Longitudinal Acceleration 1.

2g
Braking Acceleration 2g
Cornering Acceleration 1.7g

Pre Geometry Vehicle Data

Sr. Parameter Value Unit Variable Measured /

No Estimated
1 Mass Of Car 250 Kg W Estimated
2 Weight on Front 112.5 Kg Nf Estimated
3 Weight on Rear 137.5 Kg Nr Estimated
4 Weight on Left 125 Kg Nlt Estimated
5 Weight on Right 125 Kg Nrt Estimated
6 Wheelbase 1.535 M L Measured
7 Front Trackwidth 1.15 M Tf Measured
8 Rear Trackwidth 1.08 M Tr Measured
9 CG Height 0.25 M H Estimated

Load Transfer Calculations

Wheelbase (L) = 1535 mm
Front Trackwidth (Tf) = 1150 mm
Rear Trackwidth (Tr) = 1080 mm
Mass Of Car (M) = 250 kg = 2452.5 N
Static Weight Distribution = 55:45

Front Axle Weight (Nf) = 250 * 45/100 = 112.5 kg = 1103.63 N

Rear Axle Weight (Nr) = 250 * 55/100 = 137.5 kg = 1348.88 N
Weight on each front tire (Nf1, Nf2) = 1103.63/2 = 551.81 N
Weight on each rear tire (Nr1, Nr2) = 1348.88/2 = 674.44 N
 Determination of Centre of Gravity
CG height (H) = 250 mm
L = Wheelbase
a = Front axle to CG distance.
b = Rear axle to CG distance.
CG

Taking Moment at front axle.

Mf = Nr * L - W * a
0 = 1348.88 * 1535 – 2452.5 * a
a = 844.25 mm

b = L-a
= 1535 - 844.25 = 690.75 mm

Longitudinal Load Transfer

1 ) Linear Acceleration

Longitudinal Acceleration * Mass of car * CG height

Longitudinal Load Transfer =
Wheelbase
= 1.2 * 250 * 0.25
1.535
= 48.85 kg = 479.21 N
Weight on rear tire (Fzr) = 674.44 + 479.21/2 = 914.04 N
Weight on front tire (Fzf) = 551.81 – 479.21/2 = 312.21 N

Fig. 1.1 Longitudinal force (Fx) Vs Slip Ratio (K) at Fz = 914.04 N

From Fig. 1.1,

Longitudinal Force (Fx) = 1957.48 N
Longitudinal Force (Fx) = Longitudinal Friction (µ) * Vertical Load (Fzr)
Longitudinal Friction (µ) = Fx / Fzr = 1957.48 / 914.04 = 2.1

2 ) Linear Braking

Longitudinal Load Transfer = Braking Acceleration * Mass of car * CG height

Wheelbase
= 2 * 250 * 0.25
1.535
= 81.43 kg = 798.82 N

Weight on rear tire (Fzr) = 674.44 - 798.82/2 = 275.22 N

Weight on front tire (Fzf) = 551.81 + 798.82/2 = 951.22 N
 Fig.1.2 Longitudinal Force (-Fx) Vs Slip Ratio (-K) at Fz = 951.22 N

From Fig.1.2,
Longitudinal Force (-Fx) = 2079.82 N
Longitudinal Force (-Fx) = Longitudinal Friction (µ) * Vertical Load (Fzf)
Longitudinal Friction (µ) = -Fx / Fzf = 2079.82/951.22 = 2.1

Lateral Load Transfer

1 ) Front Lateral Load Transfer

= Cornering Acceleration * Front Axle Weight * CG height
Front Trackwidth
= 1.7 * 112.5 * 0.25
1.15
= 41.57 kg = 407.86 N

Weight on outside front tire (Fzfo) = 551.81 + 407.86 = 959.67 N

Weight on inside front tire (Fzfi) = 551.81 – 407.86 = 143.95 N
 Fig. 2.1 Lateral Force (Fy) Vs Slip Angle(α) at Fz = 959.67 N

