Vehicle dynamics, stability, and control

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
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Anyone who has experience with a car, bicycle, motorcycle, or train knows that the dynamic behavior of different types of vehicles and even different vehicles of the same class varies significantly. For example, stability (or instability) is one of the most intriguing and mysterious aspects of vehicle dynamics. Why do some motorcycles sometimes exhibit a wobble of the front wheel when ridden "no hands" or a dangerous weaving motion at high speed? Why does a trailer suddenly begin to oscillate over several traffic lanes just because its load distribution is different from the usual? Other questions also arise: How do humans control an inherently unstable vehicle such as a bicycle and how could a vehicle be designed or modified with an automatic control system to improve its dynamic properties?

Using mainly linear vehicle dynamic models as well as discussion of nonlinear limiting effects, Vehicle Dynamics, Stability, and Control, Second Edition answers these questions and more. It illustrates the application of techniques from kinematics, rigid body dynamics, system dynamics, automatic control, stability theory, and aerodynamics to the study of the dynamic behavior of a number of vehicle types. In addition, it presents specialized topics dealing specifically with vehicle dynamics such as the force generation by pneumatic tires, railway wheels, and wings.

The idea that vehicles can exhibit dangerous behavior for no obvious reason is in itself fascinating. Particularly obvious in racing situations or in speed record attempts, dynamic problems are also ubiquitous in everyday life and are often the cause of serious accidents. Using relatively simple mathematical models, the book offers a satisfying introduction to the dynamics, stability, and control of vehicles.

