1.

1.1
1.2
1.3
1.4
1.5

1.1
1.1
1.4
1.6
1.9

2.
2.1
2.2
2.3
2.4
2.5
2.6
2.7

,



/
Autocad
Computer Aided Chasis Design [CACD]

2.3
2.19
2.28
2.41
2.49
2.60
2.63

3.
3
3.1
3.2
3.3
3.4
3.5

,
AUTOCAD

(Autoshading)

3.1
3.1
3.3
3.30
3.30
3.32

4.
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8

,






Antilock Braking (ABS)

4.3
4.6
4.24
4.27
4.32
4.37
4.47
4.66

5.
5.1
5.2
5.3

iii

5.1
5.9
5.17

5.4
5.5

5.62
5.67

6.
6.1
6.2
6.3
6.4
6.5

6.1
6.3
6.72
6.89
6.115

7.
7.1
7.2.1
7.3
7.4
7.5
7.6
7.7
7.8

(
).

.

.

7.1
7.8
7.9
7.10
7.12
7.16
7.19
7.26
7.27
7.28
7.30
7.32

8.
8.1
8.2
8.3
8.4
8.5

.
.
.
.
, .

iv

8.1
8.4
8.9
8.12
8.12

 9.
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
9.10
9.11
9.12
9.13

. .
.
OTTO.
DIESEL.
WAKEL.
.
.
.
.
.
.
.
.

9.1
9.3
9.10
9.13
9.22
9.26
9.27
9.33
9.45
9.57
9.71
9.76
9.78

10.
10.1 . .
10.2 .
10.3 -
.
10.4 .
10.5 .
10.6 .

10.3
10.5
10.11
10.19
10.36
10.41

11.
11.

11.1
11.2 :
, .
11.3

(SAE 16)

11.3
11.5
11.52
11.60

1.1
, ,

19 . ,

.
. -
.
, , 1.1.

1.1. 1880

. .
1890
, , , 1.2.

.

2


.
.
1870 1880
,
, ..

1.2. 1892 (Royal Bicycle) 1897 (De Dion).

Karl Benz, 1885,
. ,
100 ,
. , , ,

.
Robert Davidson, 1837
,
- .

.
,

20.000 ,
,
.
,

, ,
, .
,
, .
1.2
1769 Nicholas
Joseph Cugnot, ,


3
, 1.3. 4
2,25 .
Cugnot
.

1.3. , 1769 Cugnot.

1881 Paris Omnibus,
- .
. 1876,
Nikolaus Otto
, .
Otto, , Karl Benz Gottlied Daimler
, ,
. Benz 1885

, 1.4.
,
. , ,

Otto. ,
. 0.5 HP
250 - 300 13 16
.

1.4. Benz Daimler .

Daimler 1886
( 1.4).
,
. 1.5 HP
900 RPM. A
1900 ,
(carburateur) (floater)
Maybach, 1892, ,
Vacheron 1894,
Michelin, Lanchester 1895,
Mors (4 V)
Daimler (4 ) (cardan shaft)

, Renault.
, .
,
. 1.5 1.6
.
1900
.
.
Winton 1897
.
5/6 .

,
. 1900
.
.

1.5. Duryea 1893 Haynes-Apperson 1894

Panhard-Levassor 1895 .

1.6. Hertel 1895 Winton 1897

Columbia Electric Victoria 1899 Locomobile 1900 .

6

1.3 - 1900 1927
1900

.
.
,
, . 1902
Charles Baker 137 km/h.


, .

1.7. Bersey De Kruger, (Bullet),

140 km/h.
, Georges Bouton Albert de Dion,

. - '
-

. , ,
. '
Herbert Frood 1908 ,
'
. , 1902, Frederick Lanchester
, 1903 Mercedes ( Daimler)

. Isetta-Frachini, 1911,
4 . , 1920
. ' (1900 1920), ,
, , , .

,
.


7
.

, .
1900
:
, ( 1.8).

.
,
.
1890
(Emille Levassor). To 1891 o

.

1.8. Creanche, 1900

, (
)
.
, .
.
, ,
, .
( ) ,
, . 1920 ,
.
. 1.9
.

8


.
. ,
(The Horseless ge 16 1900)
,
.
Gordon - Bennett 1900 - 610 .
Charron Panhard-Levassor 66,8
/. 120-130 /
.

, . 1902
-, 1903 -.


.
Mors, Panhard-Levassor, Napier, Renault De Dietrich.

1.9. Panhard -Levassor 1900

Mors 1901

.
.
Mercedes 1901 1.10


9
.
(
)
.

1.10. Mercedes 1901 35 hp

.

