Integrated Vehicle Dynamics and Control

Wuwei Chen, Hansong Xiao, Qidong Wang, Linfeng Zhao, Maofei Zhu

• Publisher: Wiley
• Year: 2016
• Print ISBN: 9781118379998
• eBook ISBN: 9781118380024
• Edition: 1
• Topic: Tecnología e ingeniería
• Subtopic: Ingeniería mecánica

A comprehensive overview of integrated vehicle system dynamics exploring the fundamentals and new and emerging developments

This book provides a comprehensive coverage of vehicle system dynamics and control, particularly in the area of integrated vehicle dynamics control. The book consists of two parts, (1) development of individual vehicle system dynamic model and control methodology; and (2) development of integrated vehicle dynamic model and control methodology. The first part focuses on investigating vehicle system dynamics and control according to the three directions of vehicle motions, including longitudinal, vertical, and lateral. Corresponding individual control systems, e.g. Anti-lock Brake System (ABS), Active Suspension, Electric Power Steering System (EPS), are introduced and developed respectively.

Particular attention is paid in the second part of the book to develop integrated vehicle dynamic control system. Integrated vehicle dynamics control system is an advanced system that coordinates all the chassis control systems and components to improve the overall vehicle performance including safety, comfort, and economy. Integrated vehicle dynamics control has been an important research topic in the area of vehicle dynamics and control over the past two decades. The research topic on integrated vehicle dynamics control is investigated comprehensively and intensively in the book through both theoretical analysis and experimental study. In this part, two types of control architectures, i.e. centralized and multi-layer, have been developed and compared to demonstrate their advantages and disadvantages.

• Integrated vehicle dynamics control is a hot topic in automotive research; this is one of the few books to address both theory and practice of integrated systems
• Comprehensively explores the research area of integrated vehicle dynamics and control through both theoretical analysis and experimental study
• Addresses a full range of vehicle system topics including tyre dynamics, chassis systems, control architecture, 4 wheel steering system and design of control systems using Linear Matrix Inequality (LMI) Method

1
Basic Knowledge of Vehicle System Dynamics

1.1 Traditional Methods of Formulating Vehicle Dynamics Equations

Traditional methods of formulating vehicle dynamics equations are based on the theories of Newtonian mechanics and analytical mechanics. Some of the definitions used in dynamics are presented first.

1. Generalized coordinates
   Any set of parameters that uniquely define the configuration (position and orientation) of the system relative to the reference configuration is called a set of generalized coordinates. Generalized coordinates may be dependent or independent. To a system in motion, the generalized coordinates that specify the system may vary with time. In this text, column vector

   

   is used to designate generalized coordinates, where n is the total number of generalized coordinates.
   In Cartesian coordinates, to describe a planar system which consists of b bodies,

   

   coordinates are needed. For a spatial system with b bodies,

   

   (or

   

   ) coordinates are needed.
   The overall vector of coordinates of the system is denoted by

   

   , where vector q_i is the vector of coordinates for the ith body in the system.
2. Constraints and constraint equations
   Normally, a mechanical system that is in motion can be subjected to some geometry or movement restrictions. These restrictions are called constraints. When these restrictions are expressed as mathematical equations, they are referred to as constraint equations. Usually these constraint equations are denoted as follows:
   (1.1)

   
   If the time variable appears explicitly in the constraint equations, they are expressed as:
   (1.2)

   
3. Holonomic constraints and nonholonomic constraints
   Holonomic and nonholonomic constraints are classical mechanics concepts that are used to classify constraints and systems. If constraint equations do not contain derivative terms, or the derivative terms are integrable, these constraints are said to be called holonomic. They are geometric constraints. However, if the constraint equations contain derivative terms that are not integrable in closed form, these constraints are said to be nonholonomic. They are movement constraints, such as the velocity or acceleration conditions imposed on the system.
4. Degrees of freedom
   The generalized coordinates that satisfy the constraint equations in a system may not be independent. Thus, the minimum number of coordinates required to describe the system is called the number of degrees of freedom (DOF).
5. Virtual displacement
   Virtual displacement is an assumed infinitesimal displacement of a system at a certain position with constraints satisfied while time is held constant. Conditions imposed on the virtual displacement by the constraint equations are called virtual displacement equations. A virtual displacement may be a linear or an angular displacement, and it is normally denoted by the variational symbol δ. Virtual displacement is a different concept from actual displacement. Actual displacement can only take place with the passage of time; however, virtual displacement has nothing to do with any other c...

Table of contents

• Cover
• Title Page
• Table of Contents
• Preface
• 1 Basic Knowledge of Vehicle System Dynamics
• 2 Tyre Dynamics
• 3 Longitudinal Vehicle Dynamics and Control
• 4 Vertical Vehicle Dynamics and Control
• 5 Lateral Vehicle Dynamics and Control
• 6 System Coupling Mechanism and Vehicle Dynamic Model
• 7 Integrated Vehicle Dynamics Control
• 8 Integrated Vehicle Dynamics Control
• 9 Perspectives
• Index
• End User License Agreement