Contents

VOLUME 1

Part I  WHEELS, STRUCTURES AND MECHANISMS

INTRODUCTION TO PART I

1  HISTORICAL EVOLUTION

1.1 Introduction

1.2 Rigid axle mechanical linkages

1.3 The independent suspension mechanical linkages

1.4 Wheels and tires

1.5 Brakes

1.6 Chassis frame

2    WHEELS AND TIRES

2.1 Description

2.2 Tire operation

2.3 Rolling radius

2.4 Rolling resistance

2.5 Static Forces

2.6 Longitudinal Force

2.7 Cornering forces

2.8 Interaction between longitudinal and side forces

2.9 Outline on dynamic behavior

2.10 Testing

3    SUSPENSIONS

3.1 Introduction

3.2 Independent suspensions

3.3 Semi-independent suspensions

3.4 Rigid axle suspensions

3.5 Industrial vehicles suspensions

3.6 Design and testing

4    STEERING SYSTEM

4.1 Introduction

4.2 Steering mechanism

4.3 Rack and pinion steering box

4.4 Screw and sector steering box

4.5 Steering column

4.6 Power steering

4.7 Design and testing

5    BRAKING SYSTEM

5.1 Introduction

5.2 Car brakes

5.3 Industrial vehicle brakes

5.4 Design and testing

6    CONTROL SYSTEMS

6.1 Steering control

6.2 Brake control

6.3 Suspension control

7    CHASSIS STRUCTURES

7.1 Underbody

7.2 Subframe

7.3 Industrial vehicle frames

7.4 Structural tasks

7.5 Structural design

7.6 Structural testing

Part II     TRANSMISSION DRIVELINE

INTRODUCTION TO PART II

8     HISTORICAL EVOLUTION

8.1 Manual gearbox

8.2 Friction clutches

8.3 Automatic gearboxes

9    MANUAL GEARBOXES

9.1 Manual gearbox classification

9.2 Mechanical efficiency

9.3 Manual automobile gearboxes

9.4 Manual gearboxes for industrial vehicles

10     SHIFTING MECHANISMS

10.1 Internal shifting mechanisms

10.2 External shifting mechanisms

11    START-UP DEVICES

11.1 Friction clutch

11.2 Start-up devices for automatic gearboxes

12    SYNCHRONIZERS

12.1 Description

12.2 Design criteria

13    DIFFERENTIALS AND FINAL DRIVES

13.1 Differentials and final drives

13.2 All wheel drive transfer boxes

13.3 Outline of differential theory

13.4 Types of self-locking differentials

13.5 Differential effect on vehicle dynamics

14    SHAFTS AND JOINTS

14.1 Propeller shafts

14.2 Half shafts

14.3 Universal joints

14.4 Constant speed joints

15    AUTOMATIC GEARBOXES

15.1 General issues

15.2 Car gearboxes with fixed rotation axis

15.3 Epicycloidal car gearboxes

15.4 Car CVTs

15.5 Gearboxes for industrial vehicles

15.6 Control strategies

16    DESIGN AND TESTING

16.1 Transmission mission

16.2 Gears

16.3 Shafts

16.4 Bearings

16.5 Lubricants

16.6 Housings and seals

16.7 Outline of test technologies

VOLUME 2

Part III    FUNCTIONS AND SPECIFICATIONS

INTRODUCTION TO PART THREE

17     TRANSPORTATION STATISTICS

17.1 Traffic Volume

17.2 Operating Fleet

17.3 Social Impact

18    VEHICLE FUNCTIONS

18.1 System Design

18.2 Objective Requirements

18.3 Subjective Requirements

18.4 Aging Resistance

19     REGULATIONS

19.1 Vehicle System

19.2 Wheels

19.3 Steering System

19.4 Braking System

19.5 Structures

19.6 Gearbox

Part IV   THE CHASSIS AS A PART OF THE VEHICLE SYSTEM

INTRODUCTION TO PART FOUR

20     GENERAL CHARACTERISTICS

20.1 Symmetry Considerations

20.2 Reference Frames

20.3 Position of the Center of Mass

20.4 Mass Distribution Among the Various Bodies

20.5 Moments of Inertia

21    AN OVERVIEW ON MOTOR VEHICLE AERODYNAMICS

21.1 Aerodynamic Forces and Moments

21.2 Aerodynamic Field Around a Vehicle

21.3 Aerodynamic Drag

21.4 Lift and Pitching Moment

21.5 Side Force and Roll and Yaw Moments

21.6 Experimental Study of Aerodynamic Forces

21.7 Numerical Aerodynamics

22 PRIME MOVERS FOR MOTOR VEHICLES

22.1 Vehicular Engines

22.2 Internal Combustion Engines

22.3 Electric Vehicles

22.4 Hybrid Vehicles

23 DRIVING DYNAMIC PERFORMANCE

23.1 Load Distribution on the Ground

23.2 Total Resistance to Motion

23.3 Power Needed for Motion

23.4 Available Power at the Wheels