.
Columbia 1901 Creanche
Ford Model A 1903 1.11.
1.12 1.13.

1.11. Columbia 1901 Ford Model A 1903

10

1.12. Autocar Packard 1903

(
)

.
, 1.14.

1.13. Vauxhall 1903

1903
. 1903
,
. 1905

.
1905
.
1905
1920
5 7 .

11

1.14. Thomas 1904 1905

1906

. 1906
Grout 1.15

. Oldsmobile 1906
.

.
, 1906
.
.


. ,
.
,
.

12

1.15. : Grout Touring Car Oldsmobile

1906, Mora Touring Car 1907


13
1906
. Grout
1906 .
,
.
Mora 1907 .


. Gentlemen's Roadsters
.
Thomas Runabout 1906, 1.16, .

.
. ""
,
.
.

. American Simplex 1909, 1.17,
.
Thomas
Runabout.

1.16. Thomas Runabout, 1906

1.17. American Simplex 1909

14

Thomas Simplex
.

.
. Ford
Model N 1906, 1.18,

. Buick Model 10 1908
Roadster Ford
. '.
Gentlemen's Roadsters
(concept cars). Aerocar
Runabout 1907, " " Hupmobile 1909.

.
Hupmobile Roadsters
750 $ 3.000-5.000 $ Simplex.

1.18. Ford Model N 1906 Buick Model 10 1908

15

1.19. Aerocar Runabout 1907 Hupmobile 1909

Roadsters


.
.
Roadster . 1.20
Stearns Roadster toy tonneau baby tonneau
pony tonneau .
Roadster, , ,
.

.
. 1907 1910.

16

1.20. Stearns Roadster 1907 Menard Auto Buggy 1908

1907
buggy Menard Auto Buggy, 1.20,
.


.
'
.
Middle West ,
. 1910
1911 .
' Ford Model T 1908.
Ford Model T 6181
Buick 8487
Cadillac 2380. 1908 1927 15 Ford Model T,
1.21, 70
Volkswagen.

17

1.21 Ford Model T, 15 1908 1927

. ,

. , 80
35 ...

. 1919
Studebaker Baker, 1.22.

1.22. Studebaker electric Baker electric 1910.

1.23
Torpedo Body ().
Stafford
1911
.
Haynes 1910. ,
.

18

1.23. Haynes 1910 Stafford 1911

.
,

. 1906
Presto-o-Lite
, 1.23. 1908

. , ,

. 1912

(, )
.

.

19

1.24. Opel Torpedo, 1912

1.25. Premier Little Six 1913, Winton Six 1914

Torpedo Body (Streamline
Body) . 1.24 Opel Torpedo 1912
.

Premier Little Six 1913, 1.25.
Winton Six 1914
Kissel Kar 1914, 1.26
.

20

(Collonial
Style) 1916-17, 1.26.

1.26. Kissel Kar 1914 Chalmers Colonial Coupe

.
, , ,
, ,
, .
,
.
.
.


21
. 1920

,
, , .
1920
: , , , ,
1906 1919, .
,
.
,
, Austin Seven,
1922, ,
, 1.27.

1.27. Austin Seven, 1922

,
, ..., ,
, , .
, 1920,
1922
.
1927
,
,
1920. ',

22


. '
Royale Buggati, Phantom III Rolls Royce, Bentley
Hispano - Suisa ( 1.28).

.
, , ,
, (choke)
.

1.28. Hispano-Suiza 1925

1920 , ,

.
.
Mercedes 1901 1.10
.
' .

.
' .


.
.
.

, . Lancia, 1922,
Lambda , 1.29.
,

,
.


23
.
.

1.29. Lancia Lambda 1922

1920
. ,

. ,
( )

.
, .
, 1928 Cadillac
, . 1.30
Citroen 1925 .
.
.

24

1.30 Peugeot Quadrilette 1922, Tourer 1928 Citroen 1925

:
.


25
.


.
.
1920:
.
,
, .
1.4 1927 1956
1927 Ford Model T
. Henry Ford Alfred
Sloan General Motors. Ford
,

.
.

1.31 Laurent Clement 1926, Duesenberg (Murphy) 1931 Ford

1935 .

26

Alfred Sloan
, .
General Motors
.
:
,
. 1930
,
( 1.31).

1.32 Mercedes-Benz 1933

1.33 Citroen Traction Avant 1934

-

1.34 Opel Olympia 1935, Vauxhall 1937 Cord 1936-37

27

28

. 20
Artz .
Artz
. 1930
, .

. ,
.

. ,
500 , 1930 120.

(stylists)
.
.

, ,
.

