Pacejka '89/'94

Using Pacejka '89 and '94 Models ADAMS/Tire provides you with the handling force models, Pacejka '89 and Pacejka '94. Learn about these models:

About Pacejka '89 and '94 Using Pacejka '89 Handling Force Model Using Pacejka '94 Handling Force Model Combined Slip Left and Right Side Tires Contact Methods

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About Pacejka '89 and '94 The Pacejka '89 and '94 handling models are special versions of the Magic-Formula Tyre model as cited in the following publications:

Pacejka '89 - H.B Pacejka, E. Bakker, and L. Lidner. A New Tire Model with an Application in Vehicle Dynamics Studies, SAE paper 890087, 1989. Pacejka '94 - H.B Pacejka and E. Bakker. The Magic Formula Tyre Model. Proceedings of the 1st International Colloquium on Tyre Models for Vehicle Dynamics Analysis, Swets & Zeitlinger B.V., Amsterdam/Lisse, 1993.

PAC2002 is technically superior, continuously kept up to date with latest Magic Formula developments, and MSCs recommended handling model. However, because many ADAMS/Tire users have pre-existing tire data or new data from tire suppliers and testing organizations in a format that is compatible with the Pacejka '89 and '94 models, the ADAMS/Tire Handling module includes these models in addition to the PAC2002. The material in this help is intended to illustrate only the formulas used in the Pacejka '89 and '94 tire models. For general information on the PAC2002 and the Magic Formula method, see the papers cited above or the PAC2002 help. Learn more about:

History of the Pacejka Name in ADAMS/Tire About Coordinate Systems Normal Force

History of the Pacejka Name in ADAMS/Tire The formulas used in the Pacejka '89 and '94 tire models are derived from publications by Dr. H.B. Pacejka, and are commonly referred to as the Pacejka method in the automotive industry. Dr. Pacejka himself is not personally associated with the development of these tire models, nor does he endorse them in any way. About Coordinate Systems

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Pacejka '89/'94 The coordinate systems used in tire modeling and measurement are sometimes confusing. The coordinate systems employed in the Pacejka 89 and 94 tire models are no exception. They are derived from the tire-measurement systems that the majority of ADAMS/Tire customers were using at the time when the models were originally developed. The Pacejka '89 and '94 tire models were developed before the implementation of the TYDEX STI. As a result, Pacejka 89 conforms to a modified SAE-based tire coordinate system and sign conventions, and Pacejka 94 conforms to the standard SAE tire coordinate system and sign conventions. MSC maintains these conventions to ensure file compatibility for ADAMS/Tire customers. Future tire models will adhere to one single coordinate system standard, the TYDEX C-axis and W-axis system. For more information on the TYDEX standard, see Standard Tire Interface (STI). Normal Force The normal force Fz is calculated assuming a linear spring (stiffness: kz) and damper (damping constant cz), so the next equation holds:

If the tire loses contact with the road, the tire deflection

and

deflection velocity become zero, so the resulting normal force Fzwill also be zero. For very small positive tire deflections, the value of the damping constant is reduced and care is taken to ensure that the normal force Fz will not become negative. In stead of the linear vertical tire stiffness cz , also an arbitrary tire deflection - load curve can be defined in the tire property file in the section [DEFLECTION_LOAD_CURVE], see also the example tire property files, Example of Pacejka 89 Property File and Example of Pacejka 94 Property File. If a section called [DEFLECTION_LOAD_CURVE] exists, the load deflection datapoints with a cubic spline for inter- and extrapolation are used for the calculation of the vertical force of the tire. Note that you must specify VERTICAL_STIFFNESS in the tire property, but it does not play any role.

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ADAMS/Tire 2005 r2 Help Using Pacejka '89 Handling Force Model Using Pacejka '89 Handling Force Model Learn about the Pacejka '89 handling force model:

Using Correct Coordinate System and Units Force and Moment Formulation for Pacejka 89 Example of Pacejka 89 Property File

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Using Correct Coordinate System and Units in Pacejka '89 The test data and resulting coefficients that come from the Pacejka '89 tire model conform to a modified SAE tire coordinate system. The standard SAE tire coordinate system is shown next and the modified sign conventions for Pacejka '89 are described in the table below. Note: The section [UNITS] in the tire property file does not apply to the Magic Formula coefficients

SAE Tire Coordinate System

Conventions for Naming Variables Variable name and abbreviation: Normal load Fz (kN) Description: Positive when the tire is penetrating the road.* 163

ADAMS/Tire 2005 r2 Help Positive in a right turn. Negative in a left turn. Positive during traction. Negative during braking. Positive in a left turn. Negative in a right turn. Positive when the top of the tire tilts to the right (when viewing the tire from the rear).* Positive in a right turn.* Negative in braking (-100%: wheel lock). Positive in traction.

