Tire dynamics

Tires affect:

Vehicle Dynamics
Vehicle’s handling
• Traction
• Ride comfort
• Fuel consumption

Loaded
tire

Tire axis

1
Ground surface
 Tire dynamics
z
Camber angle ϒ Fz

Vehicle Dynamics
Mz
Tire plane
Sideslip angle

α Fy y

My

Ground plane Velocity vector

Mx
Fx x
Fx > 0 car is accelerating
• Longitudinal force Fx
Fx < 0 car is braking
2
• Normal force Fz: vertical force

• Lateral force Fy
 Tire dynamics
z
Camber angle ϒ Fz

Vehicle Dynamics
Mz
Tire plane
Sideslip angle

α Fy y

My

Ground plane Velocity vector

Mx
Fx x
• Roll moment Mx
• Pitch moment My : rolling resistance moment 3
• Yaw moment Mz : self alignement moment
 Tire dynamics
Example
v x
α

Vehicle Dynamics
ϒ z

y
ϒ : Camber angle α: Sideslip angle

4
 Tire dynamics
Tire Stiffness
z

Vehicle Dynamics
Camber angle ϒ Fz
Fx = kxΔx
Mz
Tire plane
Fy = kyΔy
Sideslip angle
Fz = kzΔz
α Fy y

My
Δx: tire deflection in x dir.
Δy: tire deflection in y dir.
Ground plane
V Δz: tire deflection in z dir.
Mx
Fx x
5
kx : tire stiffness in the x direction kz : tire stiffness in the z direction
ky : tire stiffness in the y direction
 Tire dynamics
Example
Vertical deformation
Fz1

Vehicle Dynamics
Fz2 Fz3 Fz = kzΔz
Δz3 > Δz2 > Δz1

Fz3 > Fz2 > Fz1

Δz1 Δz2 Δz3

Fz [N]

Δz
 Tire dynamics
Example
Lateral deformation Longitudinal deformation

Vehicle Dynamics
Fy
Fx

Δx
Δy
7
Fy = kyΔy Fx = kxΔx
 Tire dynamics
Example
Vertical, longitudinal and lateral deflections [mm]

Vehicle Dynamics
Fz

Fy
F [N] Fx

Deflection [mm]
8
kx > kz > ky
• The stiffness curve can be influenced by the tire inflation pressure
 Tire dynamics
Effective radius
Effective radius Rw
ω

Vehicle Dynamics
𝒗𝒙
Rw =
𝝎𝝎
x Rh: loaded height

2ϕ Rg: geometric radius

Rh Rw Rg

2a

(𝑹𝒈 −𝑹𝒉)
Rw ~ Rg -
𝟑
9
Rh < Rw < Rg
 Tire dynamics
Effective radius
Effective radius Rw

Vehicle Dynamics
ω
𝒗𝒙
Rw =
𝝎𝝎
x (𝑹𝒈 −𝑹𝒉)
Rw ~ Rg -
𝟑
2ϕ
Rh Rw Rg

𝑭𝒛
2a
𝒌𝒛

𝑭𝒛
Rh = R g - 10
𝒌𝒛

Φ = tireprint angle
 Tire dynamics
Effective radius
ω Effective radius Rw

Vehicle Dynamics
𝒗𝒙
x Rw =
𝝎𝝎

2ϕ (𝑹𝒈 −𝑹𝒉)
Rw ~ Rg -
𝟑
Rh Rw Rg
𝑭𝒛
𝑭𝒛 Rh = R g -
2a 𝒌𝒛
𝒌𝒛

Radial tire Non Radial tire

Lower kz Higher kz
11
Rw ≈ 0.98Rg Rw ≈ 0.96Rg
Rh ≈ 0.92Rg Rh ≈ 0.94Rg
 Tire dynamics
Example

Vehicle Dynamics
Tire P 235/75R15

v = 50 m/s = 180 km/h

After moving a distance d = 100 km, how many rounds (n) this tire must
have been turned?

hT = 235 × 75% = 176.25 mm

2hT + 15 2 × 176.25 + 15
Rg = = = 366.9 mm
2 2

The tire is radial Rw ≈ 0.98 Rg ≈ 359.6 mm

d 100 × 103 12
d = 100km n= =
πD 2π × 359.6 × 10−3
= 44259
 Tire dynamics
z
ω Rolling Resistance z