.
1.34 Opel Olympia 1935
-. Vauxhall
1937 -
. General
Motors . Opel Olympia

Renault. Kadett
Moskvitch. Cord 1936-37
.

.
.


.
,
. ,

(, ).
:
.

.
.

1.35. Buggati Cadillac 1930 Cadillac Victoria 1933.

29

30

.
1.35 Buggati Cadillac 1930 Cadillac 1934
1.36 Talbot 26 1947 Allard M81 1949. H Bayerische
Motoren-Werke A.G. ,
B.M.W., Austin Seven,
18 "Wartburg".
1931, 788 ..

1.36 Talbot 26 1947 Allard M81, 1949.

1930,
, V8 , ,
.
, 1938,
, KDF,


31
V.W. ,
1.37.

1.37 Volkswagen 1938

1936 . Fiat 500
Austin Seven 1920 3,2 ., 1,2 .,
500 cc 13 HP 85 Km/h,
1.38.

1.38 Fiat 500 Topolino, 1936.

, ,
.

32

,
.

, ,
. ,

.
Nash 1951
1.40.

, .
,
. , ,

,
.
To 1949 Fiat 500 (Giardiniera)

16 HP 95 Km/h, 1.39.

1.39 Fiat 500 C unificata, 1949, 1975

,
, ,
,
.
,
, .


33

,

.

1.40. Nash Statesman Super 1951, Tucker 1947 Cadillac 1948.

34

1.41 Chevrolet Fleetmaster 1947 Oldsmobile Dynamic 76 1948

.

.

. .. 1948
Goodrich .


35
,
1946.
, ,
,
.
1947 Tucker Torpedo, 1.40,
. 51
( ). Tucker ,
25
G. M.
,
, ,
. Cadillac ,
P-38 Lightning,
, 1.40. H G. M.
,
. ,
.

1.42 Studebaker 1950.

50 Studebaker,
jet, 1.42.
,
Studebakers.
1950 .

.
1953 ( 1.43)
.

36

1.43. Studebaker 1953 coupe sedan Fiat 1947

Fiat 1947 Pinin Farina

. Fiat 1947 Studebaker 1953

90 Peugeot 406 coupe. Pinin


37
Farina.

Fiat 1947
Peugeot 406 1997, 1.44.
1953 Studebaker

.

1.44. Peugeot 406 coupe, 1997

38

1.45. Chevrolet 1951

1950
,
().
. Chevrolet 1951
( 1.45).


.

, .

,
.
,
.

.


.
.

. ,
-.
,
.

,


39
.
50 General Motors, Buick,
Oldsmobile Cadillac
. Buick 1950, 1.46
.
.
,

. ,
,
.
.
Buick 1950 .
,
, .

1.46 Buick Series 40, Buick Coupe 1950

40

Chevrolet Corvette 1953
. 1955 Citroen DS 19,
1.47.
,
( )
.


: , ,
. Lanchester ,

. , 1953

.

1.47 Chevrolet Corvette, 1954, Citroen DS 19, 1954.

1.48 Fiat 1100d 1953 Vespa 400 1960 BMW 600 1958.

41

42

1.49 Oldsomobile Dynamic 76 1948 Cadillac Elvis 1956

1.50 Panhard Dyna 1954

.

43

Wankel, 1957,

.
, ,
.
,
.

1.51 Giulietta Spider Veloce 1959 Rover 100 1961.

1960
,

44


.
.

. ,

.
1.5

1940 1960 ,
.


, .
,
. 1965
.
.
, 1960,
.
1970
.

. ,

.
,
,
, .
,
, .
,
, .

"" .
.
, .


, , , .

.
:
(, , )
.
,


45
.


. .

.

1.52 Peugeot 403, 404, 405. 60, 70

80.

46

.


. .

, ,
.
, ,

, .
.


.

,
.
.

,
, , , .

,
.

, .

1950. 1955. ,
,
, , ,
, ,
, ,
,
,

1950.
1960
.

().
,

, ,
, ,
.


47
1970
. 1979
1980 500.000 . ,
1/1/71
.
,
. 21%.
,
.

.
1984 .

, ,
,
,
150.000 cd 75.000 cd
1980
. 1985 17 ( 51%
) .
1985 ,
,

.
1990
.
,
.

,

.
:








""

48

1.53

.
.


. ,

,
,

,
, ,
.


49
,

,

,
,
.

1.54 Ford Model T Mondeo 2000

,
.
, .

50

, .

.
. '


,
. .
,
. ,
,
,

, ,
.

2.1

2.1
,
.
()
.

2.1 a.
(Range Rover Land Rover) b. (FORD)

2.2

, Jeep
( 2.1),
.