From Fig. 2.1,

Lateral Force (Fy) = 2550.07 N

Lateral Force (Fy) = Lateral Friction (µ) * Vertical Load (Fzfo)

Lateral Friction (µ) = Fy/Fzfo = 2550.07/959.67 = 2.5

2 ) Rear Lateral Load transfer

= Cornering Acceleration * Rear Axle Weight * CG height
Rear Trackwidth
= 1.7 * 137.5 * 0.25
1.08
= 54.1 kg = 530.80 N

Weight on outside rear tire (Fzro) = 674.44 + 530.80 = 1205.24 N

Weight on inside rear tire (Fzri) = 674.44 – 530.80 = 143.64 N
 Fig. 2.2 Lateral Force (Fy) Vs Slip Angle (α) at Fz = 1205.24 N

From Fig. 2.2,

Lateral Force (Fy) = 3103.57 N
Lateral Force (Fy) = Lateral Friction (µ) * Vertical Load (Fzro)
Lateral Friction (µ) = Fy/Fzro = 3103.57/1205.24 = 2.5
 Kinematics

Fig. 3.1 2D Front Suspension Geometry

Fig. 3.2 2D Rear Suspension Geometry

 Fig. 3.3 3D Full Vehicle Suspension Geometry

Post Geometry Vehicle Data

Sr. No Parameter Value Unit
1
Front Roll Center Height 0.013 m
2
Rear Roll Center Height 0.021 m
3 Distance between Roll Center Height And CG 0.235 m
4 Static Front Camber -2 deg
5 Static Rear Camber -1 deg
6 Front Caster 4 deg
7 Rear Caster 2 deg
8 Front KPI 5 deg
9 Rear KPI 4.8 deg
10 Front Toe 0 deg
11 Rear Toe 0 deg
12 Front Ride Height 0.125 m
13 Rear Ride Height 0.1 m
14 Front Scrub Radius 0.031 m
15 Rear Scrub Radius 0.034 m
16 Front Spindle Length 0.05378 m
17 Rear Spindle Length 0.05586 m
Fig. 3.4 ADAMS Front Suspension Subsystem Model

Fig. 3.5 Front Suspension Subsystem Hardpoints

Fig. 3.6 ADAMS Rear Suspension Subsystem Model

Fig. 3.7 Rear Suspension Subsystem Hardpoints

Front Suspension Graphs
Rear Suspension Graphs
Desired total roll gradient
/Ay= 0.75 deg/g

Desired total roll stiffness

KDES = WH/(/Ay)
= (2452.5 * 0.235) / 0.75
= 768.45 Nm/deg

W= Weight of car (N)

H= Distance between roll axis and CG (m)

Desired front and rear roll rates

Kf =  Nm/deg
Kr = 320 Nm/deg

Lateral weight transfer after roll stiffness consideration

Ay = Cornering Acceleration
tf = Front Trackwidth
tr = Rear Trackwidth
l = Wheelbase
a = Front axle to CG distance
b = Rear axle to CG distance
Zrf = Front roll center height
Zrr = Rear roll center height

1 ) Front lateral weight transfer

Wf = 1.7 * 250 / 1.15 [( 0.235 * 450 / 450 + 320 ) + ( 0.69075 / 1.535 ) * 0.013 ]
 = 52.9 kg
= 519.11 N

2) Rear lateral weight transfer

Wr = 1.7 * 250 / 1.08 [( 0.235 * 320 / 450 + 320 ) + ( 0.84425 / 1.535 ) * 0.021 ]
= 42.97 kg
= 421.6 N

Ride Rates

Ride rate is given by load changes divide by ride travel.

