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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
_______________________________________________________________________________________
Volume: 03 Issue: 06 | Jun-2014, Available @ http://www.ijret.org 8
TECHNICAL CONDITION OF VEHICLE CHASSIS PARTS AND TYRE
WEAR
Liu Xi1
, Tang Wen Ke2
1
School of Mechatronics & Automotive Engineering, Chongqing Jiao-tong University, Chongqing, China
2
School of Mechatronics & Automotive Engineering, Chongqing Jiao-tong University, Chongqing, China
Abstract
The modern automobile is contains the machinery, electron, communication and computer intelligence as one high-tech product,
the multiplication of system has determined its faults diversity , multiple and complex, but regarding the major function of vehicles
manned transportation, maintains the normal speed most basic request, the length of automobile tire service life, besides the
design with tire, makes the quality related, primarily depends on uses, maintains and in the management whether correct
reasonable. Under normal circumstances, the use of travel truck tires rated at 6 - 6.5 million meters. However, the actual use
situation, a lot of car tires greatly exceeds the quota, to reach 100,000 km and even 200000km; while a considerable number of
automobile tires only with 2000-3000km, or less traveling schedules discard. Thus it can be seen, the tire service life has is very
big "elasticity". How to prolong the tire service life, people often only pay attention maintain the tire normal pressures, prevents
the tire excess load, drives the automobile correctly, prompt maintenance, curing tire and reasonable installment tire, but has
neglected effect of the motor car chassis part technical position on the tire wear.
Keywords—component; formatting; style; styling; insert (key words)
--------------------------------------------------------------------***--------------------------------------------------------------------
1. INTRODUCTION
The tire is the intermedium of vehicles and path in the
vehicles travel process, its running condition can directly
reflect that the running condition of vehicles, strength of all
functions on vehicles affect completely on the tire, we when
defining the tire and use tire hope its pattern even contacts
with the road surface, uniform wear in tire use process.
However in the design or use process of vehicles, because
the part localization expires, will cause the tire localization
not to be inaccurate, enabling the tire good even with the
ground contact, causes tire the attrition of bureau minister
time, causing the service life of tire to drop[1]
. Because the
unusual attrition of tire causes the travel stability variation
of vehicles, the chassis suspension fork, travel and steering
system spare part cannot according to the technical
specification work of normal hypothesis, the working
conditions variation reduce the spare part the service life.
Meanwhile, the tire unusual attrition not only causes the tire
to discard ahead of time, will also create blowout and other
breakdowns, threatens the driving safety of automobile
seriously, the economic loss that from this causes is self-
evident. To being engaged in personnel of motor vehicle
maintenance service, through to the mechanism and vehicles
of ride stability and analysis of tire location parameter
change tire wear to the tire wear position and phenomenon,
and takes the corresponding countermeasure and measure, to
preventing the tire wears unusually, the increase of service
life, the frugal cost and enhancement operational
effectiveness and enhancement service efficiency and
maintenance quality had very vital practical significance. In
this paper, by drawing on existing theoretical basis and
scientific research achievements, mainly point of view from
the macro Dynamics Tribology to study the tire wear and
non-normal wear and tear. Through the relative theory and
method, systematic research and scientific discovery, quality
technical condition of vehicle chassis parts, has a great
influence on the service life of the tire. If the car chassis
components do not meet the technical requirements, will
accelerate the wear of the tire or mechanical damage, the
damage to the tire is the largest of the front wheel alignment
is not correct, the brake is not separated completely, loose
wheel bearing, axle and chassis frame deformation and
spring technology condition is not good. Therefore, these
parts and parts should strengthen inspection and adjustment,
timely troubleshooting, keep good technical condition.
2. ADJUST THE CHASSIS PARAMETERS
IMPROVE TIRE WEAR
In order to guarantee that the vehicle has good steering
characteristics and driving characteristics, car steering wheel
(for front wheel) is provided with a camber angle, toe angle,
kingpin inclination and caster angle etc.. Because the
positioning angle especially camber angle and toe angle
exists, bring bigger impact to the automobile tire wear.
