Road Vehicle Dynamics Fundamentals and Modeling with MATLAB.pdf
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Road Vehicle Dynamics Fundamentals and Modeling with MATLAB.pdf
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RoadVehicleDynamicsRoadVehicleDynamicsFundamentalsandModelingwithMATLABSecondEditionGeorgRillAbelArrietaCastroMATLABisatrademarkofTheMathWorks,Inc.andisusedwithpermission.TheMathWorksdoesnotwarranttheaccuracyofthetextorexercisesinthisbook.ThisbooksuseordiscussionofMATLABsoftwareorrelatedproductsdoesnotconstituteendorsementorsponsorshipbyTheMathWorksofaparticularpedagogicalapproachorparticularuseoftheMATLABsoftware.Secondeditionpublished2020byCRCPress6000BrokenSoundParkwayNW,Suite300,BocaRaton,FL33487-2742andbyCRCPress2ParkSquare,MiltonPark,Abingdon,Oxon,OX144RN2020Taylor&FrancisGroup,LLCFirsteditionpublishedbyCRC2011CRCPressisanimprintofTaylor&FrancisGroup,LLCReasonableeffortshavebeenmadetopublishreliabledataandinformation,buttheauthorandpublishercannotassumeresponsibilityforthevalidityofallmaterialsortheconsequencesoftheiruse.Theauthorsandpublishershaveattemptedtotracethecopyrightholdersofallmaterialreproducedinthispublicationandapologizetocopyrightholdersifpermissiontopublishinthisformhasnotbeenobtained.Ifanycopyrightmaterialhasnotbeenacknowledgedpleasewriteandletusknowsowemayrectifyinanyfuturereprint.ExceptaspermittedunderU.S.CopyrightLaw,nopartofthisbookmaybereprinted,reproduced,transmitted,orutilizedinanyformbyanyelectronic,mechanical,orothermeans,nowknownorhereafterinvented,includingphotocopying,microfilming,andrecording,orinanyinformationstorageorretrievalsystem,withoutwrittenpermissionfromthepublishers.Forpermissiontophotocopyorusematerialelectronicallyfromthiswork,accessorcontacttheCopyrightClearanceCenter,Inc.(CCC),222RosewoodDrive,Danvers,MA01923,978-750-8400.ForworksthatarenotavailableonCCCpleasecontactmpkbookspermissionstandf.co.ukTrademarkNotice:
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/ContentsSeriesPrefacexiiiPrefacexvAbouttheAuthorsxixPrimaryMeaningofSymbolsxxi1Introduction11.1UnitsandQuantities.21.1.1SISystem.21.1.2TireCodes.31.2Terminology.31.2.1VehicleDynamics.31.2.2Driver.41.2.3Vehicle.41.2.4Load.51.2.5Environment.51.3Definitions.61.3.1CoordinateSystems.61.3.2DesignPositionofWheelCenter.71.3.3Toe-In,Toe-Out.81.3.4WheelCamber.81.3.5DesignPositionoftheWheelRotationAxis.91.3.6WheelAligningPoint.101.4ActiveSafetySystems.111.5MultibodyDynamicsTailoredtoGroundVehicles.121.5.1ModelingAspects.121.5.2Kinematics.141.5.3EquationsofMotion.161.6AQuarterCarModel.181.6.1ModelingDetails.181.6.2Kinematics.191.6.3AppliedForcesandTorques.221.6.4EquationsofMotion.221.6.5Simulation.23Exercises.26vviContents2Road272.1ModelingAspects.272.2DeterministicProfiles.292.2.1BumpsandPotholes.292.2.2SineWaves.302.3RandomProfiles.312.3.1StatisticalProperties.312.3.2ClassificationofRandomRoadProfiles.332.3.3SinusoidalApproximation.342.3.4Example.362.3.5ShapingFilter.402.3.6Two-DimensionalModel.41Exercises.423Tire433.1Introduction.443.1.1TireDevelopment.443.1.2TireComposites.443.1.3TireForcesandTorques.453.1.4MeasuringTireForcesandTorques.463.1.5ModelingAspects.483.1.6TypicalTireCharacteristics.503.2ContactGeometry.513.2.1GeometricContactPoint.513.2.2StaticContactPointandTireDeflection.563.2.3LengthofContactPatch.573.2.4ContactPointVelocity.583.2.5DynamicRollingRadius.593.3Steady-StateForcesandTorques.613.3.1WheelLoad.613.3.2TippingTorque.643.3.3RollingResistance.643.3.4LongitudinalForceandLongitudinalSlip.653.3.5LateralSlip,LateralForce,andSelf-AligningTorque.683.4CombinedForces.713.4.1CombinedSlipandCombinedForceCharacteristic.713.4.2SuitableApproximationandResults.733.5BoreTorque.793.6GeneralizedorThree-DimensionalSlip.813.7DifferentInfluencesonTireForcesandTorques.823.7.1WheelLoad.823.7.2Friction.853.7.3Camber.863.8First-OrderTireDynamics.893.8.1SimpleDynamicExtension.89Contentsvii3.8.2EnhancedDynamics.903.8.3ParkingTorque.94Exercises.954DriveTrain974.1ComponentsandConcepts.974.1.1ConventionalDriveTrain.974.1.2HybridDrive.984.1.3ElectricDrive.994.2EigendynamicsofWheelandTire.1004.2.1EquationofMotion.1004.2.2Steady-StateTireForces.1014.2.3DynamicTireForces.1024.3SimpleVehicleWheelTireModel.1054.3.1EquationsofMotion.1054.3.2DrivingTorque.1064.3.3BrakingTorque.1064.3.4SimulationResults.1084.4Differentials.1114.4.1ClassicDesign.1114.4.2ActiveDifferentials.1144.5GenericDriveTrain.1154.6Transmission.1164.7Clutch.1184.8PowerSources.1194.8.1CombustionEngine.1194.8.2ElectricDrive.1204.8.3HybridDrive.120Exercises.1215SuspensionSystem1235.1PurposeandComponents.1245.2SomeExamples.1245.2.1MultipurposeSystems.1245.2.2SpecificSystems.1255.2.3SteeringGeometry.1265.3SteeringSystems.1285.3.1ComponentsandRequirements.1285.3.2Rack-and-PinionSteering.1295.3.3LeverArmSteeringSystem.1295.3.4ToeBarSteeringSystem.1305.3.5BusSteeringSystem.1305.3.6DynamicsofaRack-and-PinionSteeringSystem.1315.3.6.1EquationofMotion.1315.3.6.2SteeringForcesandTorques.133viiiContents5.3.6.3ParkingEffort.1365.4KinematicsofaDoubleWishboneSuspension.1405.4.1ModelingAspects.1405.4.2PositionandOrientation.1415.4.3ConstraintEquations.1425.4.3.1ControlArmsandWheelBody.1425.4.3.2SteeringMotion.1445.4.4Velocities.1455.4.5Acceleration.1485.4.6KinematicAnalysis.1495.5DesignKinematics.1545.5.1GeneralApproach.1545.5.2ExampleTwistBeamAxleSuspension.1575.6RaceCarSuspensionSystem.1645.6.1GeneralLayout.1645.6.2Kinematics.165Exercises.1676ForceElements1696.1StandardForceElements.1696.1.1SpringsinGeneral.1696.1.2AirSprings.1716.1.3Anti-RollBar.1726.1.4Damper.1746.1.5GeneralPoint-to-PointForceElement.1766.1.5.1GeneralizedForces.1766.1.5.2Example.1796.1.6RubberElements.1846.2DynamicForceElements.1856.2.1TestingandEvaluatingProcedures.1856.2.1.1SimpleApproach.1856.2.1.2SweepSineExcitation.1876.2.2SpringDamperinSeries.1896.2.2.1ModelingAspects.1896.2.2.2LinearCharacteristics.1896.2.2.3NonlinearDamperTopmountCombination.1916.2.3GeneralDynamicForceModel.1946.2.4Hydro-Mount.194Exercises.1987VerticalDynamics1997.1Goals.1997.2FromComplextoSimpleModels.2007.3BasicTuning.2067.3.1NaturalFrequencyandDampingRatio.206Contentsix7.3.2MinimumSpringRate.2087.3.3Example.2097.3.4NaturalEigenfrequencies.2097.3.5InfluenceofDamping.2107