection are proposed. A comparison of the slip characteristics and braking effectiveness between the proposed and the commercially available systems is made. The effects of various types of control logic on the steerability and directional stability of tractor-semitrailers and on the air consumption of the brake systems will be examined in a separate paper.

Stability Bounds of a Tractor-Semitrailer

Abstract: The dynamic ability of a tractor-semitrailer is presented here on a qualitative basis. In a four-dimensional space, equilibrium states of the system are discovered which lead to suitable initial conditions for numerical integration of the system equations. The integral solutions define the stable and unstable regions in the state-space, and thereby reveal the system behavior. A simple example concerning the effect of a front tire blowout illustrates how the theory can expose the vehicle motion under external perturbations.(a) (TRRL) barriers are mentioned. Finally a number of noise barriers already in use are described.

A Variable Free Control Characteristic Vehicle

Abstract: SUMMARY A variable characteristic car (VCC) has been developed at Melbourne University for driverlvehicle handling research. The vehicle is unusual in that it has facilities for varying both its fixed control and free control dynamic characteristics over wide ranges. In this paper the servo systems used to effect these changes are described. The calibration methods used to relate the vehicle response characteristics to the variable servo settings are detailed. Sample calibration results are given for the fixed control parameters steering ratio, yaw response time and stability factor. Calibration of the free control parameters is also described and results are given for the steering torque gradient, and the time-to-peak and percentage overshoot of the steering wheel motion in response to a step input of torque.

Random response of a tractor-semitrailer system attitudes regarding the use of vehicles for recreation purposes

Abstract: The work describes an analytical study of the dynamic behaviour of a tractor-semitrailer vehicle. A digital computer simulation was used to describe the longitudinal, vertical, and pitching motions of the vehicle travelling over a stationary random road surface. A man-seat model was also incorporated into the simulation. Vehicle response to road irregularities has been studied by assuming two different roads for loaded and unloaded cases. Numerical results are presented for vehicle, showing system eigenvalues, power spectral densities and root mean square values of the linear and angular accelerations and displacements. Vehicle acceleration response is compared with the iso riding comfort standard. All results for the loaded and unloaded cases and for smooth and rough roads indicated that an uncomfortable ride would result from vehicle response.(a) (TRRL)

A Note on the Lyapunov Stability Analysis of a Linear Railway Wheelset

Abstract: SUMMARY In this paper a Lyapunov function is generated for the linearized equations governing a steel wheelset on steel rails. Thus the authors attack the asymmetric problem, and successfully apply Ingwerson's method for constructing Lyapunov functions. The stability criteria applied to this function yield a closed-form expression for the critical forward speed of the wheelset. Thus the authors retain the advantage of Lyapunov's direct method by obtaining an explicit solution for the critical speed. And, although this linearized result has been obtained by other methods, the result is provocative because it suggests that a similar attack on the intractable nonlinear problem (currently being mounted by the authors) may indeed bear fruit.