,

.
,
.
.
2.2.
, .

, .
.
,
.
"" . ""
,

.
2.2
, ,
.
, .
.
, 2.2
.
,
, ,
.

.

2.2 . .
. .
. .

2.3

2.4

2.2

. ' ,
2.2 :
1.
.
2.
.

1 , 2 ...
3.
,
( ).
4.
.
5. ()
, '
.
6.
'
.
7.
,
.
, , ,
, .
8.
. ,
...
2.3
2.4

. :
1. ' (,
, , ..)
2. ,
,
.
3.
.

' . (, ,
, ..)
, .

2.5

4.
.

()
.
2.4

:
1. , , ,
.
2. 2.3
:
) (), .
) (),
.
) (), ,
.
) (), .
) (), .
) ' () ,
.

2.3

3. ,
, ..
4. .

2.6

2.5

, .
, ,
.

:
1. .
.
o '
2600 - 2800 mm 1350 - 1450 kg.
( ),
, .

,
.

.
2. .

.
.

.
,

. .
( ),


.

3. .
.

,
.
. ,
.
.
.

.

,
.

2.7

2.3.
2.3.1


,
,

( 2.4).

,

( ).

2.4: ' :
) .
) .

(c.m) ,
:
Rfr = Rfl = 0.5 ma g ( b/L )

(2.1)

Rrr = Rrl = 0.5 ma g ( a/L )

(2.2)

:
ma ,
a, b
,
L (L= a + b).

. ,
,
, '
. '

2.8

.
.
,

, :
h0 = ftf + fsf (Bf/Sf ) + Bf (ftr/Br + fsr/Sr )

(2.3)

:
ftf ftr ,
fsf fsr , Bf
Br Sf Sr
.

, :
h0 = ftf + fsf ( Bf/Sf ) + Bf (ftr/Br + fsr/Sr + )

:
ft = R/ct ,

fs = RB/(csS) ,

= RB/(2c)

(2.4)

(2.5)

( c ), (2.4)
:
2
1
Br
Bf
1
1 Bf
h0 = R[ + + Bf ( + + )]
ctf csf Sf 2
ctrBr ctrS2r
2c

(2.6)

h0
h ,
, :
= 0.5 RB
(2.7)
: R
.
h0 h',
:
T = 0.5 RB h'/h0

(2.8)

h 200 300 mm
.

2.9

,
( ), f/(2c)
(2.6)
(
T = 0.5 RB).
( ), Bf/(2c)

. ( T 0.5 RB).
,
: .
,
, ,
, ( T = 0.5 RB)
:
Rfr = 0
Rfl = ma g b/L

(2.9)
(2.10)

Rrr = ma/(2L) g ( a + b Bf/Br )

(2.11)

Rrl = ma/(2L) g ( a - b Bf/Br )

(2.12)

[ T = 0.5 RB(h'/h0)] :
Rfr = (ma/2) g b/L (1 - h'/h0 )

(2.13)

Rfl = (ma/2) g b/L ( 1 + h'/h0 )

(2.14)

Rrr = (ma/2) (g /L) [a + b(Bf/Br)(h'/h0)]

(2.15)

Rrl = (ma/2) (g /L) [a - b (Bf/Br)(h'/h0)]

(2.16)

.
,
2.5 g
. : =
ma g b Bf / (2L).
,
S B cs
.

2.10

2.3.2

' ,
, .
,
,

.
,
.

,
. Nm/deg.


. N/mm.
( CJt
).
,

,
. Nm2/deg.
( E ).

,
,
. Nm3/mm.
, (
, )
(
) .
.
2.3.3

- .
,
.
.
.
,

(, , , ).

2.11

. ,
, ,
.

.
.
, ,
.

.

.
.
( )
.
2.5
. m
a. H
max min
:
m= (max + min)/2

(2.17)

a= (max - min)/2

(2.18)

, min=0
m=max/2 =a

(2.19)

m=0
max=-min=a
T 2.6 .

(2.20)

2.12

2.5: (= ,=)

2.6: ) )

Wohler
( 2.7) :
m a

2.13

.
m a.
Wohler a(N) m .

2.7: Wohler

m
( N ). ,


, .
( N ) ,
= 107 , Wohler
. ( > 107)
.
m a
Smith Haigh 2.8.
2.8.a m.
Smith ( 2.8.b)
. Haigh
( 2.8.c).
Smith Haigh
B.

2.14

2.8: a) Wohler b) Smith c) Haigh

i
.
ni/Ni
.
1, 2, ..., i n1, n2, ... ni ,

:
n1/N1 + n2/N2 + ... + ni/Ni =

(2.21)
ni/Ni =

. = 1.0.