1) Front ride rate

Load change = Static front wheel weight + Front lateral load transfer
= 551.81 N + 519.11 N
= 1070.92 N

Allowed ride travel = 27 mm

Front ride rate (Krf) = 1070.92 / 27

= 39.1 N/mm
= 223.4 lb/in

2 ) Rear ride rate

Load change = Static rear wheel weight + Rear lateral load transfer
= 674.44 N + 421.6 N
= 1096.04 N
 Allowed ride travel = 35 mm
Rear ride rate (Krr) = 1096.92 / 35
= 31.3 N/mm
= 178.77 lb/in

Ride Frequency

1) Front ride frequency

= 1 / 2π [ √ ( 223.4 * 12 * 32.2 ) / 124.01 ]

= 4.1 Hz

W2 = Static front wheel weight in lb

2 ) Rear ride frequency

= 1 / 2π [ √ ( 178.77 * 12 * 32.2 ) / 151.56 ]

= 3.4 Hz
 Front Roll Rate

= ( 12 * 223.4 * 3.77^2 ) / 2
= 19051.29 lb-ft /rad
= 450.82 Nm/deg

Tf = Front trackwidth in ft

Rear Roll Rate

= ( 12 * 178.77 * 3.54^2 ) / 2
= 13441.80 lb-ft /rad
= 318.08 Nm/deg

tr = Rear trackwidth in ft

Roll Angle = ( Mass of Car * H * Ay) / (Kφf+Kφr)

= ( 2452.5 * 0.235 * 1.7 ) / ( 450.82 + 318.08)
= 1.27 deg
 Wheel Rate

Kw = Ride rate in N/mm

Kt = Tire rate = 136.942 N/mm ( From Tire Data)

1) Front Wheel Rate = ( 39.1 * 136.942 ) / ( 136.942 – 39.2 )

Kwf = 54.17 N/mm

2 ) Rear Wheel Rate = ( 31.3 * 136.942 ) / (136.942 – 31.3)

Kwr = 40.97 N/mm

Spring Rate

Ks = Spring rate in N/mm

IR = Installation ratio (From suspension geometry)

1) Front Spring Rate

Ksf = 54.17 / (0.9356)^2

= 61.8 N/mm

0.9356 = Front Installation Ratio

 2) Rear Spring Rate

Ksr = 40.97 / (0.9363)^2

= 46.73 N/mm

0.9363 = Rear installation ratio

Forces acting on a tire contact patch in different dynamic conditions

1) Linear Acceleration

Rear Axle
Fx = ( Fzr * 2) * Longitudinal Friction
= (914.04 * 2) * 2.1
= 3330.325 N

Fz = Mass of Car * 1.2 * G * (b - 1.2 * h)

Wheelbase – (h* Longitudinal friction)

= 250 * 1.2 * 9.81 * (0.84425 – 1.2 * 0.25 )

1.535 – (0.25* 2.1)
= 1585.869 N

Front Axle
Fx = ( Fzf * 2 ) * Longitudinal Friction
= ( 312.21 * 2 ) * 2.1
= 1819.925 N

Fz = Mass of car *G – Fzr

= 250 * 9.81 – 1585.869
= 866.631 N

Front Right and Front Left

Fx = Front Axle Fx / 2
= 1819.925 / 2 = 909.9625 N
Fz = Front Axle Fz / 2
= 866.631 / 2 = 433.315 N

Rear Left and Rear Right

Fx = Rear Axle Fx / 2
= 3330.325 / 2 = 1665.163 N

Fz = Rear Axle Fz / 2
= 1585.869 / 2 = 792.9345 N

Rear Axle Front Axle

Fx 3330.325 Fx 1819.925
Fy 0 Fy 0
Fz 1585.869 Fz 866.6309

Front Right Front Left

Fx 909.9625 Fx 909.9625
Fy 0 Fy 0
Fz 433.3155 Fz 433.3155

Rear Right Rear Left

Fx 1665.163 Fx 1665.163
Fy 0 Fy 0
Fz 792.9345 Fz 792.9345

2) Linear Braking

Rear Axle
Fx = ( Fzr * 2) * Longitudinal Friction
= ( 275.22 * 2 ) * 2.1
 = 1155.032 N