.4OptimalDamping.2127.4.1DisturbanceReactionProblem.2127.4.2OptimalSafety.2147.4.3OptimalComfort.2157.4.4Example.2177.5PracticalAspects.2177.5.1GeneralRemarks.2177.5.2QuarterCarModelonRoughRoad.2187.6NonlinearSuspensionForces.2217.6.1ProgressiveSpring.2217.6.2NonlinearSpringandNonlinearDamper.2237.6.3SomeResults.2257.7SkyHookDamper.2277.7.1ModelingAspects.2277.7.2EigenfrequenciesandDampingRatios.2277.7.3TechnicalRealization.2297.7.4SimulationResults.230Exercises.2338LongitudinalDynamics2358.1DynamicWheelLoads.2368.1.1SimpleVehicleModel.2368.1.2InfluenceofGrade.2378.1.3AerodynamicForces.2388.2MaximumAcceleration.2388.2.1TiltingLimits.2388.2.2FrictionLimits.2398.3DrivingandBraking.2408.3.1SingleAxleDrive.2408.3.2BrakingatSingleAxle.2418.3.3BrakingStability.2428.3.4OptimalDistributionofDriveandBrakeForces.2448.3.5DifferentDistributionsofBrakeForces.2458.3.6BrakinginaTurn.2468.3.7Brakingon-Split.2488.4Anti-LockSystem.2488.4.1BasicPrinciple.2488.4.2DemonstrationModel.2508.5DriveandBrakePitch.2578.5.1EnhancedPlanarVehicleModel.2578.5.2EquationsofMotion.260xContents8.5.3Equilibrium.2618.5.4DrivingandBraking.2628.5.5DrivePitch.2648.5.6BrakePitch.2668.5.7BrakePitchPole.268Exercises.2699LateralDynamics2719.1KinematicApproach.2729.1.1KinematicTireModel.2729.1.2AckermannGeometry.2729.1.3SpaceRequirement.2739.1.4VehicleModelwithTrailer.2749.1.4.1Kinematics.2749.1.4.2VehicleMotion.2769.1.4.3EnteringaCurve.2779.1.4.4TrailerMotions.2789.1.4.5CourseCalculations.2799.2Steady-StateCornering.2829.2.1CorneringResistance.2829.2.1.1Two-AxledVehicle.2829.2.1.2Four-AxledVehicle.2849.2.2OverturningLimit.2889.2.2.1StaticStabilityFactor.2889.2.2.2EnhancedRolloverModel.2899.2.3RollSupportandCamberCompensation.2929.2.4RollCenterandRollAxis.2969.2.5WheelLoadTransfer.2979.3SimpleHandlingModel.2979.3.1ModelingConcept.2979.3.2Kinematics.2989.3.3TireForces.2989.3.4LateralSlips.2999.3.5EquationsofMotion.3009.3.6Stability.3019.3.6.1Eigenvalues.3019.3.6.2Low-SpeedApproximation.3029.3.6.3High-SpeedApproximation.3029.3.6.4CriticalSpeed.3039.3.6.5Example.3049.3.7Steady-StateSolution.3059.3.7.1SteeringTendency.3059.3.7.2SideSlipAngle.3079.3.7.3CurveRadius.3079.3.7.4LateralSlips.308Contentsxi9.3.8InfluenceofWheelLoadonCorneringStiffness.3099.4MechatronicSystems.3109.4.1ElectronicStabilityProgram(ESP).3109.4.2Rear-WheelSteering.3119.4.3Steer-by-Wire.313Exercises.31410DrivingBehaviorofSingleVehicles31710.1Three-DimensionalVehicleModel.31710.1.1ModelStructure.31710.1.2PositionandOrientation.31810.1.3Velocities.31910.1.4Accelerations.32210.1.5AppliedandGeneralizedForcesandTorques.32210.1.6EquationsofMotion.32310.2DriverModel.32410.2.1StandardModel.32410.2.2EnhancedModel.32510.2.3SimpleApproach.32610.3StandardDrivingManeuvers.32610.3.1Steady-StateCornering.32610.3.2StepSteerInput.32910.3.3DrivingStraightAhead.33010.4CoachwithDifferentLoadingConditions.33010.4.1Data.33010.4.2RollSteering.33110.4.3Steady-StateCornering.33110.4.4StepSteerInput.33310.5DifferentRearAxleConceptsforaPassengerCar.33410.6ObstacleAvoidanceandOff-RoadScenario.335E
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