Vehicle dynamics simulation using bond graphs.ppt

Vehicle dynamics simulation using bond graphs Germán Filippini, Norberto Nigro and Sergio Junco Facultad de Ciencias Exactas, Ingeniería y AgrimensuraUniversidad Nacional de Rosario. Av. Pellegrini 250, S2000EKE Rosario, Argentina Generalities and Modeling Assumptions Vehicle Chassis Engine and Transmission Pneumatic tires Suspensions Aerodynamic forces Fx ω x y z roll yaw pitch Fy δ Kt Kt Kt Kt Bs Bs Bs Bs Ks Ks Ks Ks (1) (2) (3) (4) h1 r1 Mathematical and BG Modeling Rigid Body Euler equations Conservation of linear momentum Conservation of angular momentum Mathematical and BG Modeling Power variables transformation between two points ‘A’, ‘B’ Equations relating the linear and rotational efforts Equations relating the linear and rotational flows Mathematical and BG Modeling 3-dimensional rotation equations expressed in terms of power variables Where, Euler angles Mathematical and BG Modeling Vehicle Chassis Mathematical and BG Modeling Engine and Transmission Ap accelerator position Tp engine output torque Tr engine resistant torque , Mathematical and BG Modeling Gearbox and Differential , Mathematical and BG Modeling Pneumatic Tire , Pacejka model Adherence coefficient Lateral force with -1 ? 1 the longitudinal slip Mathematical and BG Modeling Pneumatic Tire , Mathematical and BG Modeling Suspension , Mathematical and BG Modeling Aerodynamic forces , ρ air density Cx drag coefficient Af vehicle frontal area V relative velocity between the vehicle and the wind Mathematical and BG Modeling Full Vehicle vectorBG Model , Simulation Data Renault Clio RL 1.1 , Aerodynamics coefficient 0.33 Frontal area 1.86 m2 Distance between axes 2.472 m Vehicle weight 8100 N Centre of mass height 0.6 m Front axis weight 5100 N Rear axis weight 3000 N Maximum engine torque 78.5 Nm at 2500 rpm Maximum engine power 48 CV at 5250 rpm Planetary drive train (differential) ratio 3.571 First gearbox ratio 3.731 Second gearbox ratio 2.04