.
,

.

2.15

, , ,
..
,

,
. , ,
, .
2.3.5

. ,
,
( )

.
,

(
) ( ).

( )

.

.
f(y)
f(w) y w
2.9. n
y w ,
III
. ,
.
.
y w, :
M = y - w < 0

(2.22)

.

, , ,
M
.

2.16

2.9: .

:
_
_ _
M = y - w ,

2 = y2 + w2

(2.23)

f(M).
. .
I II
.
.
_
1
(Mi - M)2
f(M) = exp [ - ]
(2.24)
2 2
2(2)1/2
:
_
(Mi - M)2

1
F(M) =
2(2)1/2

exp [ - ] dM

(2.25)

2 2

:
_
(Mi - M ) / = z

(2.26)

2.17

F(z) = 1/(2)1/2

exp [ - z2/2 ] dz

(2.27)

up.
(quantile). :
_
(Mi - M )/M = up
(2.28)

_
Mi = M + up M

(2.29)

i = 0 .
_
_ _
(2.30)
up = - ( M/M ) = - ( y - w )/(y2 + w2 )1/2
vy vw :
_
_
_
vy = y/y , vw = w/w

(2.31)

(2.38) (2.39) :
up = ( 1 - n )/( n2 vy2+ vw2) 1/2

(2.32)

, n,
up P.
(2.32) -oo up,

F(z) = 1/(2)1/2

exp [ - z2/r ] dz

(2.33)

F(z) .
.
:
vy, vw P,
' .
up = ( 1 - n ) / ( n2 vy2+ vw2)
, (2.34)

(2.34)

2.18

n2 ( 1 - up2 vy2 ) - 2n + ( 1 - up2 vw2 ) = 0

(2.35)

2.4.
2.4.1

.
.
.


.

, (
, .
)
, ,
.
0 - 100%.

.
,
, , ,
, . , ,
,
.
,


. ,
,

.



.

.
.

2.10.

.
.
.

2.19

.
,
.

2.10.

2.10
.

-.



.

2.20

2.4.2

: ,
, ,
(
), .

.
20.
08
. ,
3 - 4 mm. (

).

l,
, Kevlar .
, ,
. '
.

"" .
370 .

,
. ', ,
, .
. 67%
, ,
. ,
"",
. ,
.
(Mg) (Si) ,

.
.
,
,
. ,
100 .
,
. () (
)

, . ,
.

2.21

.
, ,
,
.
. , ,
77 (kWh)
.
, 18 kWh , ,
. '
, '
.
. ', ,
, ,
,
50%.
.
2.4.3

:
1.

.

.
.
2.
.

. ,
,


,
,
,

. ,
.
- ,
. ,
, ,
3Nm. ,

.

2.22

. :
1) .
, ,
.
2) .
.
.
3) .
,
.

. ""

.
( )
:
1.

.
.
2. ,
, '

300 mm.

,

, ,

, ,

. ,
,
.

- - .
.

( ). '
()
.


.
,
.

2.23

, .
,
.


.

2.11:
.

2.11,
.
,
. ,
, :
TI:TII:...:TV:T1:T2:...:T4 = JpI:JpII:...:JpV:Jp1:Jp2:...:Jp4

(2.36)

:
, ,... , ,...,
JpI, JpII,... ,,...,
1, 2,... ,
,...,
Jp1, Jp2,...
, ,...

2.24

2.12: .

,

, 2.11.

:
RL - ( TI + TII + TIII + TIV + TV ) + QII l1 - QIII ( l1 + l2 ) - QIV ( l1 + l2 + l3 ) - QV ( l1 + l2 + l3 + l4 ) = 0

(2.37)

:
TII = TI ( JpII/JpJ ) , TIII = TI ( JpIII/JpJ ) ,...
TI = TI ( JpI/JpJ ) , T2 = TI ( Jp2/JpJ ) ,...
QI = ( 2T1/C ) = ( 2T1/C ) ( JpI/JpJ )

(2.38)

QII = 2 ( T2 - T1 )/C = ( 2TI/CJkI ) (Jp2 - Jp1 )

:

TI =

RLJpJ
V

Jpn + (2 / c)

(J

pmlm )

(2.39)

2.25

:
n
m .
,
(2.38)
.

2.13 Wartburg 353W 1000 cc,

55 HP. 1965 1990.

 4

4.1.

.
,
.

,
. ,
, .
' ,

. ,
,
. ,
.
( ),
(
) ( ),
, .
.

4.1. Peugeot 405, ,

.

4.2

.
,
.
,
, .
.

.
: ,

.
:
,


.
:
)
. ,
.
) .
,
.
,
, .
) .
,
. ,
, ,
.

