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Nomenclature xvii {z I } 1 Unit vector along z-axis of marker I resolved parallel to frame 1 (GRF) {z J } 1 Unit vector along z-axis of marker J resolved parallel to frame 1 (GRF) A Area A c Convective area of brake disc [A 1n ] Euler matrix for part n {A n } 1 Acceleration vector for part n resolved parallel to frame 1 (GRF) A p Centripetal acceleration {APQ} p 1 Centripetal acceleration vector P relative to Q referred to frame 1 (GRF) {APQ} t 1 Transverse acceleration vector P relative to Q referred to frame 1 (GRF) {APQ} c 1 Coriolis acceleration vector P relative to Q referred to frame 1 (GRF) {APQ} s 1 Sliding acceleration vector P relative to Q referred to frame 1 (GRF) AyG Lateral acceleration gain B Stiffness factor (‘Magic Formula’) [B] Transformation matrix from frame O e to O n BKid Bottom Kingpin Marker BM Bump Movement B T Brake torque C Shape factor (‘Magic Formula’) [C] Compliance matrix C F Front axle cornering stiffness C r Rolling resistance moment coefficient C R Rear axle cornering stiffness C S Tyre longitudinal stiffness C p Process capability CP Centre of pressure C Tyre lateral stiffness due to slip angle C Tyre lateral stiffness due to camber angle D Peak value (‘Magic Formula’) DM(I,J) Magnitude of displacement of I marker relative to J marker DX(I,J) Displacement in X direction of I marker relative to J marker parallel to GRF DY(I,J) Displacement in Y direction of I marker relative to J marker parallel to GRF DZ(I,J) Displacement in Z direction of I marker relative to J marker parallel to GRF E Young’s modulus of elasticity E Curvature factor (‘Magic Formula’) {F nA } 1 Applied force vector on part n resolved parallel to frame 1 (GRF) {F nC } 1 Constraint force vector on part n resolved parallel to frame 1 (GRF) F FRC Lateral force reacted by front roll centre F RRC Lateral force reacted by rear roll centre F x Longitudinal tractive or braking tyre force F y Lateral tyre force Vertical tyre force F z
xviii Nomenclature F zc F zk Vertical tyre force due to damping Vertical tyre force due to stiffness {F A } 1 {F B } 1 … Applied force vectors at points A, B, … resolved parallel to frame 1 (GRF) [F E ] Elastic compliance matrix (Concept suspension) F D Drag force FG Fixed Ground Marker G Shear modulus GC Gravitational constant GO Ground Level Offset GRF Ground Reference Frame {H} 1 Angular momentum vector for a body H() Transfer function HTC Half Track Change I Mass moment of inertia I Second moment of area ICY Y Co-ordinate of Instant Centre ICZ Z Co-ordinate of Instant Centre [I n ] Inertia tensor for a part J Polar second moment of area Jz Vehicle body yaw inertia (Wenzel model) K Drive torque controller constant K Spring stiffness K Stability factor K Understeer gradient K z Tyre radial stiffness K T Torsional stiffness K Ts Roll stiffness due to springs K Tr Roll stiffness due to anti-roll bar L Length L Wheelbase {L} 1 Linear momentum vector for a particle or body LPRF Local Part Reference Frame L R Tyre relaxation length M FRC Moment reacted by front roll centre {M nA } e Applied moment vector on part n resolved parallel to frame e {M nC } e Constraint moment vector on part n resolved parallel to frame e M s M x M y M z Equivalent roll moment due to springs Tyre overturning moment Tyre rolling resistance moment Tyre self-aligning moment MRF Marker Reference Frame M RRC Moment reacted by rear roll centre N r Vehicle yaw moment with respect to yaw rate [N t ] Norsieck vector N vy Vehicle yaw moment with respect to lateral velocity O 1 Frame 1 (GRF) O e Euler axis frame Oi Reference frame for part i Oj Reference frame for part j
Page 2 and 3: Multibody Systems Approach to Vehic
Page 4 and 5: Multibody Systems Approach to Vehic
Page 6 and 7: Contents Preface Acknowledgements N
Page 8 and 9: Contents vii 4.10.1 Problem definit
Page 10 and 11: Contents ix 8.2.1 Active suspension
Page 12 and 13: Preface This book is intended to br
Page 14 and 15: Preface xiii vehicle design process
Page 16 and 17: Acknowledgements Mike Blundell In d
Page 20 and 21: Nomenclature xix O n Frame for part
Page 22 and 23: Nomenclature xxi p Magnitude of re
Page 24 and 25: 1 Introduction The most cost-effect
Page 26 and 27: Introduction 3 subsequent ‘classi
Page 28 and 29: Introduction 5 Fig. 1.4 Linearity:
Page 30 and 31: Introduction 7 While apparently a s
Page 32 and 33: Introduction 9 3. The body yaws (ro
Page 34 and 35: Introduction 11 Aspiration Definiti
Page 36 and 37: Introduction 13 Decomposition: Synt
Page 38 and 39: Introduction 15 The best multibody
Page 40 and 41: Introduction 17 shows good correlat
Page 42 and 43: Introduction 19 generated in numeri
Page 44 and 45: Introduction 21 1.9 Benchmarking ex
Page 46 and 47: 2 Kinematics and dynamics of rigid
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Kinematics and dynamics of rigid bo
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3 Multibody systems simulation soft
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Multibody systems simulation softwa
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4 Modelling and analysis of suspens
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Tyre characteristics and modelling
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Modelling and assembly of the full
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7 Simulation output and interpretat
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Simulation output and interpretatio
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down and even more difficult to asc
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8 Active systems 8.1 Introduction M
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Active systems 443 mechanical actua
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Active systems 445 Table 8.1 MSC.AD
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Active systems 447 Body acceleratio
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Active systems 449 impressions of t
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Active systems 451 For this reason,
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Appendix A: Vehicle model system sc
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Appendix B: Fortran tyre model subr
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Appendix C: Glossary of terms Agili
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Appendix C: Glossary of terms 489 a
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Appendix C: Glossary of terms 491 t
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Appendix C: Glossary of terms 493 e
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Appendix C: Glossary of terms 495 m
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Appendix C: Glossary of terms 497 h
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Appendix C: Glossary of terms 499 t
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Appendix C: Glossary of terms 501 s
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References 503 Blundell, M.V. The m
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References 505 Hudi, J. AMIGO - A m
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References 507 Palmer, D. Course no
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References 509 European ADAMS News
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Index Abuse loads, 148 3 g bump, 14
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Index 513 Elk Test, 1 El-Nasher, 29
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Index 515 generalised translational
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Index 517 steer axis inclination, 1
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