Vehicle/Tire/Road Dynamics: Handling, Ride, and NVH

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Vehicle/Tire/Road Dynamics: Handling, Ride, and NVH
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Contents
Chapter 1: Introduction
	1.1. Background
	1.2. Literature
	1.3. Organization
	References
Chapter 2: Definitions and fundamentals
	2.1. Multibody dynamics
	2.2. Vibrations
		2.2.1. Single degree-of-freedom undamped oscillation
		2.2.2. Single degree-of-freedom damped oscillation
		2.2.3. Multiple degree-of-freedom discrete system
	2.3. Control
		2.3.1. Some mathematics
			2.3.1.1. Fourier transform
			2.3.1.2. Laplace transform
			2.3.1.3. Stochastic signal
		2.3.2. Classical control system
		2.3.3. State-space representation
		2.3.4. Full state feedback
		2.3.5. Output feedback (observer/estimator)
		2.3.6. Exogenous inputs (reference/disturbance)
		2.3.7. Optimal control
			2.3.7.1. Linear quadratic regulator
			2.3.7.2. Linear quadratic Gaussian (or Kalman filter)
		2.3.8. Degree of freedom of a control system
	2.4. Structure-borne acoustics
		2.4.1. Vibrating string (1D flexible)
			2.4.1.1. Wave equation
			2.4.1.2. General solution
			2.4.1.3. Boundary condition
			2.4.1.4. Forcing function
			2.4.1.5. Forced vibration of a finite string
		2.4.2. Vibrating membrane (2D flexible)
			2.4.2.1. Rectangular membrane
			2.4.2.2. Circular membrane
		2.4.3. Vibrating bar (1D rigid)
			2.4.3.1. Longitudinal (axial) wave
			2.4.3.2. Transverse (flexural) wave
		2.4.4. Vibrating plate (2D rigid)
	2.5. Airborne acoustics
		2.5.1. Acoustic wave equation
			2.5.1.1. Derivation
			2.5.1.2. Plane wave
			2.5.1.3. Spherical wave
			2.5.1.4. Point source
		2.5.2. Reflection and transmission
			2.5.2.1. Transmission across fluids: Normal incidence
			2.5.2.2. Transmission through fluid layers: Normal incidence
			2.5.2.3. Transmission across fluids: Oblique incidence
			2.5.2.4. Transmission through a thin partition: The mass law
			2.5.2.5. Reflection of spherical waves: Method of images
		2.5.3. Radiation
			2.5.3.1. Radiation from pole source (0D)
			2.5.3.2. Radiation from continuous line source (1D)
			2.5.3.3. Radiation from plane circular piston (2D)
			2.5.3.4. Radiation from flexural plate (3D)
	2.6. Acoustic resonance
		2.6.1. Cavity resonance (room acoustics)
			2.6.1.1. Rigid walls
			2.6.1.2. Absorbent walls
		2.6.2. Pipe resonance (waveguide)
			2.6.2.1. Infinite waveguide
			2.6.2.2. Finite pipe
			2.6.2.3. Reflection and transmission of waves in a pipe
		2.6.3. Helmholtz resonance (open cavity)
	References
Chapter 3: Tire and vehicle handling dynamics
	3.1. Tire handling theory
		3.1.1. Introduction
		3.1.2. Brush tire model
			3.1.2.1. Friction model
			3.1.2.2. Pure lateral slip conditions
			3.1.2.3. Pure longitudinal slip condition
			3.1.2.4. Combined slip condition
			3.1.2.5. Parking turn slip
		3.1.3. Magic formula tire model
		3.1.4. FTire model
		3.1.5. CDTire model
		3.1.6. Terramechanics tire model
	3.2. Vehicle handling theory
		3.2.1. 2-DOF bicycle car model (yaw plane)
			3.2.1.1. Governing equations
			3.2.1.2. Steady-state characteristics
			3.2.1.3. Transient characteristics
			3.2.1.4. Harmonic characteristics
			3.2.1.5. Locked wheel responses
			3.2.1.6. Effect of tractive forces on cornering
			3.2.1.7. Driver closed-loop feedback control
		3.2.2. Effect of chassis system on understeer gradient (roll plane)
			3.2.2.1. Lateral load transfer effect
			3.2.2.2. Steering system effect
			3.2.2.3. Camber thrust effect
			3.2.2.4. Roll steer effect
			3.2.2.5. Lateral force compliance steer effect
			3.2.2.6. Tire aligning torque effect
