A Brief History of Vehicle Dynamics: Why Tires Are So Important

A Brief History of Vehicle Dynamics: Why Tires are So Important
Thomas D. Gillespie University of Michigan, Mechanical Simulation Corporation
2006 Tire Society Conference
Overview
A brief history:
Where are we coming from? How the vehicle dynamics field developed Recognition of the importance of tires
Vehicle dynamics today

Simulation tools Limitations on our understanding of tires
Vehicle dynamics tools of tomorrow

Where are we going? Driving simulation
2
Why are Tires So Important?

Vehicle Dynamics encompasses
Acceleration and Braking Cornering (Handling) Ride
Tires
The primary source of vehicle control forces Primary interest of vehicle dynamicists
3
A brief History of Vehicle Dynamics

100+ years of history First engineers dealt with rudimentary question E.g. Where to put the wheels?
Cugnot tractor 1769 1901 Mabley
1 in the front 1 in back 1 on each side
3 wheels 2 in the front
3 wheels 2 in the rear
History
F. W. Lanchester (1868 - 1946)

1895 - Built the first British gasoline motor car Used tiller steering system on his car Observed that a rear-pointing tiller caused oversteer Forward-pointing tiller is stable Knowledge of tire behavior?
They roll in the direction they are pointed Control forces limited by friction and load
History
5
What controls and where?

Ford Motor Company produced 15 million Model Ts Production up until 1927 with this control paradigm Bentley produced a vehicle with steering wheel throttle as late as 1954
Parking brake, neutral Forward, reverse
Brake
Throttle
Low, neutral, high
History
History of Vehicle Dynamics

Steering shimmy problems Ride problems Maurice Olleys work at GM Governments begin regulating braking, crash, stability
1890
First cars (mechanical)
1920
1950
1980
2006
Electronically
Low-speed turning understood Free control stability Hi-speed turning not so well Nonlinear modeling controlled cars Tire properties explored. Better tire knowledge (ABS, TCS, ESC) Oversteer IFS developed Computer simulation arrives observed by 2 Rig) Olley ride work at GM (K HVOSM, ADAMS, CarSim Lanchester
History
State of Knowledge 1930s

Vehicle Dynamics
Mechanics of low-speed turning Oversteer (stability) Mechanisms of front wheel shimmy
Knowledge of tire behavior

Growing awareness of slip angle in cornering First tire dynamometers developed (Technical University of Berlin, 1931) Focus on cornering force and aligning moment
History
8
State of Knowledge 1950s

Linear math models of turning response
Understeer/oversteer understood Critical speed with oversteer explained Natural frequencies of yaw and lateral acceleration response. Influence of suspension properties Interest in modeling transient response
Knowledge of tire behavior

Awareness of relaxation length Turning frequency response up to 2 Hz.
History
9
State of Knowledge - 1970

Free-control stability and response Modeling non-linear response up to turning limits Influence of steering feedback on driver opinion Better understanding of tires GM establishes Tire Performance Criteria
Endurance, handling, speed rating, traction, ride, uniformity and performance.
History
10
NHTSA Established - 1965

Mandate Impose performance standards for
new vehicles to increase safety on highways
FMVSS 100 Series (Pre-crash performance)

FMVSS 105, 121 and 135 braking standards
FMVSS 121
Applied to air-brake trucks Effectively mandated ABS in 1975
History
11
1970 -- Beginning of the Electronic Age

Introduction of Anti-Lock Brake Systems (ABS) Pre ABS Control Paradigm
Brakes apply in accordance with the pressure on the brake pedal
Post-ABS Control Paradigm

Brakes may be released for brief periods during braking maneuver There are times when the controller knows better than the driver
Places new and greater responsibility on the automotive engineer to know what is best
History
12
1970s - Present
Vehicle dynamics is controlled by electronics.
Response is tuned to driving situation Intervention at the brakes, suspensions, steering
Examples:
ABS and Traction control Electronic Stability Control Active suspensions Active roll control Adaptive cruise control Lane departure detection
13
Electronic Stability Control

ESC relies on optimizing use of tire forces
Understeer
Oversteer
Braking
14
Microcontroller Growth in Automobiles

Electronics for Sensing Computing Control Multiple microcontrollers must be coordinated in function
15
Growth in Electronics Content

Many overlapping functions must be integrated
16
Automotive Design Challenge

How to coordinate interactions of:
Braking systems Powertrains Steering systems Suspensions
Primary purpose was improve safety Underlying need Optimize use of tire forces to prevent crashes
17
Solution -- Vehicle Dynamics Simulation

Began in the 1970s Engineering tool to replicate/predict performance of a virtual vehicle
Applicable at concept and design stages Prior to hardware availability
Example tool CarSim

Outcome of early work at University of Michigan Complete vehicle representation Operates in real time
18
19
Examples of Using Simulation

Virtual tire test Evaluation of events Optimization NHTSA Fishhook Driving simulators
20
Virtual Tire Test Pacejka 5.2

CarSim can be used to examine performance of tire models Example evaluate a complex data set?
Applications in the Tire Industry
21
Virtual Tire Test

Slip angle sweep in CarSim Where is the problem? In:
The model? The data set?
22
Evaluate Surprise Effects on Vehicles

Blowout example Choose time or location Change tire radius Change tire forces Road events -- Encounter bumps or corregations Ambient events Encounter a crosswind Vehicle events Introduce a component failure
23
Optimize Performance
3) t 2 (n traigh S
TURN 2 (n4)
design space boundaries TURN 1 (n2)

) (n1 ht 1 ig Stra
Lap Time Optimization
DOE with optimization Tune engine performance for a specific race track 12,000 runs for entire track Could tune tire properties
33.0 32.0
Lap Time [s]
31.0 30.0 29.0 28.0 27.0 26.0 25.0 0 100 200 300 400 500 600
Run Counter
24
NHTSA Fishhook
Extensive facilities requirements
Vehicle Skid pad Steering controller Instrumentation
Precise timing High steering rates
25
Driving Simulation Applications

Subjective experience of vehicle response Evaluate: - steering feel - chassis controls - ride & handling - powertrain performance
26
The Message
OEMs and safety systems suppliers rely on the tire industry to provide:
The essential forces to control cars Models of tire performance for design optimization
The needs are:

Better tires (???) Better tire models Better tire data
We look forward to working together using simulation to develop better cars

27
THE END
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A Brief History of Vehicle Dynamics: Why Tires Are So Important

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A Brief History of Vehicle Dynamics: Why Tires are So Important

Thomas D. Gillespie University of Michigan, Mechanical Simulation Corporation

2006 Tire Society Conference

Vehicle dynamics today

Vehicle dynamics tools of tomorrow

Why are Tires So Important?