Lateral force Longitudinal force Self-aligning torque Inclination angle Sideslip angle Longitudinal slip

Fy (N) Fx (N) Mz (Nm) (deg) (deg) (%)

* Opposite convention to standard SAE coordinate system shown in SAE Tire Coordinate System.

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Force and Moment Formulation for Pacejka '89 Learn about:

Longitudinal Force for Pacejka '89 Overturning Moment for Pacejka '89 Self-Aligning Torque Lateral Stiffness Rolling Resistance Smoothing

Longitudinal Force for Pacejka '89 C - Shape Factor C=B0 D - Peak Factor D=(B1*FZ2+B2*FZ) BCD BCD=(B3*FZ2+B4*FZ)*EXP(-B5*FZ) B - Stiffness Factor B=BCD/(C*D) Horizontal Shift Sh=B9*FZ+B10 Vertical Shift Sv=0.0 Composite X1=(k+Sh) E Curvature Factor 165

ADAMS/Tire 2005 r2 Help E=(B6*FZ2+B7*FZ+B8) FX Equation FX=(D*SIN(C*ATAN(B*X1-E*(B*X1-ATAN(B*X1)))))+Sv Longitudinal Force Parameters: Description: B0 B1, B2 B3, B4, B5 B6, B,7 B8 B9, B10 Shape factor Peak factor BCD calculation Curvature factor Horizontal shift Example Longitudinal Force Plot for Pacejka 89

Back to top Lateral Force for Pacejka '89 C - Shape Factor C=A0 166

Pacejka '89/'94 D - Peak Factor D=(A1*FZ2+A2*FZ) BCD BCD=A3*SIN(ATAN(FZ/A4)*2.0)*(1.0-A5*ABS(g)) B - Stiffness Factor B=BCD/(C*D) Horizontal Shift Sh=A9*FZ+A10+A8*g Vertical Shift Sv=A11*FZ*g+A12*FZ+A13 Composite X1=(a+Sh) E - Curvature Factor E=(A6*FZ+A7) FY Equation FY=(D*SIN(C*ATAN(B*X1-E*(B*X1-ATAN(B*X1)))))+Sv Parameters for Lateral Force Parameters: Description: A0 A 1 , A2 A 3 , A4 , A5 A 6 , A7 A8, A9, A10 Shape factor Peak factor BCD calculation Curvature factor Horizontal shift

A11, A12, A13 Vertical shift Example Lateral Force Plot for Pacejka 89 167

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Back to top Self-Aligning Torque C - Shape Factor C=C0 D - Peak Factor D=(C1*FZ2+C2*FZ) BCD BCD=(C3*FZ2+C4*FZ)*(1-C6*ABS(g))*EXP(-C5*FZ) B - Stiffness Factor B=BCD/(C*D) Horizontal Shift Sh=C11*g+C12*FZ+C13 Vertical Shift

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Pacejka '89/'94 Sv= (C14*FZ2+C15*FZ)*g+C16*FZ+C17 Composite X1=(a+Sh) E - Curvature Factor E=(C7*FZ2)+C8*FZ+C9)*(1.0-C10*ABS(g)) MZ Equation MZ=(D*SIN(C*ATAN(B*X1-E*(B*X1-ATAN(B*X1)))))+Sv

Parameters for Self-Aligning Torque Parameters: C0 C1, C2 C3, C4, C5, C6 C7, C8, C9, C10 C11, C12, C13 Description: Shape factor Peak factor BCD calculation Curvature factor Horizontal shift

