車輛工程概論
Dr. -Ing. Chang, Ming-Yen
張明彥
課程大綱
• 車輛開發流程簡介
• 客戶需求分析
• 車輛動力學簡介
• 底盤系統設計
- 懸吊設計
- 煞車設計
- 轉向設計
• 車身設計
• 車輛調校
• 車輛輕量化設計
• 車輛模組化設計
• 自動駕駛車輛簡介
1
Modular Autonomous Systems Lab
什麼是車輛動力學?
• Vehicle dynamics is the study of how the vehicle will react to
driver inputs on a given solid surface. (維基百科)
-2-
Modular Autonomous Systems Lab © Vehicle Dynamics Modeling and Simulation, Manfred Hiller, Roberto Bardini, 2014, Springer-Verlag Berlin Heidelberg .
Vehicle Dynamic
Performance Characteristics
Comfort
Handling & Safety
Economy & Environment
traction Run effort (Tire) Fuel Drive pass
acoustic Steering stability aquaplaning noise
mechanical consumption
precision wet winter
+
+ Snow
Water &
Ice
Roadway Tire Vehicle
Modular Autonomous Systems Lab © Vieweg Handbuch
車輛的六個自由度
Primary Degree of Secondary Degree of
Freedom Freedom
Longitudinal Dynamic Longitudinal Lift
X Nick
Lateral Dynamic Lateral Nick 車子前進方向
Y Yaw Lift
Roll
V
Vertical Dynamic Lift Lateral
Z Nick Y m
Roll
N
R La
L
Lo
SAE車輛座標系
© Fundamentals of Vehicle Dynamics, Thomas D. Gillespie, 1992, Society of Automotive Engineers Inc.
Modular Autonomous Systems Lab
縱向運動行為
ma = Ft - Fw - Fg - Fr
- Ft ：牽引力 or 煞車力
- Fw ：空氣阻力
- Fg ：重力
- Fr ：輪胎滾動摩擦力
Modular Autonomous Systems Lab
© Advanced Electric Drive Vehicles, Ali Emadi, 2015, Taylor & Francis Group, LLC.
縱向運動行為
• 空氣阻力 ma = Ft - Fw - Fg - Fr
1
𝐹𝐹𝑤𝑤 = 𝜌𝜌𝐴𝐴𝐶𝐶𝑑𝑑 (𝑉𝑉 + 𝑉𝑉𝑤𝑤 )2
2
𝜌𝜌 ：空氣密度 (一般設定為1.25 kg/m3)
𝐴𝐴 ：車身正投影
𝐶𝐶𝑑𝑑 ：風阻係數
𝑉𝑉 ：車速
𝑉𝑉𝑤𝑤 ：風速
- 車輛前進時，外部空氣產生的阻力有兩部分組成，及形狀阻
力與表層摩擦力，相較之下形狀阻力佔超過九成以上。
- 理想的空氣力學形狀為淚滴型
Modular Autonomous Systems Lab
縱向運動行為
• 重力 ma = Ft - Fw - Fg - Fr
Fg = mg sin(θ)
- 因地面坡度產生的分力
• 滾動摩擦力
Fr = Fz fr cos(θ) = fr mg cos(θ)
fr ：滾動摩擦係數
- 一般車輪的滾動摩擦係數為0.015，低阻的約在0.005。
Modular Autonomous Systems Lab
四輪定位名詞定義
• 外傾角 Camber Angle
+γ −γ
positive negative
Modular Autonomous Systems Lab
四輪定位名詞定義
• 前束 Toe δf δf
δf
- Toe-in 2 2
- Toe-out a
d
b
δ r,l δ r,r
δ f = arc tan b-a ( d: rim - )
© [Link] d
Modular Autonomous Systems Lab
四輪定位名詞定義
• 主銷後傾角 Caster angle
後傾角 主銷(大王銷)傾角 • 後傾偏置 Caster offset
castor angle Kingpin
spread Angle
angle • 主銷傾角 SAI(Steering Axis
τ σ τ Inclination) or Kingpin angle
σ
後傾偏置 • 主銷傾角偏置 scrub radius or
castor kingpin offset
offset
• 後傾角拖曳力矩 Trail
nτ
n1 rL
trail 後傾角拖曳力矩 kingpin offset Scrub radius
Modular Autonomous Systems Lab 主銷(大王銷)傾角偏置
Vehicle Dynamic
• Deformation of the rolling Tire by a Lateral Force Fy
Fy
E Fα
α
A
adhesion Fy
B E
area Fα n2
slip C
area D
Modular Autonomous Systems Lab
Vehicle Dynamic
• Definition of "Slip Angle"
top view: vlong
α v
Flat
actual vlat
direction of
movement
wheel plane
Modular Autonomous Systems Lab
Vehicle Dynamic
• Cornering Force dependent on Wheel Load (Slip Angle as Parameter)
slip angle α
5
12° tire 175 HR 14
cornering force F α
kN 10
4 rim 5 J x 14
8 tread depth 9 mm
6 velocity 14 m/s
3
air pressure 1.8 bar
4
2
2
1
0
1 2 3 4 5 kN 6
load GW
Radlast
wheel
Modular Autonomous Systems Lab
Vehicle Dynamic
• Cornering Force Fdependent on Camber for different Wheel Load
700 G = 7000 N
W
N = 6000 N
cornering force F g
650 = 5000 N
550 = 4000 N
500 = 3000 N
450
400
350
300 tire 6.40 - 13
250
v = 11 m/s
200
150 p = 1.4 bar
i
100
50
0
0 1 2 3 4 5 6 7 Grad 10
Modular Autonomous Systems Lab camber g
Vehicle Dynamic 輪胎轉向力的特性
Cornering Force (kgf)
˙車輛轉彎:輪胎必須提供轉向力
˙輪胎產生轉向力:輪胎必須產生滑角(Slip Angle)
˙影響輪胎滑角的因素:轉向及懸吊Ride,Roll,Compliance
車身side
slip angle
前輪胎
slip angle
後輪胎 前輪產生 Slip Angle (deg)
slip angle slip angle
後輪產生
cornering force 車身產生 前輪產生 開始轉動 直行
body side slip cornering force 方向盤
車輛開始
橫向移動 後輪產生 車身
穩態 暫態
slip angle 產生偏擺
(非時間函數) (時間函數)
Modular Autonomous Systems Lab
Vehicle Dynamic
• US/OS
understeer
αr αf > αr
αf
neutral αf δ
αf = αr δ
αr
δ
αf
oversteer
αf < αr αr
oversteer =
f -
r < 0
neutral =
f -
r = 0
understeer =
f -
r > 0
Modular Autonomous Systems Lab
Vehicle Dynamic
• Compliance of a Wheel Carrier guided by Five Links with elastic
Steering Rod
rear view
+δ f
-δ f
F top view FB
BB
Modular Autonomous Systems Lab
Vehicle Dynamic
Assessment Criteria of Wheel Suspensions
Modular Autonomous Systems Lab