23.5 Maximum Power that Can Be Transferred to the Road

23.6 Maximum Speed

23.7 Gradeability and Initial Choice of the Transmission Ratios

23.8 Fuel Consumption at Constant Speed

23.9 Vehicle Take-off from Rest

23.10 Acceleration

23.11 Fuel Consumption in Actual Driving Conditions

24 Braking Dynamic Performance

24.1 Braking in Ideal Conditions

24.2 Braking in Actual Conditions

24.3 Braking Power

25     HANDLING PERFORMANCE

25.1 Low-Speed or Kinematic Steering

25.2 Ideal Steering

25.3 High-Speed Cornering: Simplified Approach

25.4 Definition of Understeer and Oversteer

25.5 High-Speed Cornering

25.6 Steady-State Lateral Behavior

25.7 Neutral-Steer Point and Static Margin

25.8 Response to External Forces and Moments

25.9 Slip Steering

25.10 Influence of Longitudinal Forces on Handling

25.11 Transversal Load Shift

25.12 Toe-in

25.13 Effect of the Elasto-Kinematic Behavior of Suspensions and of the Compliance of the Chassis

25.14 Stability of the Vehicle

25.15 Unstationary Motion

25.16 Vehicles with Two Steering Axles (4WS)

25.17 Articulated Vehicles

25.18 Multibody Articulated Vehicles

25.19 Limits of Linearized Models

26     COMFORT PERFORMANCE

26.1 Internal Excitation

26.2 Road Excitation

26.3 Effects of Vibration on the Human Body

26.4 Quarter-Car Models

26.5 Heave and Pitch Motion

26.6 Roll Motion

26.7 Effect of Nonlinearities

26.8 Concluding Remarks on Ride Comfort

27    CONTROL OF THE CHASSIS AND “BY WIRE” SYSTEMS

27.1 Motor Vehicle Control

27.2 Models for the Vehicle-Driver System

27.3 Antilock (ABS) and Antispin (ASR) Systems

27.4 Handling Control

27.5 Suspensions Control

27.6 By Wire Systems

Part V  MATHEMATICAL MODELLING

INTRODUCTION TO PART FIVE

28    MATHEMATICAL MODELS FOR THE VEHICLE

28.1 Mathematical Models for Design

28.2 Continuous and Discretized Models

28.3 Analytical and Numerical Models

29    MULTIBODY MODELLING

29.1 Isolated Vehicle

29.2 Linearized Model for the Isolated Vehicle

29.3 Model with Ten Degrees of Freedom with Locked Controls

29.4 Models of Deformable Vehicles

29.5 Articulated Vehicles

29.6 Gyroscopic Moments and Other Second Order Effects

30     TRANSMISSION MODELS

30.1 Coupling Between Comfort and Driveline Vibration

30.2 Dynamic Model of the Engine

30.3 Driveline

30.4 Inertia of the Vehicle

30.5 Linearized Driveline Model

30.6 Non-Time-Invariant Models

30.7 Multibody Driveline Models

31    MODELS FOR TILTING BODY VEHICLES

31.1 Suspensions for High Roll Angles

31.2 Linearized Rigid Body Model

31.3 Dynamic Tilting Control

31.4 Handling-Comfort Coupling

Appendix A  EQUATIONS OF MOTION

A.1 Equations of Motion of Discrete Linear Systems

A.2 Stability of Linear Dynamic Systems

A.3 Closed Form Solution of the Forced Response

A.4 Nonlinear Dynamic Systems

A.5 Lagrange Equations in the Configuration and State Space

A.6 Hamilton Equations and Phase Space

A.7 Lagrange Equations in Terms of Pseudo-Coordinates

A.8 Motion of a Rigid Body

Appendix B  DYNAMICS OF MOTOR CYCLES

B.1 Basic Definitions

B.2 Locked ControlsModel

B.3 Locked Controls Stability

B.4 Steady-State Motion

B.5 Free ControlsModel

B.6 Stability at Large Roll Angles

Appendix C VEHICLES FOR EXTRATERRESTRIAL ENVIRONMENT

C.1 The Lunar Roving Vehicle (LRV) of the Apollo Missions

C.2 Types ofMissions

C.3 Environmental Conditions

C.4 Mobility

C.5 Behavior of Vehicles in Low Gravity

C.6 Power System

C.7 Conclusions

Appendix D  PROBLEMS RELATED TO ROAD ACCIDENTS

D.1 Vehicle Collision: Impulsive Model

D.2 Vehicle Collision: Second Approximation Model

D.3 Motion After the Collision

D.4 Rollover

D.5 Motion of Transported Objects During the Impact

Appendix E  DATA ON VARIOUS VEHICLES

E.1 Small Car (A)

E.2 Small Car (B)

E.3 Small Car (C)

E.4 MediumSize Saloon Car (A)

E.5 MediumSize Saloon Car (B)

E.6 Sports Car (A)

E.7 Sports Car (B)

E.8 Van

E.9 Heavy Articulated Truck

E.10 Racing Motorcycle