Fz = Mass of Car * G * (b – 2 * h)
Wheelbase

= 250 * 9.81 * (0.84425 – 2 * 0.25 )

1.535
= 550.0151 N

Front Axle
Fx = ( Fzf * 2 ) * Longitudinal Friction
= ( 951.22 * 2 ) * 2.1
= 3995.218 N

Fz = Mass of car *G – Fzr

= 250 * 9.81 – 550.0151
= 1902.485 N

Front Right and Front Left

Fx = Front Axle Fx / 2
= 3995.218 / 2 = 1997.609 N

Fz = Front Axle Fz / 2
= 1902.485 / 2 = 951.2425 N

Rear Left and Rear Right

Fx = Rear Axle Fx / 2
= 1155.032 / 2 = 577.5158 N

Fz = Rear Axle Fz / 2
= 550.0151 / 2 = 275.0075 N

Rear Axle Front Axle

Fx 1155.032 Fx 3995.218
Fy 0 Fy 0
Fz 550.0151 Fz 1902.485
 Front Right Front Left
Fx 1997.609 Fx 1997.609
Fy 0 Fy 0
Fz 951.2425 Fz 951.2425

Rear Right Rear Left

Fx 577.5158 Fx 577.5158
Fy 0 Fy 0
Fz 275.0075 Fz 275.0075

3 ) Pure Cornering ( Left hand turn)

Front Right
Fy = Fzfr * Cornering Acceleration
= 1072.551 * 1.7
= 1823.337 N

Fz = Front Lateral weight transfer + Static front weight

= 520.7384 + 551.813
= 1072.551 N

Front Left
Fy = Fzfl * Cornering Acceleration
= 31.0740 * 1.7
= 52.825 N

Fz = Front Lateral weight transfer - Static front weight

= 520.7384 - 551.813
= 31.0740 N

Rear Right
Fy = Fzrr * Cornering Acceleration
= 1094.317 * 1.7
= 1860.338 N

Fz = Rear Lateral weight transfer + Static rear weight

= 419.8792 + 674.44
 = 1094.317 N

Rear Left
Fy = Fzrl * Cornering Acceleration
= 254.5583 * 1.7

Fz = Rear Lateral weight transfer - Static rear weight

= 419.8792 - 674.44
= 254.5583 N

Front Right Front Left

Fx 0 Fx 0
Fy 1823.337 Fy 52.82589
Fz 1072.551 Fz 31.07405

Rear Right Rear Left

Fx 0 Fx 0
Fy 1860.338 Fy 432.7492
Fz 1094.317 Fz 254.5583

4 ) Acceleration and Cornering

Nfac = Front axle Fz in linear acceleration condition

Ac = Cornering Acceleration
Kf = Front Roll rate
Tf = Front Trackwidth
hrf = Front roll center height
Wf = Weight transfer in front

Weight transfer in front = Nfac * Ac * hrf Kf * Roll Angle

Tf + Tf

= 866.321 * 1.7 * 0.013 450.82 * 1.2745

1.15 + 1.15

Wf = 516.184 N
 Nrac = Rear axle Fz in linear acceleration condition
Kr = Rear Roll rate
Tr = Rear Trackwidth
hrr = Rear roll center height
Wr = Weight transfer in rear

