Performance of Off-road Vehicles
Vehicle performance refers to the science of motioning of the vehicle in terms of transient performance (e.g. acceleration, braking, cornering) and those of steady-state performance criteria such as (power driveline losses, gross and net traction, vehicle
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Performance of Off-road Vehicles
Nomenclature Ff FR Rf Rr Fd Fa mG a h, a xG , yG , z G Wf Wr Wrr Wrl Fd ya y c u j k s p A W q Cd Af Sw Kc and Ku n
Front wheel tractive force Rear wheel tractive force Front wheel rolling resistance Rear wheel rolling resistance Drawbar pull Air resistance force Total vehicle mass at center of gravity Vehicle longitudinal acceleration Surface slope Center of gravity position Wheel load on front wheels Wheel load on rear wheels Wheel load on rear right wheel Wheel load on rear left wheel Drawbar pull Distance between the tractor rear wheel center and yG Distance between the tractor rear wheel center and drawbar pull point Soil cohesion Soil internal friction angles Soil shear modulus Shear deformation Soil shear stress Pressure Contact area Width, wheel load Mass density of the air Non-dimensional aerodynamic resistance coefficient Vehicle front area Wind speed Coefficients from pressure sinkage equation Sinkage exponent
© Springer International Publishing Switzerland 2017 H. Taghavifar and A. Mardani, Off-road Vehicle Dynamics, Studies in Systems, Decision and Control 70, DOI 10.1007/978-3-319-42520-7_3
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b z pi pc d c Nq d h CI i cn CRR CMR l T Tw r Bn Fz dz v k1z and k2z c1z and c2z Vr x Sl a h0 he hr h hN R smax jx and jy sycp rnr ðhÞ DB b and f ki ci I vy
3 Performance of Off-road Vehicles
Smaller dimension of the rectangular contact area The sinkage Inflation pressure of tire Tire stiffness is denoted by Wheel diameter Bulk density of sand Terzaghi’s bearing capacity solution Tire deflection Tire section height Cone Index Wheel slippage Wheel numeric Coefficient of rolling resistance Coefficient of motion resistance Thrust coefficient Thrust Wheel torque Wheel radius Wheel numeric based on Brixius model Dynamic load on the wheel Vertical displacement of the wheel Forward speed Tire system stiffness Tire damping parameters Longitudinal velocity of center of wheel Angular velocity of wheel Longitudinal slip in driven state Slip angle Stationary central angle Entry angle Exit angle Central angle Angle where the radial stress is maximum Rigid wheel radius Limiting shear stress Shear deformation in x and y directions Lateral shear stress across tire width Tire radial stress Drawbar pull Dimensionless variables Spring stiffness Damping coefficient Mass moment of inertia Lateral velocity
3 Performance of Off-road Vehicles
r Mz bi Fy Ca db b ! A ! M Ixx and Iyy Ixy x xp ME KE PE dr dp c k
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Yaw rate External yaw moment Individual sideslips Tire lateral force Tire cornering stiffness Angular displacement of the front axle pivot point relative to the rear axle Wheel width Vectors of angular momentum Vectors of body external moments Moments of inertia with respect to the x and y Products of inertia Rolling angular velocity Pitching angular velocity Mechanical energy Kinetic energy Potential energy Rolling axis of tractor Pitching axis of tractor Initial angle of side overturn Initial angle of backward overturn
Vehicle performance refers to the science of motioning of the ve
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