Practice shows that, the rapid wear, abnormal wear of
automobile tires, tire, except with their quality of wheel
dynamic balancing, tire pressure and other factors, another
important reason is the camber angle, toe angle and
unreasonable matching.
2.1 Right Front Wheel Positioning
The automobile wheel alignment including dip angle and
kingpin camber, toe in, master. The whichever parameter
does not meet the technical requirements, will cause the tire
IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
_______________________________________________________________________________________
Volume: 03 Issue: 06 | Jun-2014, Available @ http://www.ijret.org 9
abnormal wear, especially the former wheel camber and toe
incorrectly wear caused by more serious[2]
.
Camber is to prevent deformation under load may cause the
front axle wheel introverted and setting, its role is to keep
the front upright in the car rolling, in order to reduce the
running resistance and the tire and the ground friction, tire
wear uniform. If the front wheel camber is incorrect, that
will increase tire wear. Camber is too large, the outer side of
the tire shoulder wear; camber is too small, the inner side of
the tire shoulder accelerated wear. When the two front
wheel camber unequal, will cause the front wheel outward
angle side drag, and front wheel swing, thereby increasing
the tire wear
The main cause is abnormal camber deformation front axle,
kingpin loose wheel bearings and the gap is too big.
Therefore, unilateral tires wear faster when found, should be
corrected promptly check these parts [3]
.
The main role of the front toe is to balance the negative
consequences caused by camber of the front wheels in order
to ensure integrity of the scroll and improve the steering
stability and reduce wear phenomenon dragging wheel on
the ground. If the front toe value adjusted properly, it will
make the front side trim slippery conditions occur, causing
abnormal tire wear. The current value of the wheel before
the beam is too large, the center line of the front wheels tend
to travel in outward rolling slip inevitably result of wear of
the tread laterally from the outside to the inside, the outside
tread wear serious raised inner groove; front toe value is too
small, the opposite situation with the toe value is too large,
the inside of the tread wear serious lateral groove raised.
Incorrect toe value for the front tire wear common feature is
very flat tread wear, wear very quickly. According to the
survey, a unit B1 2020 off-road vehicles toe is 26mm
(standard is 3mm-5mm), the tire only took 2 000 km driving
pattern bald[4]
.
Cause the front wheel toe-value is not the main reason for
checking normal adjustment to toe value is not accurate, the
front axle and tie rod deformation, and the front wheel
bearings and ball straight horizontal rod loosening, it usually
should be careful to check these sites and maintenance
work[5]
. Check the value before the beam, application-
specific measuring, at a predetermined measurement
position of the original measurement, then the original front
toe predetermined value adjusted by a rope eyes and infer
way is not guaranteed before the front beam value to meet
the requirements.
The caster and camber in the role is to ensure the vehicle
stability is moving in a straight line, and the steering
portability, reducing tire wear. If the caster angle and
inclination angle is too large, too small, will cause the front
wheel to produce swing and vibration, the impact load
increases, aggravate tire wear. Main reasons causing the dip
and inclination change caster is sinking and the front axle
spring deformation. Kingpin inclination does not meet the
requirements, need to remove the front axle of specialized
measurement and correction, and the kingpin caster angle
does not meet the requirements, it can be adjusted by adding
wedge pad between the front axle leaf spring and the front
axle.
2.2 The Front Axle and Rear Axle Parallel
Automobile front, rear axle parallel axis through the front,
after the bridge at both ends of the distance (CA 1091 to
4050 mm, BJ 2020 to 2300 mm) to measure the. For a new
car, the axis, the bridge at both ends of the distance
difference should not exceed 5mm [6]
. If the former, after the
bridge is not parallel through the large, will travel in cars
like the toe in value is too large, too small, caused by piping
sliding tire side and accelerate the tire wear.
Automobile front, rear axle is not parallel usually has two
types: fixed not parallel and mobility is not parallel. The
existence of fixed is not parallel, tire deflection angle is
always in the lower side slip, so tread wear and toe in value
is not normal, flat shaped wear. There is variability is not
parallel, tire deflection angle is left, right changing, easy to
cause the front wheel swing head, so the characteristics of
tire wear is tread corrugation.
