Vehicle stability

Title:

Vehicle stability

Personal Author:

Karnopp, Dean

Publication Information:

New York, NY : Marcel Dekker, 2004

ISBN:

9780824757113

Subject Term:

Motor vehicles -- Stability

Motor vehicles -- Design and construction

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000003593880	TL245.8 K37 2004	Open Access Book	Book	Searching... Unknown

This reference offers a systematic approach to the dynamics and stability of vehicles such as cars, bicycles, trailers, motorcycles, and trains and shows how mathematical models of varying degrees of complexity can be used to suggest design guidelines for assurance of vehicle stability. Based on more than 30 years of teaching experience from a renowned authority in mechanical systems modeling, this volume illustrates the derivations of equations of motion using Newton's laws, Lagrange's equations, and bond graphs through a series of examples dispersed throughout the text and describes the similarities and differences in the stability properties of various vehicle types.

Author Notes

Dean Karnopp is Professor, Department of Mechanical and Aeronautical Engineering, University of California, Davis.

Preface	p. iii
1. Elementary Vehicles	p. 1
I. Introduction	p. 1
II. Tapered Wheelset on Rails	p. 4
III. The Dynamics of a Shopping Cart	p. 10
A. Inertial Coordinate System	p. 12
B. Body-Fixed Coordinate System	p. 18
2. Rigid Body Motion	p. 21
I. Introduction	p. 21
II. Inertial Frame Description	p. 22
III. Body-Fixed Coordinate Frame Description	p. 24
A. Basic Dynamic Principles	p. 27
B. General Kinematic Considerations	p. 27
IV. Spin Stabilization of Satellites	p. 30
V. Bond Graphs for Rigid Body Dynamics	p. 34
3. Stability of Motion--Concepts and Analysis	p. 40
I. Introduction	p. 40
II. Static and Dynamic Stability	p. 41
III. Eigenvalue Calculations and the Routh Criterion	p. 45
A. Mathematical Forms for Vehicle Dynamic Equations	p. 47
B. Computing Eigenvalues	p. 52
C. Routh's Stability Criterion	p. 54
4. Pneumatic Tire Force Generation	p. 59
I. Introduction	p. 59
II. Tire-Road Interaction	p. 59
III. Lateral Forces	p. 61
A. Effect of Normal Force	p. 62
IV. Longitudinal Forces	p. 67
V. Combined Lateral and Longitudinal Forces	p. 69
5. Stability of Trailers	p. 75
I. Introduction	p. 75
II. Single Degree-of-Freedom Model	p. 76
A. Use of Lagrange's Equations	p. 80
B. Analysis of the Equation of Motion	p. 83
III. Two Degree-of-Freedom Model	p. 85
A. Calculation of the Slip Angle	p. 86
B. Formulation Using Lagrange's Equations	p. 87
C. Analysis of the Equations of Motion	p. 89
IV. A Third-Order Model	p. 91
A. A Simple Stability Criterion	p. 92
V. A Model Including Rotary Damping	p. 93
A. A Critical Speed	p. 95
6. Automobiles	p. 97
I. Introduction	p. 97
II. Stability and Dynamics of an Elementary Automobile Model	p. 98
III. Stability Analysis Using Inertial Coordinates	p. 99
A. Stability, Critical Speed, Understeer, and Oversteer	p. 105
B. Body-Fixed Coordinate Formulation	p. 106
IV. Transfer Functions for Front and Rear Wheel Steering	p. 109
V. Yaw Rate and Lateral Acceleration Gains	p. 115
A. The Special Case of the Neutral Steer Vehicle	p. 116
VI. Steady Cornering	p. 117
A. Description of Steady Turns	p. 118
B. Significance of the Understeer Coefficient	p. 121
VII. Acceleration and Yaw Rate Gains	p. 124
VIII. Dynamic Stability in a Steady Turn	p. 131
A. Analysis of the Basic Motion	p. 132
B. Analysis of the Perturbed Motion	p. 133
C. Relating Stability to a Change in Curvature	p. 136
IX. Limit Cornering	p. 138
A. Steady Cornering with Linear Tire Models	p. 141
B. Steady Cornering with Nonlinear Tire Models	p. 142
7. Two-Wheeled and Tilting Vehicles	p. 146
I. Introduction	p. 146
II. Steering Control of Banking Vehicles	p. 147
A. Development of the Mathematical Model	p. 148
B. Derivation of the Dynamic Equations	p. 151
III. Steering Control of Lean Angle	p. 154
A. Front-Wheel Steering	p. 155
B. Countersteering or Reverse Action	p. 157
C. Rear-Wheel Steering	p. 160
8. Stability of Casters	p. 163
I. Introduction	p. 163
II. A Vertical Axis Caster	p. 164
III. An Inclined Axis Caster	p. 166
IV. A Vertical Axis Caster with Pivot Flexibility	p. 170
A. Introduction of a Damping Moment	p. 172
V. A Vertical Axis Caster with Pivot Flexibility and a Finite Cornering Coefficient	p. 173
VI. A Caster with Dynamic Side Force Generation	p. 174
A. The Flexible Sidewall Interpretation of Dynamic Force Generation	p. 176
B. Stability Analysis with Dynamic Force Generation	p. 179
9. Aerodynamics and the Stability of Aircraft	p. 181
I. Introduction	p. 181
II. A Little Airfoil Theory	p. 183
III. Derivation of the Static Longitudinal Stability Criterion for Aircraft	p. 189
A. Parameter Estimation	p. 197
IV. The Phugoid Mode	p. 199
V. Dynamic Stability Considerations--Comparison of Wheels and Wings	p. 202
A. An Elementary Dynamic Stability Analysis of an Airplane	p. 206
VI. The Effect of Elevator Position on Trim Conditions	p. 209
10. Rail Vehicle Dynamics	p. 214
I. Introduction	p. 214
II. Modeling a Wheelset	p. 216
III. Wheel-Rail Interaction	p. 219
IV. Creepage Equations	p. 220
V. The Equations of Motion	p. 223
VI. The Characteristic Equation	p. 223
VII. Stability Analysis and Critical Speed	p. 224
11. Electronic Stability Enhancement	p. 228
I. Introduction	p. 228
II. Stability and Control	p. 229
III. From Antilock Braking System to Vehicle Dynamic Control	p. 232
IV. Model Reference Control	p. 235
V. Active Steering Systems	p. 238
A. Stability Augmentation Using Front, Rear, or All-Wheel Steering	p. 241
B. Feedback Model Following Active Steering Control	p. 244
C. Sliding Mode Control	p. 246
D. Active Steering Applied to the "Bicycle" Model of an Automobile	p. 250
E. Active Steering Yaw Rate Controller	p. 251
VI. Limitations of Active Stability Enhancement	p. 258
Appendix Bond Graphs for Vehicle Dynamics	p. 260
Problems	p. 270
Bibliography	p. 309
Index	p. 315

Available:*

On Order

Summary

Summary

Author Notes

Table of Contents