.

. ,
.
. '
,
,
.

()
() .
:
i) .
ii) ,

4.3

4.2.
( )

4.4

'
,
- , ' - ,
.

.

4.3. .

4.5
4.2.

4.2.1. .

, ,
,
.
,

. '
3 - 3.5 m/sec,
, .
, ,
,

.

4.1.
)
)

4.6

,
, ,
.
, ,
, , " - "
() .



4.1.
( m/s2)
, :

j dec =

u
t

u = ( ) m/s
t ( ,
0.1 sec).

4.2.

4.7

.
.

.
,
4.2.
tr
,
.
0.4 - 1 sec.
, t r 0.8 sec.
To tdr ,
.
,

. tdr
, 0.2 - 0.4
sec 0.6 - 0.8 sec .
() tdr 1 - 2
sec.
tin ( ) ,
( )
. tin
, ,
. tin ( sec)
.

0.05-0.2

0.05-0.4
()
4500 g
0.15-1.2

4500 g
0.20-1,5

0.20-1.3
tin
,
tin. tin
.
tbr .
tr+tdr u
tin . tbr

.
,

(
).

4.8

13 71/320
( )
:
22.2 m/s 500
( m) :

S br =

u2
10

, 13.8
m/s, 700 .
S br = 0.54u + 0.1u 2

11.5 m/s.
Sbr = 0.65u + 0.113u2

, ,
.
4.2.2. .
,
, Mbr
,
Pbr .
Pbr max
.
( 4.4), ( ) :
Pbr ma x = Pbr1 + Pbr2 = x Z1 + x Z 2 = x (Z1 + Z 2 )

Z1 + Z 2 = G a

Pbrmax = x G a

(4.1)

0.8 - 0.9,

, 80 - 90% .
,
br,

4.9

.
4.2.3. .

,
:
Pbr1 + Pbr2 + Pr1 + Pr2 + Pg + Pair + Pfe + Ph - Pin = Pbr + Prd + Pair + Pfe + Ph - Pin = 0

(4.2)

Pbr = Pbr1 + Pbr2

Prd = Pr1 + Pr2 + P

Pfe =
().

4.4. '

Mfe, Pfe ( )
:
Pfe =

M fe i tr Pfe i tr
=
nrev r
nrev

(4.3)

( m)
, :

M fe = 0.8p m Vhi cyl

:

4.10

pm = (N/m2).
Vh = ,(m3)
icyl = .
,
Pfe = 0.
(4.2) jdec (m/s2):
jdec =

Pbr + Prd + Pair + Ph

rot.b M a

= (Kg),
Ma
rot.b =
.

,
Pair=0. Ph
Pbr,
. ,
, (4.2)
:
Pbr + Prd - Pin = 0

(4.1) :
(4.4)
x G a + Ga - rot.b M a jdec = 0

:

x + -

rot.b
g

jdec = 0

(4.5)

4.2.4. .

,
jdec (m/s2), t ( sec) Sbr
( m).
.

(4.5) jdec (m/s2) :

4.11

jdec =

x
rot.b

g+

(4.6)

x
, (4.6) .
' :
x
jdec =
g
(4.7)
rot.b
rot.b g=10m/s 2,

, 8 - 9 m/s2.
, , 1.5 - 2.5 m/s2
( ). ,
,
.
,

( 4.3).

jdec = f(u)
(4.4). '
, jdec = f(u)
. ,
t t,
. tbr = f(u)
4.3.
(4.2) tst
,
. tin
.
tin
0.5 jdec,max . (
m/sec) :

u =

j dec.max t in
2

(4.8)

( m/sec)
jdec,max. :

u ' = u - u = u -

jdec.max t in
2

(4.9)

4.12

jdec,max ,
t br , u' .
:
u'= jdec,max tbr

(4.10)

(4.10) tbr ( sec)

u' (4.9), :

t br =

u'
jdec max

u
jdec max

- t in

(4.11)

', ( sec) :

t st = t r + t dr + t in + t br = t r + t dr +

t in
u
u
+
= t tot +
2
jdec max
jdec max

(4.12)

,
,
(4.7). , rot.b 1 ,
:

t st t tot +

xg

(4.13)

t br = f(u)
. t br
= f(u) ,
S ,
.
S ,
Sbr . (4.3)
Sbr = f(u),
Pr, Pair Ph
.

, , ,
4.2.

4.13

' , u u',
0.5 j dec .max . ,
:

Sin =

u m u (u + u' ) (u - u' )
1
u 2 - (u' ) 2
=
=
jm
2
0.5 jdec.max
jdec.max

(4.14)

4.3.
) ,

) 1,2,3 (
- , - )

j dec .max
u'
( m) :

Sbr =

(u ) 2
2 jdec.max

(4.15)

Sbr
t br . Sst ( m)

4.14

Sbr ,

,
.

Sst = u (t r + t dr ) + Sin + Sbr = u (t r + t dr ) +

u2
jdec.max

(u' )2
2 jdec.max

(4.16)

(4.16) u' (4.9)

2
t in , :

S st = u t tot +

u2
2jdec.max

(4.17)

, , (4.4) Pfe
= Ph = 0, :

S br =

rot.b

( u' ) 2

2 [ x + G cosa + G sin + Pair ]

rot.b (u' ) 2
u2

2 x g
2 x g

(4.18)

'
.
( 4.3).
Sbr ,
:

Sst = u t tot +

u2
2 x g

(4.19)

t st Sst (4.12)
(4.17) ,
. , t st Sst
(4.3) (4.19)
x .
4.2.5. .

' , Pin
h g.c ( 4.4)
: .

4.15

, 1 2 , ,
,
G1 G 2 . '

m r1 m r2 . x
, m r1 m r2 :

m r1 = 1 +

x h g.c
b

m r2 = 1 -

x h g.c

(4.20)

m r1 m r2 ,
1.5 - 2 0.5 - 0.7, .
m r1 m r2 ,
N:

Z1 = m r1G1

2 = m r2 G 2

.
Pbr1 Pbr 2
, Pbr
, '
, 0 .
.
0 ,
, :

0 =

Pbr1
P
= 1 - br2
Pbr
Pbr1

. 0
:

0 =

b + 0 h g.c
L

.
,

, 20 - 40%

4.16

.
, K eff
, ,
.
K eff , , 1.2
1.4 - 1.6 .
' :

t st = t tot + K eff
S br =

K eff u
2 x g

xg

S st = u t tot + K eff

u2
2 x g

4.2.6. -

,
.
,
.

,
.

, , ,
, ...
, ,
. ,
,

.
, , ,
(...) .
. '
,

.

: s sk
.

x

.

4.17

K eff , (4.7)
,
. , ' ,
(
) .
' ( m/s)
, :

1
2 jdec.max

u 2 - 0.5t in u - s sk = 0

(4.9), (4.15)
2
t in :

u = 0.5 jdec.max t in + 2s sk jdec.max

(4.21)

,
( 4.5). s p
.
' S,
.
4.5
.
( )
( V). .
() s sk
s p .
' ,
.
, t p
t kn
. t kn > t p
' . t kn < t p

.

.
s sk ,
( m/s) :

kn = 2skn jdec.max

(4.22)

4.18

(4.21), sst , (4.19)
( sec) :

t kn = t r + t dr + 0.5t in +

- kn
jdec.max

(4.23)

,
. ( sec)
, :

tp =

sp
p

(4.24)

t kn t p

(4.25)

, t kn t p

( 4.5).
,
,
( sec).

t del = t p - t kn

(4.26)

,
, :

s del = t del

(4.27)

4.19

4.5. .

4.5, s
, :

s = s st + s del - s kn - l

(4.28)

l
.
s
sst , ,
, . s< sst
,

.

, .

.
4.3.
4.3.1.
.

,
.
,
,

4.20

( ). ,
,
.
Pfe ,
P' fe .
()
.

.
.
jdec.com.br
jdec.br . , (4.2)
:

jdec.com.br =
:
Ptr =
, ().
rot =

1 Pbr + Prd + Pair + Pfe + Ptr

rot
Ma

(4.29)

,
.

rot = rot.b .
'
:

jdec.br =

rot

Pbr + Prd + Pair + Ph

M a

(4.30)

H , ,
, :

jdec.com.br > jdec.br

Pbr + Prd + Pair + Pfe + Ptr Pbr + Prd + Pair + Ph

>
rot
rot.b
,
,

4.21

Prd , Pair , Ptr , Ph , Pfe , Pbr

rot rot.b .

1, 2 3 4.3
Pbr .
, ,
jdec.com.br ( )
j dec.br ( ). ,
,
. '

.
4.3.2.

.
,
.
, ' ,
.
,

.
, , ,
, ,
.
, ,
,
.
,
.
(A.B.S. - ntilock
Braking Systems) .
.
4.4.
4.4.1 ()

.

( 4.6). , ()
.
fN
, rd .

4.22

4.6. ()
.
b. -
c. -
d.

,
.
: (
) .
:
,
.
:
.

f,
, ,
()
. ()
.