C14, C15, C16, C17 Vertical shift

Example Self-Aligning Torque Plot for Pacejka 89

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Back to top

Overturning Moment The lateral stiffness is used to calculate an approximate lateral deflection of the contact patch when there is a lateral force present: deflection = Fy / lateral_stiffness This deflection, in turn, is used to calculate an overturning moment due to the vertical force: Mx (overturning moment) = -Fz * deflection And an incremental aligning torque due to longtiudinal force (Fx) Mz = Mz,Magic Formula + Fx * deflection Here Mz,Magic Formula is the magic formula for aligning torque and Fx * deflection is the contribution due to the longitudinal force. Back to top Rolling Resistance 170

Pacejka '89/'94 The rolling resistance moment My is opposite to the wheel angular velocity. The magnitude is given by: My = Fz * Lrad * rolling_resistance Where Fz equals the vertical force and Lrad is the tyre loaded radius. The rolling resistance coefficient can be entered in the tire property file: [PARAMETER] ROLLING_RESISTANCE = 0.01 A value of 0.01 introduces a rolling resistance force that is 1% of the vertical load. Back to top Smoothing When you indicate smoothing by setting the value of use mode in the tire property file, ADAMS/Tire smooths initial transients in the tire force over the first 0.1 seconds of simulation. The longitudinal force, lateral force, and aligning torque are multiplied by a cubic step function of time. (See STEP in the ADAMS/Solver online help.) Longitudinal Force FLon = S*FLon Lateral Force FLat = S*FLat Overturning Moment Mx = S*Mx Rolling resistance moment My = S*My Aligning Torque Mz = S*Mz 171

ADAMS/Tire 2005 r2 Help The USE_MODE parameter in the tire property file allows you to switch smoothing on or off:

USE_MODE = 1 or 2, smoothing is off USE_MODE = 3 or 4, smoothing is on

Back to top

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Example of Pacejka '89 Property File

$------------------------------------------------------------MDI_HEADER [MDI_HEADER] FILE_TYPE = 'tir' FILE_VERSION = 2.0 FILE_FORMAT = 'ASCII' (COMMENTS) {comment_string} 'Tire - XXXXXX' 'Pressure - XXXXXX' 'Test Date - XXXXXX' 'Test tire' $-------------------------------------------------------------UNITS [UNITS] LENGTH = 'mm' FORCE = 'newton' ANGLE = 'radians' MASS = 'kg' TIME = 'sec' $-------------------------------------------------------------MODEL [MODEL] ! use mode 1 2 3 4 ! ------------------------------------------! smoothing X X ! combined X X ! PROPERTY_FILE_FORMAT = PAC89' USE_MODE = 4.0 TYRESIDE = 'LEFT' $-------------------------------------------------------------DIMENSION [DIMENSION] UNLOADED_RADIUS = 326.0 WIDTH = 245.0 ASPECT_RATIO = 0.35 $-------------------------------------------------------------PARAMETER [PARAMETER] VERTICAL_STIFFNESS = 310.0 VERTICAL_DAMPING = 3.1 LATERAL_STIFFNESS = 190.0 ROLLING_RESISTANCE = 0.0 $--------------------------------------------------------------------LOAD_CURVE $ For a non-linear tire vertical stiffness (optional) $ Maximum of 100 points [DEFLECTION_LOAD_CURVE] {pen fz} 0 0.0 1 212.0 2 428.0 3 648.0 5 1100.0 10 2300.0

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20 5000.0 30 8100.0 $------------------------------------------------------------LATERAL_COEFFICIENTS [LATERAL_COEFFICIENTS] a0 = 1.65000 a1 = -34.0 a2 = 1250.00 a3 = 3036.00 a4 = 12.80 a5 = 0.00501 a6 = -0.02103 a7 = 0.77394 a8 = 0.0022890 a9 = 0.013442 a10 = 0.003709 a11 = 19.1656 a12 = 1.21356 a13 = 6.26206 $------------------------------------------------------------longitudinal [LONGITUDINAL_COEFFICIENTS] b0 = 2.37272 b1 = -9.46000 b2 = 1490.00 b3 = 130.000 b4 = 276.000 b5 = 0.08860 b6 = 0.00402 b7 = -0.06150 b8 = 1.20000 b9 = 0.02990 b10 = -0.17600 $-------------------------------------------------------------aligning [ALIGNING_COEFFICIENTS] c0 = 2.34000 c1 = 1.4950 c2 = 6.416654 c3 = -3.57403 c4 = -0.087737 c5 = 0.098410 c6 = 0.0027699 c7 = -0.0001151 c8 = 0.1000 c9 = -1.33329 c10 = 0.025501 c11 = -0.02357 c12 = 0.03027 c13 = -0.0647 c14 = 0.0211329 c15 = 0.89469 c16 = -0.099443 c17 = -3.336941