Main causes of automobile front, rear axle is not parallel to
the leaf spring jumping or elastic one side of a leaf spring is
too low, before, after the bridge deformation or frame
deformation, leaf spring bushing and lug of serious wear and
tear or loose. Therefore, in the use of vehicles, to these areas
to strengthen the inspection and maintenance, fault found to
promptly eliminate.
2.3 Maintains other Chassis Part Technical
Condition is Good
There are bad technical condition of some chassis parts will
also cause for tire suddenly quickly suddenly slow (not
uniform), and generates vibration Britain, accelerate the tire
wear; the front wheel steering angle is too large, meet
straight rod will scrap tire cornering; carriage, bad fender
technical condition, may contact with the tire in the car the
tire, scratched, therefore, before driving and traffic should
pay attention to check, found that the problem should be
promptly removed, prevent to cause early damage of tire"
2.4 Braking Characteristics
The technical position of braking system is not good, often
causes applies the brake spontaneously or the individual
wheel bubble phenomenon makes the tire mix in the trundle
frequently is towing to slide, has the serious attrition. For
example: When the gap between brake shoe and brake drum
too small or the brake shoe returns to the position to be bad,
will create spontaneously automatic; If the brake drum loses
the circle, probably causes the wheel in some spot bubble,
creates tire periodic delaying, causes the tread protector one
has severe wear partially[7]
IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
_______________________________________________________________________________________
Volume: 03 Issue: 06 | Jun-2014, Available @ http://www.ijret.org 10
2.5 Steering Mechanism Clearance, Wheel Bearing
Clearance and Rim Swing Amount to Meet the
Technical Requirements
Steering gear gap is too small, the rotation of the front wheel
bearing is difficult, easy to wear, if the gap is too large, easy
to make the automobile front wheel swing, accelerate the
tire wear. Hub bearing too loose will cause the wheel
shimmy and running instability, wave shape caused by tyre
wear, serious when can cause the wheel thrown out. Hub
bearing too tight will cause the vehicle driving wandering.
All wheel bearing too tight, will make the car sliding
distance decreased significantly. And the temperature at the
hub was significantly increased in the running process,
increase tire wear.
Poor technical condition of these parts, not only will affect
wheel alignment and can cause abnormal tire wear directly.
Steering mechanism and wheel bearings loose, swinging
amount exceeds the required standard rotating wheel
vehicles (such as CA 1091 automobile wheel cars swing of
less than 10 mm), will make the wheels roll, resulting in a
wave-shaped tire wear.
3. CONCLUSIONS
Factors that affect tire wear are more drivers driving in the
ordinary course of operations to note summarizes the traffic
in front of the bus and regularly rotate the tires. During use
of the tire, the tread is gradually consumed, but because of
the discontinuity with the tires, the tire slip amount of the
road type, and the affected road arch, the automobile front
and rear, left and right wheels of different wear rate. Some
tire wear heavy, some light wear and tear, or even unilateral
appear uneven tire wear. In order to extend the life of the
tire, the tire must be regularly transposition. Timely
transposition can extend tire life by about 20%. Tire rotation
is usually conducted among secondary vehicle maintenance,
road camber in larger areas or summer, a larger difference in
tire wear may be appropriate to increase the number of
transposition. There are two methods to change a tire and
cross-circulation method. Cross transposition law applicable
to the regular on the arch of larger vehicles traveling the
road, while the law applicable to the regular cycle of change
in the relatively flat road vehicles. Found the problem to be
immediately removed to prevent damage caused by tire
early.
REFERENCES
[1] Shinto K. Estimation Method of Tire Treadwear on a
Vehicle.SAE910168.
[2] Koorosh C. A computer Method ofAnalysis for tire
Wear.
[3] K. Elissa, “Title of paper if known,” unpublishe
Zheng.D,prediction of tire tread wear with FEM
steady State Rolling Contact Simulation, tire science
and technology. TSTCA,1991.3 (31):122-141.
[4] Atsuo SUEOICA, Takahiro RYU. Polygs}a}i Wear
ofA}uto}obile Tire.[J] JSAE,1997: 209-217
[5] Henk Lupker, Numerical Prediction of Car Tyre
Wear Phenomena and Comparison of theObtained
Results with Full-Scale Experimental Tests[R].