		3.2.3. 8-DOF full car model (roll/yaw plane and wheel rotation)
		3.2.4. 7-DOF full car model (roll/pitch plane and wheel hop)
			3.2.4.1. Derivation
			3.2.4.2. Case study: Tire blowout
	3.3. Handling test, measurement, and evaluations
		3.3.1. Tire force and moment testing and fitting
		3.3.2. Spectral analysis of tire force and moment results
		3.3.3. Vehicle handling test
			3.3.3.1. Steady-state understeer gradient
			3.3.3.2. Transient understeer and oversteer
			3.3.3.3. Map of achievable performance
			3.3.3.4. Rollover threshold
		3.3.4. Objective measurement
		3.3.5. Subjective rating (psycho-dynamics)
	3.4. Handling simulation approaches
		3.4.1. Rubber friction modeling
			3.4.1.1. Dry friction
			3.4.1.2. Wet friction
		3.4.2. Tire force and moment simulation
			3.4.2.1. Pure lateral/longitudinal slip simulation
			3.4.2.2. Rolling resistance simulation
		3.4.3. Vehicle maneuver simulation
			3.4.3.1. Tire effect: Step steer
			3.4.3.2. Tire effect: J-turn
			3.4.3.3. Tire effect: Brake-in-turn
			3.4.3.4. Vehicle effect: Gasoline versus electric
		3.4.4. Dynamic driving simulator
	References
Chapter 4: Tire and vehicle ride dynamics
	4.1. Vehicle ride theory
		4.1.1. 2-DOF quarter-car model (vertical direction)
		4.1.2. 2-DOF half-car model (bounce/pitch)
		4.1.3. 10-DOF full car model (all plane/direction and road input)
			4.1.3.1. Handling dynamics (movement)
			4.1.3.2. Ride dynamics (vibration)
			4.1.3.3. Speed bump analysis
			4.1.3.4. Pothole analysis
			4.1.3.5. Brake-in-turn analysis
			4.1.3.6. Fishhook with road excitation analysis
		4.1.4. Frequency response of SDOF and MDOF systems
	4.2. Tire ride theory
		4.2.1. FEA modal analysis
		4.2.2. Modal analysis of tire on rigid rim
		4.2.3. Modal analysis of flexible rim
		4.2.4. Modal analysis of tire-rim assembly
	4.3. Ride test, measurement, and evaluations
		4.3.1. Tire modal testing
			4.3.1.1. Unloaded condition
			4.3.1.2. Loaded condition
			4.3.1.3. Rim effect on tire modes
		4.3.2. Modal system of tire/rim assembly and the vehicle
			4.3.2.1. Tire and vehicle mode distribution chart
			4.3.2.2. Structural dynamics testing
			4.3.2.3. Tire structural dynamics model (modal model)
		4.3.3. Vehicle ride measurement
			4.3.3.1. Vehicle ride testing
			4.3.3.2. Evaluation metrics
			4.3.3.3. Vehicle vibrations with tire nonuniformity
	4.4. Ride simulation approaches
		4.4.1. Vehicle ride simulation
		4.4.2. Tire ride simulation
	References
Chapter 5: Tire and vehicle NVH
	5.1. Structure-borne acoustics
		5.1.1. Tire wave propagation
		5.1.2. Structure-borne transfer between the tire and vehicle
			5.1.2.1. Classical source-path-contribution (SPC) analysis
			5.1.2.2. Blocked force transfer path analysis (TPA) analysis
			5.1.2.3. Comparison between classical and blocked force SPC/TPA
		5.1.3. Correlation between vibration and noise in the vehicle interior
	5.2. Airborne acoustics
		5.2.1. Tire noise emission
			5.2.1.1. Thin-shell equations for the motion of the tire
			5.2.1.2. Tread impact
			5.2.1.3. Air pumping
			5.2.1.4. Air turbulence
		5.2.2. Noise transmission through vehicle panels
	5.3. Sound quality theory
		5.3.1. Color of noise
		5.3.2. Psychoacoustic metrics
			5.3.2.1. Critical bands
			5.3.2.2. Loudness
			5.3.2.3. Sharpness
			5.3.2.4. Fluctuation strength
			5.3.2.5. Roughness
			5.3.2.6. Tonality
			5.3.2.7. Articulation index
			5.3.2.8. Binaural effect
		5.3.3. Miscellaneous
	5.4. NVH test, measurement, and evaluations
		5.4.1. Techniques of NVH data analysis
			5.4.1.1. Spectral processing
			5.4.1.2. Vehicle/tire noise domain
				Exterior and interior noise
				Pass-by noise
			5.4.1.3. NVH diagnosis