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Using Pacejka '94 Handling Force Model Using Pacejka '94 Handling Force Model Learn about the Pacejka '94 handling force model:

Using Correct Coordinate System and Units Force and Moment Formulation for Pacejka 94 Example of Pacejka 94 Property File

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Using Correct Coordinate System and Units in Pacejka '94 The test data and resulting coefficients that come from the Pacejka '94 tire model conform to the standard SAE tire coordinate system. The standard SAE coordinates are shown in SAE Tire Coordinate System. (See also About Coordinate Systems.) The corresponding sign conventions for Pacejka '94 are described next. Note: The section [UNITS] in the tire property file does not apply to the Magic Formula coefficients.

Conventions for Naming Variables Variable name and abbreviation: Normal load Lateral force Longitudinal force Self-aligning torque Inclination angle Sideslip angle (deg) Longitudinal slip (%) Negative in braking (-100%: wheel lock). Positive in traction. Fz (kN) Fy (N) Fx (N) Mz (Nm) Description: Positive when the tire is penetrating the road. Positive in a right turn. Negative in a left turn. Positive during traction. Negative during braking. Positive in a left turn. Negative in a right turn.

(deg) Positive when the top of the tire tilts to the right (when viewing the tire from the rear). Positive in a left turn.

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Force and Moment Formulation for Pacejka '94 Learn about:

Longitudinal Force for Pacejka '94 Lateral Force for Pacejka '94 Self-Aligning Torque Lateral Stiffness Rolling Resistance Smoothing

Longitudinal Force for Pacejka '94 C - Shape Factor C=B0 D - Peak Factor D=(B1*FZ2+B2*FZ) * DLON BCD BCD=((B3*FZ2+B4*FZ)*EXP(-B5*FZ)) * BCDLON B - Stiffness Factor B=BCD/(C*D) Horizontal Shift Sh=B9*Fz+B10 Vertical Shift Sv=B11*FZ+B12 Composite X1=(k+Sh) E Curvature Factor 177

ADAMS/Tire 2005 r2 Help E=((B6*FZ+B7)*FZ+B8)*(1-(B13*SIGN(1,X1)))) FX Equation FX=(D*SIN(C*ATAN(B*X1-E*(B*X1-ATAN(B*X1)))))+Sv Parameters for Longitudinal Force Parameters: B0 B1, B2 B3, B4, B5 B6, B7, B8, B13 B9, B10 B11, B12 Description: Shape factor Peak factor BCD calculation Curvature factor Horizontal shift Vertical shift

DLON, BCDLON Scale factor Back to top

Lateral Force for Pacejka '94 C - Shape Factor C=A0 D - Peak Factor D=((A1*FZ+A2) *(1-A15* 2)*FZ) * DLAT BCD BCD=(A3*SIN(ATAN(FZ/A4)*2.0)*(1-A5*ABS( )))* BCDLAT B - Stiffness Factor B=BCD/(C*D) Horizontal Shift Sh=A8*FZ+A9+A10* 178

Pacejka '89/'94 Vertical Shift Sv=A11*FZ+A12+(A13*FZ2+A14*FZ)* Composite X1=(a+Sh) E - Curvature Factor E=(A6*FZ+A7)*(1-(((A16*g)+A17)*SIGN(1,X1)))) FY Equation FY=(D*SIN(C*ATAN(B*X1-E*(B*X1-ATAN(B*X1)))))+Sv Parameters for Lateral Force Parameters: A0 A1, A2, A15 A 3 , A4 , A5 A6, A7, A16, A17 A8, A9, A10 DLAT, BCDLAT Back to top Description: Shape factor Peak factor BCD calculation Curvature factor Horizontal shift Scale factor

A11, A12, A13, A14 Vertical shift

Self-Aligning Torque for Pacejka '94 C - Shape Factor C=C0 D - Peak Factor D=(C1*FZ2+C2*FZ)*(1-C18* 2) BCD 179