Weight transfer in rear = Nrac * Ac * hrr Kr * Roll Angle

Tr + Tr

= 1585.869 * 1.7 * 0.021 318.08 * 1.2745

1.08 + 1.08

Wr = 427.7131 N

Front Right
Fx = Fzfr * longitudinal friction
= 949.4995 * 2.1
= 1993.949 N

Fy = Fzfr * Cornering Acceleration

= 949.4995 * 1.7
= 1614.149 N

Fz = Nfac
2 + Wf

= 866.321
2 + 516.184

= 949.4995 N

Front Left
Fx = Fzfl * Longitudinal friction
= -82.8686 * 2.1
 = -174.024 N

Fy = Fzfl * Cornering Acceleration

= -82.8686 * 1.7
= -140.877 N

Fz = Nfac
2 - Wf

= 866.321
2 - 516.184

= -82.8686 N

Rear Right
Fx = Fzrr * longitudinal friction
= 1220.648 * 2.1
= 2563.36 N
Fy = Fzrr * Cornering Acceleration
= 1220.648 * 1.7
= 2075.101 N

Fz = Nrac
2 + Wr

= 1585.869
2 + 427.7131

= 1220.648 N

Rear Left
Fx = Fzrl * longitudinal friction
= 365.2214 * 2.1
= 766.9649 N

Fy = Fzrl * Cornering Acceleration

 = 365.2214 * 1.7
= 620.8764 N

Fz = Nrac
2 - Wr

= 1585.869
2 - 427.7131

= 365.2214 N

Front Right Front Left

Fx 1993.949 Fx -174.024
Fy 1614.149 Fy -140.877
Fz 949.4995 Fz -82.8686

Rear Right Rear Left

Fx 2563.36 Fx 766.9649
Fy 2075.101 Fy 620.8764
Fz 1220.648 Fz 365.2214

5 ) Braking and Cornering

Nfbc = Front axle Fz in linear braking condition

Ac = Cornering Acceleration
Kr = Rear Roll rate
Tr = Rear Trackwidth
hrr = Rear roll center height
Wf = Weight transfer in front

Weight transfer in front = Nfbc * Ac * hrr Kr * Roll Angle

Tr + Tr

= 1902.485 * 1.7 * 0.021 318.08 * 1.2745

1.08 + 1.08
 Wf = 536.0904 N

Nrbc = Rear axle Fz in linear braking condition

Kr = Rear Roll rate
Tr = Rear Trackwidth
hrr = Rear roll center height
Wr = Weight transfer in rear

Weight transfer in rear = Nrbc * Ac * hrr Kr * Roll Angle

Tr + Tr

= 550.0151 * 1.7 * 0.021 318.08 * 1.2745

1.08 + 1.08

Wr = 393.4724 N

Front Right
Fx = Fzfr * longitudinal friction
= 1487.333 * 2.1
= 3123.399 N

Fy = Fzfr * Cornering Acceleration

= 1487.333 * 1.7
= 2528.466 N

Fz = Nfbc
2 + Wf

= 1902.485
2 + 536.0904

= 1487.333 N

Front Left
Fx = Fzfl * Longitudinal friction
 = 415.152 * 2.1
= 871.8912 N

Fy = Fzfl * Cornering Acceleration

= 415.152 * 1.7
= 705.7584 N

Fz = Nfbc
2 - Wf

= 1902.485
2 - 536.0904

= 415.152 N

Rear Right
Fx = Fzrr * longitudinal friction
= 668.4799 * 2.1
= 1403.808 N

Fy = Fzrr * Cornering Acceleration

= 668.4799 * 1.7
= 1136.416 N

Fz = Nrbc
2 + Wr

= 550.0151
2 + 393.4724

= 668.4799 N

Rear Left
Fx = Fzrl * longitudinal friction
= -118.465 * 2.1
 = -248.776 N

Fy = Fzrl * Cornering Acceleration

= -118.465 * 1.7
= -201.39 N

Fz = Nrbc
2 - Wr

= 550.0151
2 - 393.4724

= -118.465 N

Front Right Front Left

Fx 3123.399 Fx 871.8192
Fy 2528.466 Fy 705.7584
Fz 1487.333 Fz 415.152

Rear Right Rear Left

Fx 1403.808 Fx -248.776
Fy 1136.416 Fy -201.39
Fz 668.4799 Fz -118.465