Transcription of Chapter 4 Vehicle Dynamics - Virginia Tech
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Chapter 4 Vehicle Dynamics - Virginia Tech
31 Chapter 4 Vehicle IntroductionIn order to design a controller, a good representative model of thesystem is needed. A Vehicle mathematical model, which is appropriate for bothacceleration and deceleration, is described in this section. This model will beused for design of control laws and computer simulations. Although the modelconsidered here is relatively simple, it retains the essential Dynamics of thesystem. System DynamicsThe model identifies the wheel speed and Vehicle speed as statevariables, and it identifies the torque applied to the wheel as the input two state variables in this model are associated with one-wheel rotationaldynamics and linear Vehicle Dynamics .
values between 0.1 (icy road) and 0.9 (dry asphalt and concrete). Wheel Slip (λ) 0-1 0 1 1 (Acceleration) (Deceleration) Adhesion Coefficient ( µ) Linear portion of the curve Peak Figure 4.2. Typical µ -λ curve. Wheel Slip (λ) 1.0 (µ) Adhesion Coefficient Dry Pavement Wet Asphalt Unpacked Snow Ice 0 1.0 Figure 4.3. µ -λ Curves for ...
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