Preface	p. ix
Author	p. xiii
1 Introduction: Elementary Vehicles	p. 1
1.1 Tapered Wheelset on Rails	p. 4
1.2 The Dynamics of a Shopping Cart	p. 10
1.2.1 Inertial Coordinate System	p. 11
1.2.2 Body-Fixed Coordinate System	p. 16
2 Rigid Body Motion	p. 21
2.1 Inertial Frame Description	p. 22
2.2 Body-Fixed Coordinate Frame Description	p. 23
2.2.1 Basic Dynamic Principles	p. 27
2.2.2 General Kinematic Considerations	p. 27
2.3 Spin Stabilization of Satellites	p. 30
2.4 Bond Graphs for Rigid Body Dynamics	p. 34
3 Stability of Motion: Concepts and Analysis	p. 41
3.1 Static and Dynamic Stability	p. 42
3.2 Eigenvalue Calculations and the Routh Criterion	p. 46
3.2.1 Mathematical Forms for Vehicle Dynamic Equations	p. 47
3.2.2 Computing Eigenvalues	p. 52
3.2.3 Routh's Stability Criterion	p. 54
4 Pneumatic Tire Force Generation	p. 59
4.1 Tire-Road Interaction	p. 59
4.2 Lateral Forces	p. 60
4.2.1 Effect of Normal Force	p. 62
4.3 Longitudinal Forces	p. 66
4.4 Combined Lateral and Longitudinal Forces	p. 68
5 Stability of Trailers	p. 73
5.1 Single-Degree-of-Freedom Model	p. 74
5.1.1 Use of Lagrange Equations	p. 78
5.1.2 Analysis of the Equation of Motion	p. 81
5.2 Two-Degree-of-Freedom Model	p. 82
5.2.1 Calculation of the Slip Angle	p. 83
5.2.2 Formulation Using Lagrange Equations	p. 84
5.2.3 Analysis of the Equations of Motion	p. 86
5.3 A Third-Order Model	p. 88
5.3.1 A Simple Stability Criterion	p. 89
5.4 A Model Including Rotary Damping	p. 90
5.4.1 A Critical Speed	p. 92
6 Automobiles	p. 95
6.1 Stability and Dynamics of an Elementary Automobile Model	p. 95
6.1.1 Stability Analysis Using Inertial Coordinates	p. 96
6.1.2 Stability, Critical Speed, Understeer, and Oversteer	p. 102
6.1.3 Body-Fixed Coordinate Formulation	p. 103
6.2 Transfer Functions for Front- and Rear-Wheel Steering	p. 106
6.3 Yaw Rate and Lateral Acceleration Gains	p. 111
6.3.1 The Special Case of the Neutral Steer Vehicle	p. 112
6.4 Steady Cornering	p. 114
6.4.1 Description of Steady Turns	p. 115
6.4.2 Significance of the Understeer Coefficient	p. 118
6.5 Acceleration and Yaw Rate Gains	p. 121
6.6 Dynamic Stability in a Steady Turn	p. 127
6.6.1 Analysis of the Basic Motion	p. 128
6.6.2 Analysis of the Perturbed Motion	p. 129
6.6.3 Relating Stability to a Change in Curvature	p. 132
6.7 Limit Cornering	p. 135
6.7.1 Steady Cornering with Linear Tire Models	p. 137
6.7.2 Steady Cornering with Nonlinear Tire Models	p. 138
7 Two-Wheeled and Tilting Vehicles	p. 141
7.1 Steering Control of Banking Vehicles	p. 142
7.1.1 Development of the Mathematical Model	p. 143
7.1.2 Derivation of the Dynamic Equations	p. 146
7.2 Steering Control of Lean Angle	p. 149
7.2.1 Front-Wheel Steering	p. 150
7.2.2 Countersteering or Reverse Action	p. 152
7.2.3 Rear-Wheel Steering	p. 155
8 Stability of Casters	p. 159
8.1 A Vertical Axis Caster	p. 160
8.2 An Inclined Axis Caster	p. 162
8.3 A Vertical Axis Caster with Pivot Flexibility	p. 166
8.3.1 Introduction of a Damping Moment	p. 167
8.4 A Vertical Axis Caster with Pivot Flexibility and a Finite Cornering Coefficient	p. 168
8.5 A Caster with Dynamic Side Force Generation	p. 170
8.5.1 The Flexible Sidewall Interpretation of Dynamic Force Generation	p. 172
8.5.2 Stability Analysis with Dynamic Force Generation	p. 174
9 Aerodynamics and the Stability of Aircraft	p. 177
9.1 A Little Airfoil Theory	p. 178
9.2 Derivation of the Static Longitudinal Stability Criterion for Aircraft	p. 184
9.2.1 Parameter Estimation	p. 192
9.3 The Phugoid Mode	p. 194
9.4 Dynamic Stability Considerations: Comparison of Wheels and Wings	p. 197
9.4.1 An Elementary Dynamic Stability Analysis of an Airplane	p. 201
9.5 The Effect of Elevator Position on Trim Conditions	p. 204
10 Rail Vehicle Dynamics	p. 207
10.1 Introduction	p. 207
10.2 Modeling a Wheelset	p. 209
10.3 Wheel-Rail Interaction	p. 212
10.4 Creepage Equations	p. 213
10.5 The Equations of Motion	p. 215
10.6 The Characteristic Equation	p. 216
10.7 Stability Analysis and Critical Speed	p. 217
11 Vehicle Dynamics Control	p. 221
11.1 Stability and Control	p. 222
11.2 From ABS to VDC and TVD	p. 224
11.2.1 Model Reference Control	p. 228
11.3 Active Steering Systems	p. 231
11.3.1 Stability Augmentation Using Front-, Rear-, or All-Wheel Steering	p. 233
11.3.2 Feedback Model Following Active Steering Control	p. 237
11.3.3 Sliding Mode Control	p. 238
11.3.4 Active Steering Applied to the Bicycle Model of an Automobile	p. 242
11.3.5 Active Steering Yaw Rate Controller	p. 243
11.4 Limitations of Active Vehicle Dynamics Control	p. 249
Appendix: Bond Graphs for Vehicle Dynamics	p. 251
A.1 A Bond Graph for the Two-Degree-of-Freedom Trailer	p. 252
A.2 A Bond Graph for a Simple Car Model	p. 256
A.3 A Bond Graph for a Simple Airplane Model	p. 257
Problems	p. 261
Chapter 1 p. 261
Chapter 2 p. 264
Chapter 3 p. 266
Chapter 4 p. 269
Chapter 5 p. 271
Chapter 6 p. 279
Chapter 7 p. 285
Chapter 8 p. 287
Chapter 9 p. 291
Chapter 10 p. 294
Chapter 11 p. 296
References	p. 301
Index	p. 305

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