This is the first book to combine classical vehicle dynamics with electronic control. The equation-based presentation of the theory behind vehicle dynamics enables readers to develop a thorough understanding of the key attribute to both a vehicle's driveability and its active safety. Supported by MATLAB tools, the key areas that affect vehicle dynamics are explored including tire mechanics, the steering system, vehicle roll, traction and braking, 4WS and vehicle dynamics, vehicle dynamics by vehicle and human control, and controllabiliy. As a professional reference volume, this book is an essential addition to the resources available to anyone working in vehicle design and development. Written by a leading authority in the field (who himself has considerable practical experience), the book has a unique blend of theory and practice that will be of immense value in this applications based field. * Get a thorough understand of why vehicles respond they way they do with a complete treatment of vehicle dynamics from theory to application * Full of case studies and worked examples using MATLAB/Simulink * Covers all variables of vehicle dynamics including tire and vehicle motion, control aspects, human control and external disturbances
Author(s): Masato Abe
Publisher: Butterworth-Heinemann
Year: 2009
Language: English
Commentary: 147952
Pages: 287
Cover Page
......Page 1
Copyright page......Page 2
Preface......Page 3
Symbols......Page 5
1.2 VIRTUAL FOUR-WHEEL VEHICLE MODEL......Page 6
1.3 CONTROL OF MOTION......Page 8
Tire and side-slip angle......Page 9
Deformation of tire with side slip and lateral force......Page 11
Tire camber and lateral force......Page 12
Fiala’s theory......Page 13
Common characteristics......Page 24
Effects of vertical load and road condition......Page 25
Tire pressure effect......Page 27
Braking and traction force effect......Page 28
Self-aligning torque......Page 30
Camber thrust......Page 31
Braking......Page 34
Accelerating......Page 39
Self-aligning torque......Page 41
braking (s gt 0)......Page 42
accelerating (s < 0)......Page 43
Lateral force dynamic characteristics......Page 46
Self-aligning torque dynamic characteristics......Page 48
References......Page 50
Vehicle equations of motion......Page 51
Equations of motion with fixed coordinates on the vehicle......Page 52
Equations of motion with fixed coordinates on the ground......Page 60
Vehicle steady-state cornering......Page 64
Description by equations of motion......Page 65
Description by geometry......Page 67
(1) Understeer (US) and oversteer (OS) characteristics......Page 70
(2) Stability limit velocity and stability factor......Page 76
(3) Static margin and neutral steer point......Page 78
(4) Steer characteristics and geometry......Page 79
Steady-state cornering and tire non-linear characteristics......Page 81
Transient response and directional stability......Page 89
(2) Natural frequency and damping ratio......Page 95
(3) Responsiveness......Page 98
Steer response transfer function and response time history......Page 99
Vehicle response to periodical steer input......Page 108
Effect of non-linear tire characteristics......Page 116
References......Page 122
Vehicle motion due to a step change in lateral force......Page 123
Steady state condition......Page 125
Transient condition......Page 128
Vehicle motion due to impulse lateral force......Page 135
Vehicle motion due to external disturbances and steer characteristics......Page 137
Lateral wind disturbance force......Page 140
Vehicle motion due to lateral wind with constant speed......Page 142
Vehicle motion due to a lateral wind gust......Page 145
Conclusion......Page 150
References......Page 151
Steering system model and equations of motion......Page 152
Effects of steering system characteristics on vehicle motion with fixed steering angle......Page 155
Effects of steering system characteristics on vehicle motion with non-fixed steering angle......Page 161
Effects of driver’s hands and arms......Page 164
References......Page 167
Roll geometry......Page 168
Roll center and roll axis......Page 169
Roll stiffness and load transfer......Page 171
Camber change and roll steer......Page 173
Body roll and vehicle dynamics......Page 176
Load transfer effect......Page 177
Roll steer effect......Page 179
Suspension lateral stiffness and its effect......Page 182
Equations of motion inclusive of roll......Page 183
Coordinate system and dynamic model......Page 184
Translational motion......Page 186
Rotational motion......Page 190
External force......Page 191
Equations of motion......Page 194
Effect of body roll on vehicle dynamics......Page 196
References......Page 201
Equations of motion inclusive of longitudinal motion......Page 202
Tire side-slip angle during cornering......Page 203
Toe angle change and compliance steer during cornering......Page 206
Stability factor extension......Page 208
Effect of traction and braking on cornering......Page 209
Equations of motion......Page 211
Transient response to steer input......Page 213
Vehicle motion with additional rear wheel steer......Page 217
Rear wheel steer proportional to front wheel steer......Page 218
Rear wheel steer proportional to front wheel steer force......Page 221
Rear wheel steer proportional to yaw rate......Page 222
8.3.1 Rear wheel steer in response to front wheel steer angle......Page 224
Rear wheel steer proportional to front wheel steer and yaw rate......Page 225
Feed-forward model following control......Page 226
Feed-forward and yaw rate feed-back model following control......Page 227
Front and rear wheel active steer control......Page 228
Passive type yaw moment control......Page 231
Effects of Locked Differential......Page 232
Effect of Viscous Coupling Differential......Page 234
Effect of Yaw Moment on Vehicle Dynamics......Page 235
DYC for zero side-slip angle......Page 237
Yaw rate model following DYC......Page 240
Feed-Forward And Yaw Rate Feed-Back Model Following DYC......Page 241
References......Page 243
Preface......Page 244
Human Control Action......Page 245
Driver model......Page 246
Vehicle motion following a course......Page 248
Motion stability......Page 249
Human adaptation to vehicle characteristics and lane change behavior......Page 257
Driver parameter identification [3]......Page 262
References......Page 266
Further Reading......Page 267
Vehicle Controllability......Page 268
Steer characteristics and controllability......Page 270
Dynamic characteristics and controllability......Page 272
Response time and gain constant and controllability......Page 278
Possibility of handling quality evaluation based on driver model......Page 280
References......Page 284
Index......Page 286
