汽车系统动力学--操纵动力学仿真.pptxVIP

Vehicle system DynamicsAssignment 2Vehicle Handling Dynamics覃智威 116020910107张涵寓 116020910105computer?modelof motion equations Where:contentsCase-1: Same Angle Step InputCase-2: Same Lateral AccelerationCase-3: Root Locus Method Case-4: 4WS-Bode DiagramCase 1: Time Domain-same angle step inputLateral velocity?varies with timeCase 1: Time Domain-same angle step inputLateral velocity?varies with timeCase 1: Time Domain-same angle step inputYaw rate?varies with timeCase 1: Time Domain-same angle step inputLateral acceleration?varies with timeCase 2: Time Domain-same lateral accelerationLateral velocity?varies with timeIncrease Longitude Velocity, Adjusting Time changes a little while steady-state value increases a lot, so both system become more sensitive while Ux increases.Case 2: Time Domain-same lateral accelerationYaw rate?varies with timeOvershoot of Buick increases a lot while ux increases, however steady-state value decreases. Case 2: Time Domain-same lateral accelerationLateral acceleration?varies with timeBoth of the steady-state value are 0.3g.Case 3: System Stability Analysis-Root Locus Method As the u increases: Ferrari: Critical Damping → Under dampingBuick:Under damping → Unstablenew state-space functions with respect to δfCase 4: 4 Wheel Steering Design-Bode diagramCase 4: 4 Wheel Steering Design-Bode diagramPhase frequency stability margin:γFWS=115.5° γ4WS=94 °Amplitude frequency stability margin?:H=+ ∞Case 4: 4 Wheel Steering Design-Bode DiagramPhase frequency stability margin:γFWS=92.8° γ4WS=98.9 °Amplitude frequency stability margin?:H=+ ∞Case 4: 4 Wheel Steering Design-Bode DiagramTransfer Function of ay：G(ay)=s*G(vy)+u*G(γ)Thanks for Your Attention!