			5.4.1.4. Tire/road noise separation
		5.4.2. Effect of tire damping on interior noise
		5.4.3. Effect of tire inflation pressure on exterior noise
			5.4.3.1. Introduction
			5.4.3.2. Experiments
			5.4.3.3. Tire noise separation
			5.4.3.4. Effect of inflation pressure on TPIN levels
			5.4.3.5. Effect of inflation pressure on TPIN spectra
			5.4.3.6. Effect of inflation pressure on the speed exponent
			5.4.3.7. Conclusions
	5.5. NVH simulation approaches
		5.5.1. Tire radiation noise simulation
		5.5.2. Tire tread-pattern noise optimization
			5.5.2.1. Tread profile spectrum
			5.5.2.2. Music chord pattern with the tri-pitch sequence
		5.5.3. Cavity/cabin noise simulation
			5.5.3.1. Tire modal density
			5.5.3.2. Tire cavity noise simulation
			5.5.3.3. Vehicle cabin noise simulation
		5.5.4. Road noise and transfer path simulation
		5.5.5. FEA morphing and DOE
	References
Chapter 6: Dependence between handling, ride, and NVH
	6.1. Fundamental tire material properties
		6.1.1. Tire construction
		6.1.2. Rubber hyperelasticity (static or long-term)
		6.1.3. Rubber viscoelasticity (dynamic or instantaneous)
		6.1.4. Nonlinear cord modulus
		6.1.5. Thermal expansion and creep
		6.1.6. Tire component durability
	6.2. Stress and deformation distribution in tire contact patch
		6.2.1. Theory and testing
		6.2.2. Static condition
		6.2.3. Free rolling condition
		6.2.4. Pure lateral slip condition
		6.2.5. Pure longitudinal slip condition
		6.2.6. Equivalent conditions at different camber angles
	6.3. Conflicts between safety and comfort
		6.3.1. Passive suspension
		6.3.2. Optimal damping
			6.3.2.1. Cost function
			6.3.2.2. Optimal damping for safety
			6.3.2.3. Optimal damping for comfort
		6.3.3. Tire design considerations
	6.4. Optimization with active suspension control
		6.4.1. Active and semiactive control
		6.4.2. Active suspension control
		6.4.3. Antiroll bar optimization
	6.5. Braking and cornering noise
		6.5.1. Introduction
		6.5.2. Experimental setup
		6.5.3. Results: Drivers left ear
		6.5.4. Mechanism and insights: Stick/slip
		6.5.5. Summary
	References
Chapter 7: Road effect on handling, ride, and NVH
	7.1. Surface texture characterization
	7.2. Influence of surface texture on tire grip
		7.2.1. Tire-pavement friction
		7.2.2. Contact mechanics theory on rubber friction
			7.2.2.1. Hysteresis dry friction
			7.2.2.2. Adhesion dry friction
			7.2.2.3. Wet friction
		7.2.3. Empirical model on rubber friction
			7.2.3.1. Dry friction
			7.2.3.2. Wet friction
	7.3. Influence of the road profile on vehicle comfort
	7.4. Influence of pavement parameters on NVH
		7.4.1. Pavement texture effect on NVH
			7.4.1.1. Pavement texture analysis and correlation with tire/road noise
			7.4.1.2. Tone characteristics of tire/road noise due to pavement distress
		7.4.2. Pavement attenuation effect on NVH
			7.4.2.1. Sound absorption
			7.4.2.2. Vibration damping
	7.5. Road dynamics
	References
Chapter 8: Intelligent tire and autonomous electric vehicle
	8.1. Vehicle/tire state and parameter estimation
		8.1.1. Longitudinal velocity in pure rolling conditions
		8.1.2. Small slip angle in pure lateral conditions
		8.1.3. Small slip ratio in pure longitudinal conditions
		8.1.4. Vehicle mass and road slope
		8.1.5. Vertical tire forces
		8.1.6. Lateral tire forces
	8.2. Dynamics control for electric vehicles
	8.3. Smart tire
		8.3.1. Tire sensors
		8.3.2. Tire energy harvester
	References
Appendix 1: Example specifications of different types of vehicles
Appendix 2: Literature review for tire modal analysis
	References
Index
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