Helmond,Holland: Chassis and Transport Systems
Department T'NO Automotive, 2003
[6] V.K.Goel. Analytical predictions of steady state tire
characteristics. Vehicle dynamics system. 2004 .3.
261-275.

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Technical condition of vehicle chassis parts and tyre wear

  • 1. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308 _______________________________________________________________________________________ Volume: 03 Issue: 06 | Jun-2014, Available @ http://www.ijret.org 8 TECHNICAL CONDITION OF VEHICLE CHASSIS PARTS AND TYRE WEAR Liu Xi1 , Tang Wen Ke2 1 School of Mechatronics & Automotive Engineering, Chongqing Jiao-tong University, Chongqing, China 2 School of Mechatronics & Automotive Engineering, Chongqing Jiao-tong University, Chongqing, China Abstract The modern automobile is contains the machinery, electron, communication and computer intelligence as one high-tech product, the multiplication of system has determined its faults diversity , multiple and complex, but regarding the major function of vehicles manned transportation, maintains the normal speed most basic request, the length of automobile tire service life, besides the design with tire, makes the quality related, primarily depends on uses, maintains and in the management whether correct reasonable. Under normal circumstances, the use of travel truck tires rated at 6 - 6.5 million meters. However, the actual use situation, a lot of car tires greatly exceeds the quota, to reach 100,000 km and even 200000km; while a considerable number of automobile tires only with 2000-3000km, or less traveling schedules discard. Thus it can be seen, the tire service life has is very big "elasticity". How to prolong the tire service life, people often only pay attention maintain the tire normal pressures, prevents the tire excess load, drives the automobile correctly, prompt maintenance, curing tire and reasonable installment tire, but has neglected effect of the motor car chassis part technical position on the tire wear. Keywords—component; formatting; style; styling; insert (key words) --------------------------------------------------------------------***-------------------------------------------------------------------- 1. INTRODUCTION The tire is the intermedium of vehicles and path in the vehicles travel process, its running condition can directly reflect that the running condition of vehicles, strength of all functions on vehicles affect completely on the tire, we when defining the tire and use tire hope its pattern even contacts with the road surface, uniform wear in tire use process. However in the design or use process of vehicles, because the part localization expires, will cause the tire localization not to be inaccurate, enabling the tire good even with the ground contact, causes tire the attrition of bureau minister time, causing the service life of tire to drop[1] . Because the unusual attrition of tire causes the travel stability variation of vehicles, the chassis suspension fork, travel and steering system spare part cannot according to the technical specification work of normal hypothesis, the working conditions variation reduce the spare part the service life. Meanwhile, the tire unusual attrition not only causes the tire to discard ahead of time, will also create blowout and other breakdowns, threatens the driving safety of automobile seriously, the economic loss that from this causes is self- evident. To being engaged in personnel of motor vehicle maintenance service, through to the mechanism and vehicles of ride stability and analysis of tire location parameter change tire wear to the tire wear position and phenomenon, and takes the corresponding countermeasure and measure, to preventing the tire wears unusually, the increase of service life, the frugal cost and enhancement operational effectiveness and enhancement service efficiency and maintenance quality had very vital practical significance. In this paper, by drawing on existing theoretical basis and scientific research achievements, mainly point of view from the macro Dynamics Tribology to study the tire wear and non-normal wear and tear. Through the relative theory and method, systematic research and scientific discovery, quality technical condition of vehicle chassis parts, has a great influence on the service life of the tire. If the car chassis components do not meet the technical requirements, will accelerate the wear of the tire or mechanical damage, the damage to the tire is the largest of the front wheel alignment is not correct, the brake is not separated completely, loose wheel bearing, axle and chassis frame deformation and spring technology condition is not good. Therefore, these parts and parts should strengthen inspection and adjustment, timely troubleshooting, keep good technical condition. 2. ADJUST THE CHASSIS PARAMETERS IMPROVE TIRE WEAR In order to guarantee that the vehicle has good steering characteristics and driving characteristics, car steering wheel (for front wheel) is provided with a camber angle, toe angle, kingpin inclination and caster angle etc.. Because the positioning angle especially camber angle and toe angle exists, bring bigger impact to the automobile tire wear. Practice shows that, the rapid wear, abnormal wear of automobile tires, tire, except with their quality of wheel dynamic balancing, tire pressure and other factors, another important reason is the camber angle, toe angle and unreasonable matching. 2.1 Right Front Wheel Positioning The automobile wheel alignment including dip angle and kingpin camber, toe in, master. The whichever parameter does not meet the technical requirements, will cause the tire