ADAMS/Tire 2005 r2 Help BCD=(C3*FZ2+C4*FZ)*(1-(C6*ABS(g)))*EXP(-C5*FZ) B - Stiffness Factor B=BCD/(C*D) Horizontal Shift Sh=C11*FZ+C12+C13* Vertical Shift Sv=C14*FZ+C15+(C16*FZ2+C17*FZ)* Composite X1=( +Sh) E - Curvature Factor E=(((C7*FZ2)+(C8*FZ)+C9)*(1-(((C19* )+C20)*SIGN(1,X1))))/(1(C10*ABS( ))) MZ Equation MZ=(D*SIN(C*ATAN(B*X1-E*(B*X1-ATAN(B*X1)))))+Sv Parameters for Self-Aligning Torque Parameters: C0 C1, C2, C18 C3, C4, C5, C6 C11, C12, C13 C14, C15, C16, C17 Back to top Description: Shape factor Peak factor BCD calculation Horizontal shift Vertical shift

C7, C8, C9, C19, C20 Curvature factor

Overturning Moment 180

Pacejka '89/'94 The lateral stiffness is used to calculate an approximate lateral deflection of the contact patch when there is a lateral force present: deflection = Fy / lateral_stiffness This deflection, in turn, is used to calculate an overturning moment due to the vertical force: Mx (overturning moment) = -Fz * deflection And an incremental aligning torque due to longtiudinal force (Fx): Mz = Mz,Magic Formula + Fx * deflection Here Mz,Magic Formula is the magic formula for aligning torque and Fx * deflection is the contribution due to the longitudinal force. Back to top Rolling Resistance The rolling resistance moment My is opposite to the wheel angular velocity. The magnitude is given by: My = Fz * Lrad * rolling_resistance Where Fz equals the vertical force and Lrad is the tyre loaded radius. The rolling resistance coefficient can be entered in the tire property file: [PARAMETER] ROLLING_RESISTANCE = 0.01 A value of 0.01 will introduce a rolling resistance force, which is 1% of the vertical load. Back to top Smoothing ADAMS/Tire smooths initial transients in the tire force over the first 0.1 seconds of simulation. The longitudinal force, lateral force, and aligning torque are multiplied by a cubic step function of time. (See STEP in the ADAMS/Solver online help.) 181

ADAMS/Tire 2005 r2 Help Longitudinal Force FLon = S*FLon Lateral Force FLat = S*FLat Overturning Moment Mx = S*Mx Rolling resistance moment My = S*My Aligning Torque Mz = S*Mz The USE_MODE parameter in the tire property file allows you to switch smoothing on or off:

USE_MODE = 1 or 2, smoothing is off USE_MODE = 3 or 4, smoothing is on

Back to top

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Example of Pacejka '94 Property File

!:FILE_TYPE: tir !:FILE_VERSION: 2 !:TIRE_VERSION: PAC94 !:COMMENT: New File Format v2.1 !:FILE_FORMAT: ASCII !:TIMESTAMP: 1996/02/15,13:22:12 !:USER: ncos $-------------------------------------------------------------------------units [UNITS] LENGTH = 'inch' FORCE = 'pound_force' ANGLE = 'radians' MASS = 'pound_mass' TIME = 'second' $------------------------------------------------------------------------model [MODEL] ! use mode 1 2 3 4 ! ------------------------------------------! smoothing X X ! combined X X ! ! USER_SUB_ID = 903 PROPERTY_FILE_FORMAT = 'PAC94' FUNCTION_NAME = 'TYR903' USE_MODE = 4 TYRESIDE = 'LEFT' $-------------------------------------------------------------------dimensions [DIMENSION] UNLOADED_RADIUS = 12.95 WIDTH = 10.0 ASPECT_RATIO = 0.30 $--------------------------------------------------------------------parameter [PARAMETER] VERTICAL_STIFFNESS = 2500 VERTICAL_DAMPING = 250.0 LATERAL_STIFFNESS = 1210.0 ROLLING_RESISTANCE = 0.01 $--------------------------------------------------------------------load_curve $ Maximum of 100 points (optional) [DEFLECTION_LOAD_CURVE] {pen fz} 0.000 0 0.039 943 0.079 1904

