Vehicle Dynamics Simulation
Rennstall Esslingen
FSG Academy 2020/2021 powered by
Introduction
Niels Meinke Jannik Bauer Pascal Ballauf
Teamleader Suspension Suspension/VD Suspension/VD
Dampers and Uprights VD Simulation VD Simulation and Driver
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 2
Agenda
▪ Lap Time Simulation
▪ Sensitivity Validation
▪ Steady State Calculation Tool
▪ Suspension Force Calculation
▪ VI-grade and 4-Post Simulation
▪ Compliance Simulation
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 3
Lap Time Simulation with Matlab
▪ Two track model for corners
and point mass for straights
▪ Extremely simplified tire model
▪ General vehicle data: mass,
COG, engine, drivetrain,
aerodynamics
▪ Fast assessment of overall
trends in development
▪ Not suitable for in depth
vehicle dynamics studies
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 4
Validation: COG Height vs Laptime
▪ Additional weight inside
and on top of the chassis
▪ Calculate and/or measure
different COG heights
▪ Simulate influence on
aerodynamics
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 5
Validation: Aero vs Laptime
▪ Only with validated aero
simulation
▪ Combined lap time
validation is easier to set
up but harder to debug
▪ Keep aero balance, weight,
COG and inertia in mind
Testing before Covid-19
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 6
Validation Checklist
▪ Track temperature
▪ Tire pressure and temperature
▪ Tire wear
▪ Reference
▪ Car weight (fuel)
▪ Driver: physics, track
▪ Time for reruns
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 7
Steady State Calculation Tool
▪ Tool for fast and easy calculations of suspension parameters
▪ Compare influence of spring rates, MRs,…
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 8
Steady State Calculation Tool
▪ Tool for fast and easy calculations of suspension parameters
▪ Compare influence of spring rates, MRs,…
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 9
Steady State Calculation Tool
▪ Tool for fast and easy calculations of suspension parameters
▪ Compare influence of spring rates, MRs,…
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 10
Steady State Calculation Tool
▪ Tool for fast and easy calculations of suspension parameters
▪ Compare influence of spring rates, MRs,…
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 11
Suspension Force Calculation
▪ Self developed Matlab tool
▪ Car Parameters: mass, COG
height, weight distribution,
downforce and drag
coefficient, aero balance, brake
bias, roll stiffness distribution
and kinematic points
▪ Define speeds and lateral,
longitudinal and vertical
accelerations for different load
cases
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 12
Suspension Force Calculation
▪ Accelerations of load cases based on measured data and
simulation
▪ Calculate the tire forces of all four wheels for the different
load cases based on the car parameters
→ Longitudinal & lateral load transfer
→ respect tire limits in combined cases
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 13
Suspension Force Calculation
▪ Calculate wishbone forces with equilibrium of forces around the wheel
centre:
Normalized directional
vectors of wishbones
𝐹𝑥,𝑊𝐶 𝑥1 ⋯ 𝑥6 𝐹1
Forces and 𝐹𝑦,𝑊𝐶 𝑦1 𝐹2
moments at
𝐹𝑧,𝑊𝐶 𝑧1 𝐹 Wishbone, pushrod and
wheel centre = 𝑟 ⋱ ⋮ ∗ 3
based on load 𝑀𝑥,𝑊𝐶 𝑥1 𝐹4 track rod forces
cases 𝑀𝑦,𝑊𝐶 𝑟𝑦1 𝐹5
𝑀𝑧,𝑊𝐶 𝑟𝑧1 ⋯ 𝑟𝑧6 𝐹6
Lever arms of the
Validation possibilities: wishbones to the wheel
- Check with simple kinematic and hand calculation centre
- FEA simulation
- Real measurements with strain gauges
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 14
Vehicle Dynamics Simulation
VI-Grade Car Real Time
▪ Real time vehicle simulation software
▪ Easy to implement external systems like rear wheel steering
with Simulink
▪ Simpler than multi body simulation
▪ Possibility to use with driving simulator
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 15
VI-Grade Car Real Time
How we started?
▪ Parameterization of last years car to validate model
▪ Check and validate smaller subsystems like kinematics, load
transfer, aerodynamics, …
▪ Then validation of full vehicle
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 16
Validation
Vertical – 4 Post
▪ Validation of simulation results with
test bench results
▪ Comparing of body accelerations and
wheel loads
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 17
Validation
▪ Objective measurement to validate lateral
behaviour
▪ Ramp steer
▪ Step steer
▪ Sinus sweep
▪ Lateral acceleration
▪ Yaw rate
▪ Slip angle
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 18
Compliance Simulation
▪ Full vehicle simulation using an
inertia relief analysis
▪ Validation of model with torsional
stiffness test
▪ Analysis of different load cases
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 19
Compliance Simulation
▪ Determine parameters for vehicle
dynamics model
▪ Variation of stiffness in single
directions
▪ Analyzing influence of compliance on
vehicle dynamics
https://fsg.one/academy Author: Rennstall Esslingen 27.11.2020 20
Thank you for your attention
https://fsg.one/academy Author: Formula Student Germany 27.11.2020 21