  • 2. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308 _______________________________________________________________________________________ Volume: 03 Issue: 06 | Jun-2014, Available @ http://www.ijret.org 9 abnormal wear, especially the former wheel camber and toe incorrectly wear caused by more serious[2] . Camber is to prevent deformation under load may cause the front axle wheel introverted and setting, its role is to keep the front upright in the car rolling, in order to reduce the running resistance and the tire and the ground friction, tire wear uniform. If the front wheel camber is incorrect, that will increase tire wear. Camber is too large, the outer side of the tire shoulder wear; camber is too small, the inner side of the tire shoulder accelerated wear. When the two front wheel camber unequal, will cause the front wheel outward angle side drag, and front wheel swing, thereby increasing the tire wear The main cause is abnormal camber deformation front axle, kingpin loose wheel bearings and the gap is too big. Therefore, unilateral tires wear faster when found, should be corrected promptly check these parts [3] . The main role of the front toe is to balance the negative consequences caused by camber of the front wheels in order to ensure integrity of the scroll and improve the steering stability and reduce wear phenomenon dragging wheel on the ground. If the front toe value adjusted properly, it will make the front side trim slippery conditions occur, causing abnormal tire wear. The current value of the wheel before the beam is too large, the center line of the front wheels tend to travel in outward rolling slip inevitably result of wear of the tread laterally from the outside to the inside, the outside tread wear serious raised inner groove; front toe value is too small, the opposite situation with the toe value is too large, the inside of the tread wear serious lateral groove raised. Incorrect toe value for the front tire wear common feature is very flat tread wear, wear very quickly. According to the survey, a unit B1 2020 off-road vehicles toe is 26mm (standard is 3mm-5mm), the tire only took 2 000 km driving pattern bald[4] . Cause the front wheel toe-value is not the main reason for checking normal adjustment to toe value is not accurate, the front axle and tie rod deformation, and the front wheel bearings and ball straight horizontal rod loosening, it usually should be careful to check these sites and maintenance work[5] . Check the value before the beam, application- specific measuring, at a predetermined measurement position of the original measurement, then the original front toe predetermined value adjusted by a rope eyes and infer way is not guaranteed before the front beam value to meet the requirements. The caster and camber in the role is to ensure the vehicle stability is moving in a straight line, and the steering portability, reducing tire wear. If the caster angle and inclination angle is too large, too small, will cause the front wheel to produce swing and vibration, the impact load increases, aggravate tire wear. Main reasons causing the dip and inclination change caster is sinking and the front axle spring deformation. Kingpin inclination does not meet the requirements, need to remove the front axle of specialized measurement and correction, and the kingpin caster angle does not meet the requirements, it can be adjusted by adding wedge pad between the front axle leaf spring and the front axle. 2.2 The Front Axle and Rear Axle Parallel Automobile front, rear axle parallel axis through the front, after the bridge at both ends of the distance (CA 1091 to 4050 mm, BJ 2020 to 2300 mm) to measure the. For a new car, the axis, the bridge at both ends of the distance difference should not exceed 5mm [6] . If the former, after the bridge is not parallel through the large, will travel in cars like the toe in value is too large, too small, caused by piping sliding tire side and accelerate the tire wear. Automobile front, rear axle is not parallel usually has two types: fixed not parallel and mobility is not parallel. The existence of fixed is not parallel, tire deflection angle is always in the lower side slip, so tread wear and toe in value is not normal, flat shaped wear. There is variability is not parallel, tire deflection angle is left, right changing, easy to cause the front wheel swing head, so the characteristics of tire wear is tread corrugation. Main causes of automobile front, rear axle is not parallel to the leaf spring jumping or elastic one side of a leaf spring is too low, before, after the bridge deformation or frame deformation, leaf spring bushing and lug of serious wear and tear or loose. Therefore, in the use of vehicles, to these areas to strengthen the inspection and maintenance, fault found to promptly eliminate. 