Efficientuseofprofessionalsensorsincarandtire performancemeasurementandcomparison

16 Jun nd e 20 - 18 09 th

V Dy e h na icl Ex m e po ics

Presentation By Stefan Kloppenborg

Topics
What is OptimumG Yaw moment Using sensors to characterize Tire and their effect on handling Examples of component evaluation

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OptimumG

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OptimumG
In-House seminars One-on-one training

Public seminars

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OptimumG Seminars
Public & In-House 3 and 4 Day 12 Day Workshop Design Around Customer Needs 8900 Power Point Slides to choose from

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OptimumG SeminarsCustomers
312 Seminars / 12 Years Over 6000 Satisfied Customers
Alcon AP Brakes Brembo Bridgestone-Firestone USA Bridgestone Tech. Center Europe BMW Citroen Sport Corrsys-Datron Chrysler Dunlop Ferrari Ford Advanced Vehicle Operations Goodyear Mac Laren
Magneti-Marelli, Michelin Mitsubishi Multimatic MoTeC Nascar Ohlins Oreca Penske Pi Research Pirelli Porsche PSA Peugeot Citroen Toyota ZF-Sachs. 6

Vehicle Dynamics Expo 16-18 May 2009 Stuttgart, Germany

OptimumG Consulting
Chassisdesign

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OptimumG Consulting
SuspensionsDesign

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OptimumGConsulting
TestingandDevelopment

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OptimumGConsulting
Aerodynamics studies Model design Wind tunnel Testing

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OptimumGSoftware
OptimumK Kinematics Software

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OptimumGSoftware
Steady State Computational Vehicle Dynamics

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OptimumGSoftware
OptimumT Tire test data visualization and modeling

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OptimumG

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UnderstandingVehicleBehavior

Understanding

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WhetheritisaboutSafety

Oraboutperformance

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Tireforcesandmoments
Yaw moment Agility / Stability / Crash Avoidance Performances Cornering Braking Combined accelerations Indispensable in car and tire design Car and tire simulation Car and tire development ESP / ABS / Traction control

T
F

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SteadyStateVehicleDynamicsBasics
Cornering

FyFL + FyFR + FyRL + FyRR = Mass * latG

a b

M = 0

(FyFL+FyFR) a (FyRL+FyRR) b = 0
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SteadyStateVehicleDynamicsBasics
Braking

FxFL + FxFR + FxRL + FxRR = Mass * longG

TF TF

TR

M = 0

TF TR TF TR (FxFR +FxRR ) (FxFL +FxRL ) = 0 2 2 2 2

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SteadyStateVehicleDynamicsBasics
Braking and Cornering

F F

FyFL + FyFR + FyRL + FyRR = Mass * latG

FxFL + FxFR + FxRL + FxRR = Mass * longG

a b

TF TF

M = 0

TR

TF TR TF TR [ (FxFR + FxRR ) (FxFL + FxRL ) ] + [ (FyFL+FyFR) a (FyRL+FyRR) b ] = 0 2 2 2 2 20

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SteadyStateVehicleDynamicsBasics
Tireselfaligningtorque

F F

FyFL + FyFR + FyRL + FyRR = Mass * latG

FxFL + FxFR + FxRL + FxRR = Mass * longG

a b

TF TF

TR

M = 0
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T T T T [( xFR F +F R )(F F +F R )] + [( yFL+F ) a(F +F ) b] MzRFMzLF MzRRMzLR= 0 F F yFR xRR xFL xRL yRL yRR 2 2 2 2 21

TransientVehicleDynamicsBasics
a b

TF

TF

Izz
TR

= Moment of Inertia

TF TR TF TR [( XLF + F ) (F + F )] + [(F +F ) a(F +F ) b] MzRF MzLF MzRR MzLR F xLR xRF xRR yFL yFR yRL yRR 2 2 2 2

d2/dt2 = Yaw acceleration = d(yaw rate)/dt = d(gyro)/dt

= I d /dt zz
2

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MeasuringYawMoment
a b

TF

TF

TR

Allows us to determine and quantify each of the 12 causes of the yaw moment
T T T T [( XLF F + F R ) (F F + F R )] + [(F +F ) a(F +F ) b] MzRF MzLF MzRR MzLR F xLR xRF xRR yFL yFR yRL yRR 2 2 2 2

= I d /dt zz
2

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YawMoment
Two Methods of Calculating Yaw Moment There is some difference between the yaw moment calculated with the wheel forces and the yaw moment calculated with the gyro. On cars with a lot of suspension compliance, there is a lag between the tire forces and the yaw acceleration.

From Yaw Acceleration

From Tire Forces

M = Izz d /dt
2

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YawMoment:The3TypesofCauses
The yaw moment from lateral forces and longitudinal forces are usually the greater than the yaw moment from Mz

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YawMoment:The12Causes
Total Yaw Moment

Yaw Moment from Fx (longitudinal)

Yaw Moment from Fy (lateral)

Yaw Moment from Mz (tire self aligning torque)

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Validating
OptimumG has been developing vehicle dynamics software and needed a way to validate it

Oreste Berta Motorsports provided a car, test-track and mechanics to allow OptimumG test

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WhatDeterminesTireForcesandMoments?
Tire construction Tire compound Rim Road surface Slip angle (including toe) Slip ratio Camber Vertical load Pressure Speed Wear Temperature Ground Air, nitrogen Compound core Tread Surface All the derivatives of the above parameters

Mz My Fz

Mx

Fx Fy

And what can we do to change them?

