Vehicle Dynamics汽车动力学Lecture_1_Introduction

Fundamentals of Vehicle Dynamics原版课件

Vehicle System Dynamicsd

-mgsin θ vr + Kp + (Ki/s) F + + (1/c) ________ (m/c)s + 1 v

Professor You-Qun Zhao

2011-1-18

Zhao Youqun

Fundamentals of Vehicle Dynamics原版课件

Lecture 1

Introduction and MotivationIntroduction to Course Course content Assignments and grading Final project Introduction to Vehicle System Dynamics The mechatronic automobile control systems, computers, electronics Growing numbers of vehicles and their impact safety, congestion, energy/environment, comfort Examples2011-1-18 Zhao Youqun 2

Fundamentals of Vehicle Dynamics原版课件

DescriptionIt will cover vehicle system dynamics, such as anti-lock brakes, traction control and active Suspensions, Vehicle stability enhancement. We will also consider human factors and the role of the driver in the control loops. Active safety systems and advanced vehicle control systems for Intelligent Transportation Systems (ITS) will also be covered, including collision detection and avoidance, lateral and longitudinal control and Platooning.2011-1-18 Zhao Youqun 3

Fundamentals of Vehicle Dynamics原版课件

Major Course ContentsIntroductionmotivation, background and terminology

Vehicle control systemscruise control, ABS and traction control, active suspensions, ..

Intelligent transportation systems (ITS)navigation aids, traffic control systems, collision avoidance, automated highways, platooning, ..2011-1-18 Zhao Youqun 4

Fundamentals of Vehicle Dynamics原版课件

Course ObjectivesTo provide a graduate level introduction to Automotive Control Systems. Students will be introduced to the basic concepts and terminology, the state-of-the-art, and basic methodologies. They will, upon completion of the course, be able to read the literature on this subject, and to do independent design, research and development work in the field.

2011-1-18

Zhao Youqun

Fundamentals of Vehicle Dynamics原版课件

PrerequisitesIntroduction to Dynamics, or equivalent Introduction to Automatic Control, or equivalent. Recommended: Familiarity with Matlab and Simulink Familiarity/interest in automotive systems (e.g., Automotive Engineering, and/or Automotive Electronics)

2011-1-18

Zhao Youqun

Fundamentals of Vehicle Dynamics原版课件

Assignments and GradingGrades will be based on:Homework Project Final Exam 15% 15% 70%

Course notes, and all handouts, will be provided Examples of quizzes and exams, projects, etc. will also be available

2011-1-18

Zhao Youqun

Fundamentals of Vehicle Dynamics原版课件

Grading PolicyHomework: Must be turned in before the end of class on the due date. Late homework will be accepted up to 48 hours late with a 20% penalty for each 24 hours. Quizzes: Vehicle Dynamics and Simple controls Project: A team project report is due by the end of the course. It can be on any vehicle control topics approved by the lecturer.2011-1-18 Zhao Youqun 8

Fundamentals of Vehicle Dynamics原版课件

Example Homework Problem-1(Suspension design) Modify the Matlab program in the example in your course notes and plot the cost function J versus vehicle sprung mass. Assume that the vehicle sprung mass is 300kg when empty. Use this value to compute all the other parameters based on the assumption that r = (ms/mus) = 10.0, w1 = R(kus/mus) = 20p rad/s, w2 = R(ks/ms) = 2p rad/s, z1 = cus/(2musw1) = 0.0

, and z2 = cs/(2msw2) = 0.3. Vary sprung mass between 300 and 450 kg for simulations (to plot J). Perturb the following parameters - 70% unsprung mass (i.e. what is the effect of light-weight wheels) - 50% tire stiffness (i.e. what will happen when tire pressure is low) - 50% damping of shock absorber (when a shock absorber wears out...) Construct a table and record the rms values of the three major signals (tire deflection, suspension stroke, and sprung mass acceleration) under nominal and these three perturbed cases. Comment on the results.2011-1-18 Zhao Youqun 9

Fundamentals of Vehicle Dynamics原版课件

Example Homework Problem-2(Adaptive cruise control) Following the examples in the notes, design a gain-scheduled RST control algorithm, (i.e. the RST control gains are all functions of vehicle parameters gain K and time constant ) based on the simple vehicle longitudinal dynamics (i.e. no actuator dynamics). Select the gains such that the closed-loop poles correspond to (continuous-time) damping ratio=0.9, and wn=2.0. Use MATLAB to simulate the following scenario- the desired speed ramps up from 15 to 30 m/sec within t=[5,35] seconds. Outside of this range, the desired speed is held constant (15 and 30, respectively). - the vehicle starts on a flat road, begins an uphill climbing (2%) from t=10, and reaches the flat plateau at t=20 seconds. Outside of this range, slope is zero.

Simulate the vehicle speed response. Plot(1) Vehicle speed and speed error (desired minus true vehicle speed). (2) True and estimated vehicle parameters (a and b) (3) Longitudinal force (make sure it is not excessively large) (30%)2011-1-18 Zhao Youqun 10

Fundamentals of Vehicle Dynamics原版课件

Example Quiz Problem-1Based upon the 2 degree-of-freedom car handling model, determine:(1) The understeer gradient, K (unit must be clearly stated). (10%) (2) If the vehicle is understeer, determine the characteristic speed. If the vehicle is oversteer, determine the critical speed. (10%) (3) The steering angle needed to pass through a curve of 200m radius.(10%)

Use the following vehicle parameters l= 2.5 m a = 1.1 m g = 9.81 m/s2 u0 = 20.0 m/s Iz = 1000.0 kg-m2 Caf = 2200.0 N/deg2011-1-18

b = l - a = 1.4 m m = 1000 kg Car = 2000.0 N/deg11

Zhao Youqun

Fundamentals of Vehicle Dynamics原版课件

Example Quiz Problem-2During spring break, four stud …… 此处隐藏：6063字，全部文档内容请下载后查看。喜欢就下载吧 ……