Vehicle Dynamics
Fz

Rh σx
x y
Fr x
Δx
𝒅𝑭 𝑭 A= 2a*2b
Normal stress σz = 𝒛 = lim ( 𝒛)
𝒅𝑨 𝑑𝐴→0 𝑨 dA=dxdy
Mr = Fz Δx
The rolling resistance moment Mr can be substituted by a rolling resistance Fr
along x: 13
Mr Δx Fr = μ r Fz Δx
Fr = = Fz Where = μr (coefficient of rolling friction)
𝑹𝒉 𝑹𝒉 𝑹𝒉
 Tire dynamics
Effect of Speed on the Rolling Friction Coefficient

μr = μ0 + μ1 vx2

Vehicle Dynamics
μr Experiment
Passenger car tires

μ0 = 0.015
μ1 = 7× 10−6 s2/m2
μr = μ0 + μ1 vx2

Critical speed
Experiment

Vx [m/s]

Vx [km/h]
14
Critical speed
Overheating happens and tire fails very soon
 Tire dynamics
Road pavement and rolling resistance
μ0

Vehicle Dynamics
μr = μ0 + μ1 vx2

15
 Tire dynamics
Effects of air pressure p and load Fz

Vehicle Dynamics
𝐾 5.5∗105+90𝐅𝐳 1100+0.0388𝐅𝐳
μr = 1000
(5.1+ + 𝐯𝐱 2 )
𝐩 𝒑

0.8 radial tires

K 1.0 non radial tires μr
p =100 kPa

p =200 kPa

p =300 kPa
p =400 kPa
Vx[m/s]
16
Vx[km/h]
 Tire dynamics
Dissipated power because of rolling friction

Vehicle Dynamics
P = Fr vx= μr Fz vx

5.5∗105+90𝐅𝐳 1100+0.0388𝐅𝐳
P = 1000
𝐾
(5.1+ + 𝐯𝐱 2 ) ∗ 𝐅𝐳 ∗ 𝐯𝐱
𝐩 𝒑

μr

17
 Tire dynamics
Example
Car speed: 100 km/h

Vehicle Dynamics
Tire P 235/75R15
Load on each wheel: 220 kg
Tire pressure : 220 kPa
Power dissipated by wheels?
𝐾 5.5∗105+90𝐅𝐳 1100+0.0388𝐅𝐳
μr = 1000
(5.1+ + 𝐯𝐱 2 )
𝐩 𝒑
Fz = 220*9.806= 2157.32 N
5.5∗105+90∗𝟐𝟏𝟓𝟕.𝟑𝟐 1100+0.0388∗𝟐𝟏𝟓𝟕.𝟑𝟐
μr = 0.8
1000
(5.1+ + (𝟏𝟎𝟎 ∗ 𝟏𝟎𝟎𝟎/𝟑𝟔𝟎𝟎)2 )
𝟐𝟐𝟎𝟎𝟎𝟎 𝟐𝟐𝟎𝟎𝟎𝟎

μr = 0.0104
P = Fr vx= μr Fz vx = 0.0104*2157.32*(100*1000/3600) = 623.22 W each wheel 18

P = 623.22*4 = 2491 W = 2.491 kW (all 4 wheels)

 Tire dynamics
Effects of improper inflation

Vehicle Dynamics
Proper inflation

• High stiffness • Increase rolling

• Vibration resistance
• Low fuel economy
Over inflation Under inflation

• Normal loss: 7 kPa every month

• Normal loss: 7 kPa every 5 ◦C of temperature reduction

Winter: p =240 kPa, temperature: -5 ◦C

Summer: temperature: 25 ◦C 19
Summer p: ?
Summer p = 240 – (30/5*7) + (7*6) = 240 kPa
 Tire dynamics
Exercise 1
Alfa Romeo Spider TM 𝒂𝟐 𝒂𝟏
m = 1690 kg
L = 2530 mm

Vehicle Dynamics
Tires = P 225/50R17
vM = 235 km/h C
𝒂 h
a1/a2 = 1.2
p = 186 kPa 𝟐𝑭𝒙𝟐 𝒎𝒈 𝟐𝑭𝒙𝟏 2𝐅𝐳𝟏
𝟐𝑭𝒛𝟐

μr=? at V=0 and V=VM

20
 Tire dynamics
Exercise 2
Mitsubishi Galant TM
m = 1700 kg

Vehicle Dynamics
L = 2.750 mm
Tires = P 235/45R18
C
vM = 190 km/h 𝒂 h
a1/a2 = 1.2
𝟐𝑭𝒙𝟐 𝒎𝒈 𝟐𝑭𝒙𝟏 2𝐅𝐳𝟏
p = 186 kPa 𝟐𝑭𝒛𝟐

Rolling resistance Power at max speed ?

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