TY - CHAP A1 - Rill, Georg A1 - Arrieta Castro, Abel ED - Kecskeméthy, Andrés ED - Geu Flores, Francisco ED - Carrera, Eliodoro ED - Elias, Dante A. T1 - The Influence of Axle Kinematics on Vehicle Dynamics T2 - Interdisciplinary Applications of Kinematics. Proceedings of the Third International Conference (IAK) N2 - The automotive industry employs many different kinds of axle suspension systems at modern passenger cars. Important criteria are costs, space requirements, kinematic properties, and compliance attributes. This paper illustrates that in particular the kinematic properties of a suspension system have a significant influence on the dynamics of vehicles. As a consequence, the kinematics of a suspension system must be modeled very precisely and nonlinear. Typical kinematical features of a suspension system are discussed by analyzing the most common double wishbone axle suspension system. The influence of the axle kinematics on vehicle dynamics is finally demonstrated by simulation results generated with a fully nonlinear and three-dimensional multibody vehicle model. KW - Double wishbone suspension system KW - Multibody system KW - Suspension kinematics KW - vehicle dynamics Y1 - 2019 SN - 978-3-030-16422-5 U6 - https://doi.org/10.1007/978-3-030-16423-2_2 VL - 71 SP - 23 EP - 31 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Rill, Georg ED - Lugner, Peter T1 - Multibody Systems and Simulation Techniques T2 - Vehicle Dynamics of Modern Passenger Cars N2 - This part begins with an introduction to Multibody Systems (MBS). It presents the elements of MBS and discusses different modeling aspects. Then, different methods to generate the equations of motion are presented. Solvers for ordinary differential equations (ODE) as well as differential algebraic equations (DAE) are discussed. Finally, techniques for “online” and “offline” simulations including real-time applications are presented like necessary for car development. Special examples show the connection between simulation and test results. KW - Differential equations KW - Equations of motion KW - Multibody systems KW - Numerical solution KW - Vehicle models Y1 - 2019 SN - 978-3-319-79007-7 U6 - https://doi.org/10.1007/978-3-319-79008-4_6 SP - 309 EP - 375 PB - Springer International Publishing CY - Cham ER - TY - BOOK A1 - Rill, Georg A1 - Arrieta Castro, Abel T1 - Road Vehicle Dynamics N2 - Road Vehicle Dynamics: Fundamentals and Modeling with MATLAB®, Second Edition combines coverage of vehicle dynamics concepts with MATLAB v9.4 programming routines and results, along with examples and numerous chapter exercises. Improved and updated, the revised text offers new coverage of active safety systems, rear wheel steering, race car suspension systems, airsprings, four-wheel drive, mechatronics, and other topics. Based on the lead author's extensive lectures, classes, and research activities, this unique text provides readers with insights into the computer-based modeling of automobiles and other ground vehicles. Instructor resources, including problem solutions, are available from the publisher. KW - Fahrdynamik Y1 - 2020 SN - 9780429244476 U6 - https://doi.org/10.1201/9780429244476 PB - CRC Press CY - Boca Raton, Fla. ER - TY - JOUR A1 - Rill, Georg T1 - Reducing the cornering resistance by torque vectoring (X International Conference on Structural Dynamics, EURODYN 2017) JF - Procedia Engineering N2 - Usually, torque vectoring is used to reduce a significant understeer behavior at high speed cornering. Thus, providing larger vehicles with a sportive touch. Even on typical front wheel driven cars torque vectoring control is available now. Torque vectoring is nearly a standard on electric driven vehicles. Complex control and optimization strategies are applied to improve the maneuverability in particular or to enhance the driving behavior and reduce the energy consumption in addition. This paper shows, that a quite simple strategy will enhance the maneuverability and simultaneously reduce the cornering resistance in sharp bends. At first, a case study with a fully non-linear and three-dimensional vehicle model is performed. It turned out that a full drive torque shift to the outer wheels improves the maneuverability and reduces the cornering resistance in addition. This results are verified by an optimization performed with a simpler four-wheeled handling