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0.118 2882 0.197 4893 0.394 10231 0.787 22241 1.181 36031 $----------------------------------------------------------------------scaling [SCALING_COEFFICIENTS] DLAT = 0.10000E+01 DLON = 0.10000E+01 BCDLAT = 0.10000E+01 BCDLON = 0.10000E+01 $----------------------------------------------------------------------lateral [LATERAL_COEFFICIENTS] A0 = 1.5535430E+00 A1 = -1.2854474E+01 A2 = -1.1133711E+03 A3 = -4.4104698E+03 A4 = -1.2518279E+01 A5 = -2.4000120E-03 A6 = 6.5642332E-02 A7 = 2.0865589E-01 A8 = -1.5717978E-02 A9 = 5.8287762E-02 A10 = -9.2761963E-02 A11 = 1.8649096E+01 A12 = -1.8642199E+02 A13 = 1.3462023E+00 A14 = -2.0845180E-01 A15 = 2.3183540E-03 A16 = 6.6483573E-01 A17 = 3.5017404E-01 $---------------------------------------------------------------longitudinal [LONGITUDINAL_COEFFICIENTS] B0 = 1.4900000E+00 B1 = -2.8808998E+01 B2 = -1.4016957E+03 B3 = 1.0133759E+02 B4 = -1.7259867E+02 B5 = -6.1757933E-02 B6 = 1.5667623E-02 B7 = 1.8554619E-01 B8 = 1.0000000E+00 B9 = 0.0000000E+00 B10 = 0.0000000E+00 B11 = 0.0000000E+00 B12 = 0.0000000E+00 B13 = 0.0000000E+00 $--------------------------------------------------------------------aligning [ALIGNING_COEFFICIENTS] C0 = 2.2300000E+00 C1 = 3.1552342E+00 C2 = -7.1338826E-01 C3 = 8.7134880E+00

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C4 = 1.3411892E+01 C5 = -1.0375348E-01 C6 = -5.0880786E-03 C7 = -1.3726071E-02 C8 = -1.0000000E-01 C9 = -6.1144302E-01 C10 = 3.6187314E-02 C11 = -2.3679781E-03 C12 = 1.7324400E-01 C13 = -1.7680388E-02 C14 = -3.4007351E-01 C15 = -1.6418691E+00 C16 = 4.1322424E-01 C17 = -2.3573702E-01 C18 = 6.0754417E-03 C19 = -4.2525059E-01 C20 = -2.1503067E-01 $-------------------------------------------------------------------------shape [SHAPE] {radial width} 1.0 0.0 1.0 0.2 1.0 0.4 1.0 0.5 1.0 0.6 1.0 0.7 1.0 0.8 1.0 0.85 1.0 0.9 0.9 1.0

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Combined Slip of Pacejka '89 and '94 The combined slip calculation of the Pacejka '89 and '94 tire models is identical. Note that the method employed here is not part of the Magic Formula as developed by Professor Pacejka, but is an in-house development of MSC. Inputs:

Dimensionless longitudinal slip (range 1 to 1) and side slip angle in radians Longitudinal force Fx and lateral force Fy calculated using the Magic Formula Horizontal/vertical shifts and peak values of the Magic Formula (Sh, Sv, D)

Output:

Adjusted longitudinal force Fx and lateral force Fy to incorporate the reduction due to combined slip:

Friction coefficients:

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Forces corrected for combined slip conditions:

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Contact Methods The Pacejka '89 and '94 models use the following contact methods depending on the road model chosen: Contact Methods Uses For the road model: Uses the contact method: 2D 3D Point-follower 3D contact

About the Point-Follower Method The point-follower contact method assumes a single contact point between the tire and road. The contact point is the point nearest to the wheel center that lies on the line formed by the intersection of the tire (wheel) plane with the local road plane. The contact force computed by the point-follower contact method is normal to the road plane. Therefore, in a simulation of a tire hitting a pothole, the point-follower contact method does not generate the expected longitudinal force. For more information about 2D roads, see Using the 2D Road Model. About the 3D Contact Road Method The 3D Contact road method determines an equivalent contact point and vertical deflection from the volume of intersection of the tire carcass with the road. The 3D Contact road method assumes the tire carcass is a cylinder, unless you input the tire carcass cross section in the [SHAPE] table of the tire property file. Triangular facets describe the road surface. For more about 3D roads, see Using the 3D Contact Road Model.

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