Lecture_5_Review of Vehicle Dynamics 3书.ppt

Prof. You-Qun Zhao Prof. You-Qun Zhao Vehicle System Dynamics Professor You-Qun Zhao Lecture 5Review and Outline Review of last time Review of vehicle lateral dynamics, 2DoF (v,r) model, 3 DoF (v, r, p) model, simulations, and yaw rate estimation application example Review of Vehicle Dynamics 3 Road modeling Ride quality Vehicle vertical dynamics modeling Vehicle Vertical Dynamics Road Excitation Generation Road Excitation Generation (cont.) Model Road Input as a Random Variable Two Common Road models Model the road velocity profile (t) as white noise Use MATLAB randn() command sigma = 0.3; % standard deviation in (in/sec) t = 0:0.001:1; % time horizon zo_dot = sigma * randn(size(t)); % (in/sec) Model the road displacement zo(t) as colored noise Colored-Noise Road Displacement Model Spectrum() specplot() Spectrum() specplot()—random data Ex2.7 Road Profile Generation Ride Quality Ride Quality (cont.) Ride Quality--ISO 2631 Weighting Criterion Ride Suspension Models Various models have been developed to study passenger car ride quality. For a full-car model, we usually have 4 masses and 7DOF. Simplified models are more commonly used. Half-car models only include vertical and pitch (bounce and pitch) motions (4DOF). Quarter-car models only represent the motions of a corner of the car and could be 1DOF (sprung mass only) or 2DOF (sprung and unsprung mass vertical motions). Quarter-Car Suspension Models (2DOF) Normalized State Equation Example 2.8 - Simulation of Vehicle Vertical Response Example 2.8 - Simulation Results Invariant Properties of Quarter-Car Models What Invariant Properties Mean Ex2.9 - Tradeoffs in Suspension Design Meaning of the Performance Index Vehicle is under continuous “random” white excitation (road speed). All vehicle states thus are all colored random signals. Derivation of discrete system response: Mean and Variance of x(k) Mean Covariance Example 2.9 (cont.) Ex2.9 (cont.) Lecture 5Summary Vehicle vertical dynamics R