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FrA09.1
I. INTRODUCTION
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zB = zs ,
y D = y D1 ,
z D = z D1 + z s
(1)
yJ
zJ
1
y P a11
z P = a21
1 0
a12
a22
y J1 y P1
z J1 z P1
1 1
y A ( a11 y A1 + a12 z A1 )
z A ( a21 y A1 + a22 z A1 )
(2)
where (yA1, zA1), (yJ1, zJ1) , (yP1, zP1), (yC1, zC1) are the
coordinates of the points A, J, P and C at equilibrium
position. Further,
a11 = a22 = cos
a12 = a21 = sin
(3)
z J = ( y J yD ) + zD
y A = LA cos( + 1 ) + y B
(4)
z A = LA sin( + 1 ) + z B
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yC = ( yC1 y A1 )a11 + ( z A1 z C1 )a 21 + y A
[( yC1 y D )2 + ( zC1 z D )] ( 1 / 2 )
1
z C = ( y C1 y A1 )a21 + ( z C1 z A1 )a11 + z A
y J = ( y J1 y A1 )a11 + ( z A1 z J1 )a 21 + y A
z = z P z r = ( y A1 y P1 ) + ( z P1 z A1 ) +
z J = ( y J1 y A1 )a21 + ( z J1 z A1 )a11 + z A
L A sin( + 1 ) + z s z r
y P = ( y P1 y A1 )a11 + ( z A1 z P1 )a21 + y A
zC = ( yC y D ) + z D
D=
z J = ( y J y D ) + z D
y A = L A cos( + 1 )
(5)
( z A ay A z D )( yC y J )
h
1
C p (L )2
2
(11)
(10)
z P = ( y P1 y A1 )a21 + ( z P1 z A1 )a11 + z A
z A = L A sin( + 1 ) + z s
(9)
L = [ y C ( yC y D ) + ( zC z D )( zC z D )]
[( yC y D )2 + ( zC z D )2 ] ( 1 / 2 )
(12)
(6)
sin( + 1 )]
( y C y J )( y P y A )
= f1 zs + f 2
h
where
and
h = ( yC y A + zC z A )( y J y D )
zs +
mu L A cos( + 1 ) + ( y P z A )
( y J y A + z J z A )( yC y D )
B. Equations of Motion
Lagranges method is used to obtain the equations of motion
of the new model. The kinetic energy, T, is given by
1
1
1
1 B 2
T = ( ms + mca )( z s )2 + mu ( y P2 + z P2 ) + I u 2 + I ca
2
2
2
2
(7)
where ms, mu and mca, are the car body, wheel and control
B
arm masses, respectively. Iu and I ca
represent, in turn, the
inertia moments of the wheel and the control arm where the
latter is around point B. The potential energy, V, is defined
as
1
1
V = K s (L)2 + Kt (z ) 2
(8)
2
2
(13)
( y C y J )( z A z P )
m L {(cos( + 1 ) + sin( + 1 )}
h
u A
sin( + 1 )
L A sin( + 1 ) + ( z A z P ) +
mu L A L A cos( + 1 ) + ( y P z A )
( y C y J )( y P y A )
{(cos( + 1 ) + sin( + 1 )}
+
h
+ cos( + 1 )
I u
= f 3 zs + f 4
(14)
L = [( yC y D )2 + ( zC z D )2 ] ( 1 / 2 )
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H1 =
T
,
z s
H2 =
V
,
z s
V
,
H5 =
T
,
H4 =
H3 =
D
zs
D
H6 =
g1
z r
B 3 = 0
g1
f d
a =0
g 2
z r z
r =0
g 2
f d f
d =0
C p = 1950 (N.sec/m)
f1F2 f 3 F1
= g 2 ( z s , zs , , )
f 4 f1 f 2 f3
B 2 = 0
g 2
f a f
(15)
=
f 1 ( z s , z s , , )zs + f 2 ( z s , z s , , ) = F1 ( z s , z s , , )
f 3 ( z s , z s , , )zs + f 4 ( z s , z s , , ) = F2 ( z s , z s , , )
f 4 F1 f 2 F2
= g1 ( zs , zs , , )
f 4 f1 f 2 f3
g1
f a
zs =
B1 = 0
(16)
(17)
1
g1
x2
0
g 2
x2
0
g1
x3
0
g 2
x3
(18)
0
g1
x4
1
g 2
x4 x
e
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3925
[8]
[9]
semi-active suspensions: a new model, gain scheduling, and hardwarein-the-Loop tuning, J. of Dynamic Systems, Measurement, and
IV. CONCLUSION
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
[7]
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