model. Here, the front steering angles and the driving torques at each of the four wheels are considered as free parameters. Minimizing the cornering resistance by taking the equations of motion for the four-wheeled handling model as constraints will deliver an optimal set of parameters then. KW - Constrained Optimization KW - Cornering Resistance KW - Four-wheeled Handling Model KW - Three-dimensional Vehicle Model KW - Torque Vectoring Y1 - 2017 U6 - https://doi.org/10.1016/j.proeng.2017.09.393 VL - 199 SP - 3284 EP - 3289 PB - Elsevier ER - TY - CHAP A1 - Arrieta Castro, Abel A1 - Chaves, Rafael B. A1 - Rill, Georg A1 - Weber, Hans I. ED - Fleury, Agenor de T. ED - Rade, Domingos A. ED - Kurka, R. G. T1 - Use of Integrated Control to Enhance the Safety of Vehicles in Run-Off-Road Scenarios T2 - Proceedings of DINAME 2017 : Selected Papers of the XVII International Symposium on Dynamic Problems of Mechanics N2 - In this work, an integrated vehicle control system (IC) is tested in run-off-road scenarios. The integrated approach was employed in order to coordinate vehicle control systems, i.e. the Anti-Lock Brake System (ABS), Four-wheel Steering (4WS) and the Electronic Stability Program (ESP). To perform a run-off-road maneuver, a fuzzy virtual test driver was designed. By receiving the lateral position of an obstacle and the vehicle’s relative yaw angle, the virtual test driver is capable of following a reference trajectory. Furthermore, to test the performance of the standalone controllers, i.e. ABS, ESP and 4WS, individual maneuvers are performed using a multibody vehicle model. The vehicle without any coordination between the control systems is used as reference. For the simulation results, it is concluded that the IC improves the vehicle stability and maneuverability in comparison with the non-integrated approach. Y1 - 2019 SN - 978-3-319-91217-2 SN - 978-3-319-91216-5 U6 - https://doi.org/10.1007/978-3-319-91217-2_30 SN - 2195-4356 SP - 431 EP - 443 PB - Springer CY - Cham ET - 1. Auflage ER - TY - CHAP A1 - Rill, Georg T1 - TMeasy 6.0-A handling tire model that incorporates the first two belt eigenmodes T2 - Proceedings of the XI International Conference on Structural Dynamics (EURODYN 2020): Athens, Greece, 23.11.2020 - 26.11.2020 N2 - TMeasy 6.0, an extension to the standard TMeasy tire model of version 5.3, takes the relevant first two rigid body eigenmodes of the belt into consideration. These modes represent the in plane longitudinal and rotational movements of the belt relative to the rim. The dynamics of the longitudinal force is of higher order then and reproduces the tire wheel vibrations, required for indirect tire-pressure monitoring systems (iTPMS), sufficiently well. A tailored implicit solver, which takes the stiff coupling between the longitudinal force and the belt motions into account, still provides real-time performance in addition. Simulation examples show that a rigid body vehicle model equipped with TMeasy 6.0 makes it possible to investigate second generation indirect tire-pressure monitoring systems. KW - TMeasy Tire Model KW - Tire Force Dynamics KW - Frequency Analysis KW - Real-time Simulation KW - Virtual Test Rig Y1 - 2020 U6 - https://doi.org/10.47964/1120.9054.18673 SP - 676 EP - 689 PB - EASD Procedia ER - TY - CHAP A1 - Rill, Georg T1 - A Three-Dimensional and Nonlinear Virtual Test Car T2 - ENOC 2022, book of abstracts, 10th European Nonlinear Dynamics Conference: July 17-22, 2022, Lyon, France N2 - Virtual testing procedures have become a standard in vehicle dynamics. The increasing complexity of driver assistance sys- tems demand for more and more virtual tests, which are supposed to produce reliable results even in the limit range. As a consequence, simplified vehicle models, like the classical bicycle model or 4-wheel vehicle models, have to be replaced by a fully three-dimensional and nonlinear vehicle model, which also encompasses the details of the suspension systems. This paper presents a passenger car model, where the chassis, the four knuckles, and the four wheels are described by rigid bodies, the suspension system is modeled by the generic design kinematics, and the TMeasy tire model provides the tire forces and torques in all driving situations. Y1 - 2022 UR - https://enoc2020.sciencesconf.org/data/ENOC2022_proceedings.pdf SP - 49 EP - 58 CY - Lyon ER - TY - CHAP A1 - Arrieta Castro, Abel A1 - Rill, Georg ED - Orlova, Anna ED - Cole, David T1 - Kinematic Versus Elasto-Kinematic Model of a Twistbeam Suspension T2 - Advances in Dynamics of Vehicles on Roads and Tracks II, proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2021): August 17-19, 2021, Saint Petersburg, Russia N2 - The Twistbeam axle suspension is a cheap and robust layout for rear axles at front wheel driven midsize cars. Appropriate models have to take the elastic deformation of the torsion beam into account. A Finite Element approach requires detailed informations of the material properties and the shape which are usually only available in the final production stage. This paper presents a lumped mass model which can easily be integrated into a multibody vehicle model and can be used in the early stage of development. An approximation by the design kinematics further reduces the complexity of the model and considers only the kinematic properties of the Twistbeam suspension. Simulations using a nonlinear and three-dimensional vehicle model with different maneuvers, such as steady-state cornering, step steer input, and driving straight ahead on random road, demonstrate the performance and, in particular, the difference of the presented Twistbeam suspension models. KW - Design kinematics KW - Twistbeam suspension KW - Multibody model KW - Vehicle dynamics Y1 - 2022 U6 - https://doi.org/10.1007/978-3-031-07305-2_59 SP - 505 EP - 605 PB - Springer Nature ER - TY - CHAP A1 - Rill, Georg ED - Fleury, Agenor de T. T1 - Real-Time capable Multibody Model of dual Truck Front Axles T2 - Proceedings of DINAME 2023 - Selected Papers of the XIX International Symposium on Dynamic Problems of Mechanics, 26 Feb - 03 Mar 2023, Pirenópolis, Brazil N2 - Dual front steering axles are quite common in multi-axled heavy duty trucks. In standard layouts of such axle combinations, the steer motions of the wheels depend not only on the rotation of the steering wheel but also on the movements of the axles. As a consequence, the model complexity of the steering system should match with the complexity of the suspension model. The development of new technologies like advanced driver assistance systems or autonomous driving can only be accomplished efficiently using extensive simulation methods. Such kind of applications demand for computationally efficient vehicle models. This paper presents a steering system model for dual front axles of heavy duty trucks which supplements the suspension model of the axles. The model takes the torsional compliance of the steering column as well as the stiffness of the tie rods and the coupling rod into account. A quasi-static solution provides a straight forward computation including the partial derivatives required for an efficient implicit solver. The steering system model matches perfectly with comparatively lean, but sufficiently accurate multibody suspension models. KW - Steering System KW - Dual Axles KW - Multibody Model KW - Vehicle Dynamics KW - Real-Time Y1 - 2023 UR - https://www.researchgate.net/publication/369256274_Real-Time_capable_Multibody_Model_of_dual_Truck_Front_Axles PB - Springer ER - TY - JOUR A1 - Hirschberg, Wolfgang A1 - Rill, Georg A1 - Weinfurter, H. T1 - Tire model TMeasy JF - Vehicle System Dynamics N2 - This paper describes the semi-physical tire model TMeasy for vehicle dynamics and handling analyses, as it was applied in the ‘low frequency tire models’ section of the research programme tire model performance test (TMPT). Despite more or less weak testing input data, the effort for the application of TMeasy remains limited due to its consequent ‘easy to use’ orientation. One particular feature of TMeasy is the wide physical meaning of its smart parameter set, which allows to sustain the identification process even under uncertain conditions. After a general introduction, the modelling concept of TMeasy is compactly described in this paper. Taking the standard tire interface (STI) to multibody simulation system (MBS) software into account, the way to apply TMeasy is briefly shown. This includes three selected examples of application. The final comments of the authors on TMPT describe the experiences and earnings received during the participation in that programme. Y1 - 2007 U6 - https://doi.org/10.1080/00423110701776284 VL - 45 IS - sup1 SP - 101 EP - 119 PB - Taylor&Francis ER -