Vehicle Dynamics Session 3 Tire Fundamental Characteristics and Dynamic Performance
Vehicle Dynamics Session 3 Tire Fundamental Characteristics and Dynamic Performance
Vehicle Dynamics Session 3 Tire Fundamental Characteristics and Dynamic Performance
Session 3
• Traction Limits
• Friction Circle
• Slip Angle
• Cornering Stiffness
• Carpet Plot
• Self-Aligning Torque
• Camber thrust
Tire Axis System
Tire Characteristics
• Traction Limits
– Production tires on a typical paved surface can
generate a coefficient of friction of up to about 1.0.
Usually 0.7 - 0.8
– Race tires can easily generate friction coefficients
greater than 1.0
– Traction is temperature dependent, as well as
influenced by many factors.
Tire Friction Characteristics
Tire Friction Characteristics
• Slip Velocity
– The difference between the angular velocity of the
driven (braked) wheel and the angular velocity of
the free rolling wheel.
s o
• Slip Ratio
– Slip ratio is defined as the slip velocity as a
percentage of the free rolling velocity.
o
SR 1
o o
Tire Friction Characteristics
• Slip Ratio
– Slip ratio is defined as the slip velocity as a
percentage of the free rolling velocity.
o
SR 1
o o
– Since
V
o rr tire rolling radius
rr
– then
rr
SR 1 @ 0
V
Tire Friction Characteristics
• Slip Ratio
– If spinning is arbitrarily assigned a slip ratio of 1
then at spinning
rr
SRsp 1 then, 2
V
– This implies the peripheral speed is twice that of the
free rolling tire and twice the forward velocity.
Tire Rotation
Plane
Slip Angle
Lateral Force
Tire Friction Characteristics
• Slip Ratio definitions
– SAE J670
Re = effective rolling
re radius for free rolling
S 1 @=0
V Cos
= slip angle
– Calspan TIRF definition
Rl = loaded rolling radius
rl
SR 1
V Cos
Tire Friction Characteristics
• Slip Ratio definitions (alternatives)
– Good Year
V Cos
S x 1
re
– Pacejka definition
re
k x 1 {practical slip quantitiy}
V Cos
V Cos
x 1 {Independent slip quantity}
re
Tire Friction Characteristics
• Slip Ratio definitions (alternatives)
– Sakai
V Cos re
S t 1 {traction} S b 1 {braking}
re V Cos
re
S D 1
V Cos
Friction Circle
Accel traction
0.7
Cornering Cornering
traction traction
0.7
Braking traction
Tire Characteristics
Analysis of the Slip Ratio and Lateral Force
behavior at given slip angles.
– At a given slip angle as the slip ratio increases the
tires capacity to support a lateral load diminishes.
– Peak tractive forces are present at slip ratios that
differ slightly between braking and forward
traction.
– At any given slip ratio, the lateral force capacity
increases with increasing slip angles.
Tire characteristics
Braking and Tractive forces @ given Slip Angles vs. Slip Ratio
Tire characteristics
d Fy
C
d
Cornering Stiffness Comparison
Tire Carpet Plot
Tire Carpet Plot
Typical Tire @
Normal Inflation
Pressure
Slip Angle vs Lateral Force Coefficient
Self-Aligning Torque
t => trail
Self-Aligning Torque
Tire Self Aligning Torque
Tire Self Aligning Torque
Typical Tire
Self-Aligning Torque
Tire Carpet Plot
Camber Thrust
• Camber thrust is the lateral force generated as the tire is
inclined from the surface normal.
• A cambered tire generates a slip angle to maintain a lateral
force = 0. As a result a cambered tire has a rolling
resistance greater than a zero cambered tire.
• A cambered tire will generate a lateral force in a turn
reducing the slip angle (if proper direction) required to
maintain the same lateral force.
Camber Thrust