Magister_Lecture for Vehicle Dynamics教学教材.pptVIP

Modeling and Simulation So, the question is : A B C D=??? Modeling of ? car, ABCD=?? Here, take state variables below as state vector: The equations can be re-written as : System output Y To write output Y as the form: Here,we take Y as: Then we have: Control Feedback System Block B C A K D - u + Y X + To get performance index To consider the performances of BA(body acceleration); DTD (dynamic tire deflection轮胎动挠度) and SWS(suspension working space), we have : To rewrite the performance index as the matrix form: Q is the weighting matrix for state variables. R is the weighting matrix for control variables N is cross term Weighting Matrix Q , N and R Controller design To use Matlab function LQR to obtain optimal control gain K, Then, we get optimal control force U=-KX: Comparisonof Systems Fully active Slow active Semi-active Swichable damper Adaptive Passive Part Ⅲ- Handling Tyre properties H1 Basic handling model H2 Extensions to the basic handling model H3 Linear handling results(a practical case) H4 Vehicle Motion Two degree-of-freedom model Fy2 Fy1 X Y u2 u1 Where: U: constant forward speed of c.g. v:lateral velocity r: yaw velocity r v u Motion equations of the two degree-of-freedom model: Where: State space equations Write the two motion equations as state format: X is state vector: U is input vector: We get: Steady state responses: where: More considerations ? Having accepted that the stability margin (bCr-aCf) is a key Design parameter, what can we do in order to promote under Steer or over steer?? Influence features includes: Vehicle C.G. position ?? Tire cornering stiffness ?侧偏刚度 Load transfer ?? Camber angle ??前轮外倾角 Compliance steer effects ??柔性转向 一个四轮转向的非路面车辆 高等车辆动力学Advanced Vehicle Dynamics 中南林业科技大学 李翔晟 Email: jerryle@126.com Introduction 学科的发展历史(Historical review on the subject) 回顾车辆动力学理论对实际车辆设计的贡献 (Contribution of theory to practice) 研究内容和范围(Contents) 研究方法和设计哲学(Design philos