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Tireforcesandmoments SlipAngle

Lateral tire force vs. Slip angle

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MeasuringSlipAngle
Slip Angle - Wheels

Instant Turn Center

Corrsys-Datron S350 30
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Tireforcesandmoments VerticalLoad

Tire lateral force Vs. slip angle and vertical load

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MeasuringVerticalLoad

Kistler Wheel Force Transducer

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Tireforcesandmoments Camber

Tire lateral force Vs slip angle, vertical load, camber

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Tireforcesandmoments Camber

Slip A ngle (d eg)

Tire lateral force Vs slip angle, vertical load, camber

No rma l Lo ad

(N)

Lateral Force (N)

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MeasuringCamber

Corrsys-Datron DCA Sensor

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Tireforcesandmoments SlipRatio

Tire longitudinal force vs. slip ratio and vertical load

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MeasuringSlipRatio

Re V Sr = V
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Tireforcesandmoments

Combined tire forces

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WhatisaFrictionEllipse?
The Max Longitudinal Force do not always correspond to 0 Lateral Force ! LongitudinalForce
Max LongitudinalForce
MaxTotalForce CurrentTotalForce CurrentLongitudinalForce

Max Lateral Force

Max+LateralForce
CurrentLateralForce

LateralForce

Max LongitudinalForce

The Max Lateral Force do not always correspond to 0 Longitudinal Force! x100 LongitudinalEfficiency(%)= TotalForce CurrentTotalForce x100
MaxLongitudinalForce CurrentLongitudinalForce

LateralEfficiency(%)= CurrentLateralForce

MaxLateralForce

x100

TotalEfficiency(%)=

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FrictionEllipsePerTire(Baseline)
LatG=1,LongG=0,Speed=93MPH,YawMoment=0 FL VertLoad=399.5lbf Camber=3.46 SlipAngle=2.47 SlipRatio=0 800lbf FR VertLoad=1107.6lbf Camber=2.03 SlipAngle=1.26 SlipRatio=0 800lbf 1910lbf 2250lbf 850lbf

2025lbf

LatForce=508.9lbf LongForce=8.9lbf Efficiency=68.9%

850lbf

LatForce=1042.8lbf LongForce=16.5lbf Efficiency=46.5%

2025lbf 2500lbf

RL VertLoad=509.8lbf Camber=2.17 SlipAngle=1.66 SlipRatio=0.46 1075lbf

RR VertLoad=1112.6lbf 1125lbf Camber=0.40 SlipAngle=5.05 SlipRatio=0.30 1075lbf 2250lbf

2025lbf

LatForce=544.7lbf LongForce=130.4lbf Efficiency=51.1%

1125lbf

LatForce=2102.4lbf LongForce=195.6lbf Efficiency=97.4%

2250lbf

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FrictionEllipsePerTire(Comparison)
LatG=1,LongG=0,Speed=93MPH,YawMoment=0,Frontsuspension1degtoein FL VertLoad=379.4lbf Camber=3.96 SlipAngle=1.00 SlipRatio=0 675lbf FR VertLoad=1221.2lbf Camber=1.55 SlipAngle=1.97 SlipRatio=0 675lbf 1910N 2700lbf

790lbf

2250lbf

LatForce=254.0lbf LongForce=8.7lbf Efficiency=37.1%

790lbf

LatForce=1438.3lbf LongForce=17.1lbf Efficiency=66.8%

2250N 2360lbf

RL VertLoad=503.1lbf Camber=2.32 SlipAngle=1.16 SlipRatio=0.69 1125lbf

1125lbf

RR VertLoad=1219.6lbf Camber=0.27 SlipAngle=5.47 SlipRatio=0.45 1125lbf 2250lbf

2340lbf

LatForce=421.2lbf LongForce=946.4lbf Efficiency=43.77%

1125lbf

LatForce=2298.6lbf LongForce=319.1lbf Efficiency=99.3%

2290lbf

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MeasuringtheTireForceVectors
Each tires force vector can be plotted in a scatter (XY) plot

The vertical load can be displayed with a bar graph

Data points are colored by vertical load (red being more load, blue being less)

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MeasuringtheTireForceVectors
Each tires force vector can be plotted in a scatter (XY) plot The vertical load can be displayed with a bar graph

Higher force in direction of inside of each tire due to lateral load transfer Maximum drive force (longitudinal) when no lateral force is exerted

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TireForceCurvesFromWFTData
Tire force curves can be developed from wheel force transducer and slip angle sensor data

Normalize oad d Lateral L

OptimumT was used to fit a Pacejka 2002 Model

rma No ad l Lo )(Fz N

deg) Slip angle (

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TireForceCurvesFromWFTData

Logged WFT and slip angle data

Fitted tire model in OptimumT

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Exampleofdataanalysis

Brake torque and brake pressure follow each other. If the calipers were sticking, the torque would lag the pressure.

Brake Pressure and Torque

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Exampleofdataanalysis
The actual force brake bias can easily be determined by looking at the Fx load of the wheels. On cars equipped with ABS, shifts in brake balance can be detected. Master cylinder Front circuit Rear circuit 66% Front Results in brake Front Brake bias shift to front Distribution

Brake Pressure (bar) Front Circuit (bar) Rear Circuit (bar)

Rear wheel locks, decrease in rear brake pressure

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Exampleofdataanalysis
Diff Characteristics Salisbury Diff
Clutch plates

Ramp angles

Belleville washer

Slope of envelope indicates ramp angle and number of clutch plates

Size of neck indicates preload 48

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Questions? Contacts

OptimumG LLC. 8801 E. Hampden Ave. Suite 210 Denver, CO 80231 engineering@optimumg.com www.optimumg.com

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