Einspurmodell
Annahmen:
- Fahrgeschwindigkeit = konstant
- Zwei Freiheitsgrade ( Gierbewegung & Schwimmbewegung )
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http://hoppecorp.de/FHTW/Skript_FZT_Teil8.pdf
http://www.uni-due.de/imperia/md/content/mechatronik/lehre/fahrdynamik_kap2_zusatz.pdf
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Lateral Dynamic Response of Vehicle Equipped with Electric Power Steering System
http://www.aisst.org.tn/PDF/document/sd75.pdf
- vehicle lateral dynamic response.
- modeling of electric Power Steering.
- the vehicle lateral dynamics model evaluates the lateral and yaw motions of the vehicle.
- The steering angle is the input for the vehicle model to estimate the vehicle lateral dynamics response.
- the lateral acceleration and yaw velocity are the outputs for the vehicle model.
- Electric Power Steering model.
- the study of electric power assisted steering on the vehicle lateral dynamics response.
- Bicycle half-car handling model
- estimate the lateral and yaw motions of the vehicle body.
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A Simulink model for Vehicle rollover prediction and prevention
http://web.ics.purdue.edu/~chiu2/research/thesis.pdf
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Full Vehicle Dynamic Modeling for Chassis Controls
http://www.fisita.com/students/congress/sc08papers/f2008sc021.pdf
- Horizontal vehicle model is 3DOF.
- It is consist of longitudinal, lateral translation, and rotation of vehicle mass center.
- 3 DOF Horizontal vehicle model
This model has 3 DOF of mass center(vertical, roll, pitch dynamic) and 4 DOF of each wheel(wheel vertical dynamic).
- 3DOF Horizontal dynamic
- 7DOF Vertical dynamic
- 4DOF Wheel dynamic
http://www.buchhandel.de/WebApi1/GetMmo.asp?MmoId=1000099&mmoType=PDF
- lateral vehicle dynamics.
- study kinematic and dynamic models for lateral vehicle motion.
- control system design for lateral vehicle applications
- Yaw stability control systems
- the function of the yaw control system is to restore the yaw velocity of the vehicle as much as possible to the nominal motion expected by the driver.
- a bicycle model of the vehicle
- The steering angles (delta front),(delta rear)
- for the front wheel only steering (delta rear = 0)
- the center of gravity of the vehicle (C)
- the distance of the A, B to the c.g of the vehicle (L front ,L rear)
- the motion of the vehicle X,Y,W(epzei).
- the velocity of the c.g. is (V), makes angle B(Beta) with the longitudinal axis of the vehicle.
- the slip angle of the vehicle (beta).
- the heading angle of the vehicle (epzei).
- the velocity vector at the front wheel makes an angle with the longitudinal axis of the vehicle.
- the velocity vector at the rear wheel makes an angle with the longitudinal axis of the vehicle.
- the slip angle = 0 at the speed < 5 m/s --> the lateral force by the tires is small.
- steering angle (delta) = heading angle(epzei) + slip angle (beta) .
- Bicycle model of lateral vehicle dynamics:
- at higher vehicle speed : (kinematic model + dynamic model) for lateral vehicle motion
- Bicycle model is 2 degree of freedom : the vehicle lateral position (y) and the vehicle yaw angle(epzei).
- Kinematic vehicle model
- Dynamic vehicle model in terms of inertial lateral position and yaw angle
- Dynamic vehicle model in terms of road-error variables
- Dynamic vehicle model in terms of yaw rate and vehicle slip angle.
Vehicle Dynamics
http://homepages.fh-regensburg.de/~rig39165/skripte/Vehicle_Dynamics.pdf
Single-track model for lateral dynamics ----- Einspurmodell für Querdynamik
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einspurmodell
http://hoppecorp.de/FHTW/Skript_FZT_Teil8.pdf
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