Driveline dynamics

Engine Dynamics
Pe : maximum power at
PM ωe

Vehicle Dynamics
Pe ωe angular velocity
P[kW]

Te
Te is the torque

T[Nm]
that provides Pe

Spark ignition engine

ωM
ω [rpm]

ω [rad/s] PM
P1 =
ωM
PM = 50 kW at ωM = 5600 rpm
P
P2 = M2 1
Pe = P1 ωe + P2 ωe 2+ P 3 ωe 3 ωM
P
P3 = − M3
ωM
 Driveline dynamics
Engine Dynamics
Pe : maximum power at
PM ωe

Vehicle Dynamics
Pe ωe angular velocity
P[kW]

Te
Te is the torque

T[Nm]
that provides Pe

Spark ignition engine

ω [rpm]

ω [rad/s]
𝐏𝐞= P1 ωe + P2 ωe2+ P3 ωe3
2
Pe
Te = = P1 + P2 ωe + P3 ωe2
ωe
 Driveline dynamics
Engine Dynamics
Indirect injection Diesel engines

Vehicle Dynamics
PM
𝐏 𝐞 = P 1 ωe + P 2 ωe 2+ P 3 ωe 3 P1 = 0.6
ωM
P
P2 = 1.4 M2
ωM
P
P3 = - M3
ωM

Direct injection Diesel engines

𝐏𝐞= P1 ωe + P2 ωe2+ P3 ωe3 PM

P1 = 0.87
ωM
P
P2 = 1.13 M2
ωM
3
P
P3 = - M3
ωM
 Driveline dynamics
Example

Corvette Z06

Vehicle Dynamics
Total displacement : 6997 cm3
PM = 377 kW ωM = 6300 rpm
TM = 637Nm

PM 𝟑𝟕𝟕𝟎𝟎𝟎
P1 = = = 𝟓𝟕𝟏. 𝟐 𝐖/𝐬
ωM 𝟔𝟔𝟎
P 𝟑𝟕𝟕𝟎𝟎𝟎
P2 = M2 = = 𝟎. 𝟖𝟔𝟓𝟒𝟕 𝐖/𝐬𝟐
ωM 𝟔𝟔𝟎𝟐
P 𝟑𝟕𝟕𝟎𝟎𝟎
P3 = − M3 = = - 1.3113X10-3 𝐖/𝐬𝟑
ωM 𝟔𝟔𝟎 𝟑

4
Pe = 𝟓𝟕𝟏. 𝟐 ωe + 𝟎. 𝟖𝟔𝟓𝟒𝟕 ωe2 - 1.3113X10-3 ωe3
 Driveline dynamics
Driveline and Efficiency

Wheel Engine Driveline:

Vehicle Dynamics
Clutch • the components that
Propeller transfer torque and
shaft power from the engine to
Drive the drive wheels
shaft

Differential
Gearbox

ωe ωe ωe ωe ωd
Fuel
Engine Te Te Clutch Te Gearbox
Te
Td
5
ωd ωd ωd ωw ωw v
Propeller Differential Wheel
Td Td Fx
Td Tw Tw
 Driveline dynamics
Efficiency of driveline

P
Efficiency η= out η<1

Vehicle Dynamics
Pin
Power at wheel
Pw = ηPe
η = η c ηt
ηc = torque converter efficiency
ηt= transmission efficiency

Speed at wheel ωw

ωe = n ωw = ng nd ωw ωe
ωw=
ng nd Tw
ng = gear ratio vx
nd = final drive ratio 6
Rw
vx = Rw ωw Rw ωe
vx =
ng nd
 Driveline dynamics
Efficiency of driveline
Power at wheel

Vehicle Dynamics
Pw = Tw ωw

Pw P
Tw = = η ng nd e Tw =η ng ndTe
ωw ωe

7
 Driveline dynamics
Engine efficiency curves

0.27

Vehicle Dynamics
0.3
Pe 0.26 0.25
P[kW]

0.24
0.22
0.20
0.15
η = 0.1

ω [rpm]
ω [rad/s]

• Every point under the curve Pe = Pe (ωe) can be an operating condition at

a specific efficiency (η) 8
• The maximum efficiency usually happens around the angular velocity
corresponding to the maximum torque when the throttle is almost wide
open
 Driveline dynamics
Ideal engine performance

Vehicle Dynamics
Constant power
P
Pe = P0

P0
Te =
ωe
P[kW]