2.3 Maintains other Chassis Part Technical Condition is Good There are bad technical condition of some chassis parts will also cause for tire suddenly quickly suddenly slow (not uniform), and generates vibration Britain, accelerate the tire wear; the front wheel steering angle is too large, meet straight rod will scrap tire cornering; carriage, bad fender technical condition, may contact with the tire in the car the tire, scratched, therefore, before driving and traffic should pay attention to check, found that the problem should be promptly removed, prevent to cause early damage of tire" 2.4 Braking Characteristics The technical position of braking system is not good, often causes applies the brake spontaneously or the individual wheel bubble phenomenon makes the tire mix in the trundle frequently is towing to slide, has the serious attrition. For example: When the gap between brake shoe and brake drum too small or the brake shoe returns to the position to be bad, will create spontaneously automatic; If the brake drum loses the circle, probably causes the wheel in some spot bubble, creates tire periodic delaying, causes the tread protector one has severe wear partially[7]
  • 3. IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308 _______________________________________________________________________________________ Volume: 03 Issue: 06 | Jun-2014, Available @ http://www.ijret.org 10 2.5 Steering Mechanism Clearance, Wheel Bearing Clearance and Rim Swing Amount to Meet the Technical Requirements Steering gear gap is too small, the rotation of the front wheel bearing is difficult, easy to wear, if the gap is too large, easy to make the automobile front wheel swing, accelerate the tire wear. Hub bearing too loose will cause the wheel shimmy and running instability, wave shape caused by tyre wear, serious when can cause the wheel thrown out. Hub bearing too tight will cause the vehicle driving wandering. All wheel bearing too tight, will make the car sliding distance decreased significantly. And the temperature at the hub was significantly increased in the running process, increase tire wear. Poor technical condition of these parts, not only will affect wheel alignment and can cause abnormal tire wear directly. Steering mechanism and wheel bearings loose, swinging amount exceeds the required standard rotating wheel vehicles (such as CA 1091 automobile wheel cars swing of less than 10 mm), will make the wheels roll, resulting in a wave-shaped tire wear. 3. CONCLUSIONS Factors that affect tire wear are more drivers driving in the ordinary course of operations to note summarizes the traffic in front of the bus and regularly rotate the tires. During use of the tire, the tread is gradually consumed, but because of the discontinuity with the tires, the tire slip amount of the road type, and the affected road arch, the automobile front and rear, left and right wheels of different wear rate. Some tire wear heavy, some light wear and tear, or even unilateral appear uneven tire wear. In order to extend the life of the tire, the tire must be regularly transposition. Timely transposition can extend tire life by about 20%. Tire rotation is usually conducted among secondary vehicle maintenance, road camber in larger areas or summer, a larger difference in tire wear may be appropriate to increase the number of transposition. There are two methods to change a tire and cross-circulation method. Cross transposition law applicable to the regular on the arch of larger vehicles traveling the road, while the law applicable to the regular cycle of change in the relatively flat road vehicles. Found the problem to be immediately removed to prevent damage caused by tire early. REFERENCES [1] Shinto K. Estimation Method of Tire Treadwear on a Vehicle.SAE910168. [2] Koorosh C. A computer Method ofAnalysis for tire Wear. [3] K. Elissa, “Title of paper if known,” unpublishe Zheng.D,prediction of tire tread wear with FEM steady State Rolling Contact Simulation, tire science and technology. TSTCA,1991.3 (31):122-141. [4] Atsuo SUEOICA, Takahiro RYU. Polygs}a}i Wear ofA}uto}obile Tire.[J] JSAE,1997: 209-217 [5] Henk Lupker, Numerical Prediction of Car Tyre Wear Phenomena and Comparison of theObtained Results with Full-Scale Experimental Tests[R]. Helmond,Holland: Chassis and Transport Systems Department T'NO Automotive, 2003 [6] V.K.Goel. Analytical predictions of steady state tire characteristics. Vehicle dynamics system. 2004 .3. 261-275.