T [Nm]
T

ω [rpm]
ω [rad/s] 9

• A constant power performance is an applied approximation for

electrical motors
 Driveline dynamics
n1

Vehicle Dynamics
Tw [Nm]
n2
Envelop
n3
n4
n5
n6

Vv [m/s]

Vv [km/h]
• Gearbox keeps the engine running at the maximum power or in a
working range around the maximum power
10
• P=Tω
Any gearing device in the driveline of a car can reduce or increase the
input torque in by increasing or decreasing the angular velocity
 Driveline dynamics
Gearbox Dynamics
Example1
m = 1550 kg

Vehicle Dynamics
Rw = 0.326m
TM = 392 Nm at 4400 rpm
PM = 206000 W at 6800 rpm
1st gear ratio = n1 = 3.827
2nd gear ratio = n2 = 2.36
3rd gear ratio = n3 = 1.685
4th gear ratio = n4 = 1.312
5th gear ratio = n5 = 1
6th gear ratio = n6 = 0.793
Reverse gear ratio = nr = 3.28
Final drive ratio = nd = 3.5451

- Plot the diagram ωe- vx for each gear ratio ? 11

 Driveline dynamics
Gearbox Dynamics
Example1
ωe ωe ωe ωe ωd
Fuel

Vehicle Dynamics
Engine Te Te Clutch Te Gearbox
Te
Td

ωd ωd ωd ωw ωw v
Propeller Differential Wheel
Td Td Fx
Td Tw Tw

ni nd 3.5451 ni
ω e= 𝐯 = 𝐯 = 𝟏𝟎. 𝟖𝟕𝟓 𝐧𝐢𝐯𝐱
Rw 𝐱 0.326 𝐱

12
 Driveline dynamics
Gearbox Dynamics
Example1

ωe (rad/s)

Vehicle Dynamics
n1 n2 n3 n4 n5 n6

v (m/s)

v(km/h)
ni nd 3.5451 ni
ω e= 𝐯𝐱 = 𝐯 = 𝟏𝟎. 𝟖𝟕𝟓 𝐧𝐢𝐯𝐱
Rw 0.326 𝐱
n1 = 3.827 ωe= 𝟏𝟎. 𝟖𝟕𝟓 ∗ 𝟑. 𝟖𝟐𝟕 𝐯𝐱 13

n2 = 2.36 ωe= 𝟏𝟎. 𝟖𝟕𝟓 ∗ 𝟐. 𝟑𝟔 𝐯𝐱

 Driveline dynamics
Gearbox Dynamics
Example1
- Plot the diagram wheel torque-speed at each gear ni of

Vehicle Dynamics
the gearbox? PM 206000
P1 = = =289.29 W/s
ωM 712.1
P 206000
P2 = M2 = = 0.40624 W/s2
Pe = P1 ωe + P2 ωe2 + P3 ωe3 ωM 712.1𝟐

P 206000
P3 = − M3 = 𝟑 = -5.7049X10
-4 W/s3
ωM 712.1

Pe = 289.29 ωe + 0.40624 ωe2 – 5.7049X10-4 ωe3

Te = 289.29 + 0.40624 ωe – 5.7049 X10-4 ωe2

Tw = ηnind Te 14

Tw = ηnind (289.29 + 0.40624 ωe – 5.7049 X10-4 ωe2)

 Driveline dynamics
Gearbox Dynamics
Example1

Vehicle Dynamics
n1
Tw [Nm]

n2
Envelop
n3
n4
n5
n6

Vv [m/s]

Vv [km/h]
15
 Driveline dynamics
Acceleration capacity

PM Maximum power

Vehicle Dynamics
𝟏
PM = TeωM = Fx vx
η

ax [m/s2]
Fx = max
𝟏
PM = Fx vx
η
m
PM = a v Vx [m/s]
η x x
Vx [km/h]

η 𝟏
ax = PM Max acceleration of a vehicle at speed vx
m vx 16
 Driveline dynamics
Tractive Effort in Normal Driving

Vehicle Powertrain technologies

1 𝒅𝑽
Ft = mgμrcosα +mgsinα + ρ𝑎𝐶𝐷𝐴𝑓𝑉2 + 𝒎
2 𝒅𝒕

Tractive force Rolling Grading Aerodynamic drag

resistance resistance

Resistance force
m = vehicle mass
fr = rolling resistance coefficient
𝝆𝒂 = air density
𝑨𝒇 = vehicle frontal area

𝑪𝑫 = drag coefficient 17
α = road angle