:

4.23

K e1 = TT1 ( P1rd )

K e 2 = TT 2 ( P2 rd )

K e = TT [( P1 + P2 ) rd ]

TT1, TT2 TT
, , P1 P2 .

. , K e1 K e 2
f ,
,
.
4.6
.

' P1 P2 < 1

. 1 = 2
, .
. ,
(0,60 - 0,80).
,
( 10 tn ).

4.6b
.
,
' ,
.

. f = 0,35
e = 0,81, 116%
( 4.6). 1 - 2
,
.
.
4.6c .

.
.
() (
)
( ).

( 4.3b)
( PT1 > PT 2 )
.

4.24

4.6d.
() ,
.
. ,
,
.

().
.
4.4.2

,
, ,
.
, ,

.
.

4.7.
.
a .
b . ()

() .
( 4.7)
y1
A 1 .

4.25

' , ,
A 1
.
O1
( E1 E1 )

OO1 . ,
.
B1 OB1 ,

B1 B1 . :
1 = 1C1 11 cos 1
:

1 = 90 ( 1 + 1 ) 11 = 1 = 1max
() :

1 1max sin(1 + 1 )
(4.31)

2 max sin(1 + 1 )

1max 2max : 1, y1
1 OB1 y 1
OB1 OO1 ( ), x1
.

. '
, A 1
d ( . 4.4b).
' 1
B1 B1 . ,

OB1, 1C1.
d A1 B1 B1 = 90 0
:

1 = B 1C 1 = B 1 B 1 sin = 1 1 sin d

4.26

OA1 = OB1 = rd ,

11/sina = rd/sin.
:

1 = rd sin d
q1 = q1max sin

A1OB1

(4.32)

, () ,

(4.31) (4.32).

.

= q max q u

(4.33)

q u
,
.
q max .
4.4.3

4.8.

4.9.

4.27

TT ,

y .
brd d a , b ( 4.8).
,

dN = qu brd da = qmax brd sin ada

(4.34)

fdN

dTT = dNfrd = q max brd sin ada

.
, :

TT = q max brd (cos cos )

(4.35)

TT = q u brd f ( )

dN = q u brd d

(4.36)

(4.35) (4.36)
.
.
1 ()

(4.37)
1 = f 11
1 1

fN 1

( 4.9).

( 4.35 )
.
1, 1,
:

P1 cos a 0 + S1x N1 (cos 1 f sin 1 ) = 0

(4.38)

P1 S1x c + f1 N1 = 0

4.28

1 x
1,S1x x .
( 4.38 ) N 1 :

N1 = h P1 [c (cos 1 + f sin 1 ) f1 ]

(4.39)

() , (4.37) :

1 = P1hf 1 [c (cos 1 + f sin 1 ) f1 ] = P1B1

(4.40)

, (4.37) :

2 = P2 hf 2 [c (cos 2 + f sin 2 ) f 2 ] = P2 B2

(4.41)

. d ( 4.8)
dx dy
, (4.34) :

Nx=

sin dN =

qmax brd

sin

dN =

= q max brd (2 sin + sin 2) 4

Ny =

cos dN = q max brd sin cos d =

= q max brd (cos 2 cos 2) 4

sin cos dN

'O,

= arctg N y N x = arctg[(cos 2 cos 2) (2 sin 2 + sin 2)]

(4.42)

( 4.35 ) ( 4.37 ) :

N 1 = N 2x + N 2y
:

= 4rd cos cos / (cos 2 cos 2 ) 2 + ( 2 sin 2 + sin 2 ) 2

(4.43)

4.29

' '' , ,
.
,
, :

= 1 + 2 = P1B1 + P2 B2
1 = 2. :

P = ( B1 + B2 )


:

P1 = 0.5 B1

P2 = 0.5 P2

.
(4.40).
(4.40) .

c (cos1 + f sin 1 ) f1 = 0

f < (c cos 1 ) ( 1 c sin 1 )

(4.35) (4.40)
() :

q max 1 =

P1h1
brd2 (cos

cos )[c (cos 1 + f sin 1 ) f1 ]

4.4.4

.

.
.
:

4.30

PTf R zf b + h g max
=
=
PTr R zr a h g max

(4.44)

' (4.44),

asd. 1.3 1.6 , 0.5 - 0.7 = 0.40
- 0.55.

.

TTPf = PTf rd

PTf = R zf max

TTPr = PTr rd

PTr = R zr max

.
rd, ,
() ,
, 20-30 mm.
90-120.

x ( ) ,
. b

, 2.5 a.
, , p
, (15), 0.25 a
11 tons 0.3 a
11 tons:

m a q ( A f + A r ) [p]

(4.45)

m a , A f , A r
.

- ()

.
q av
1 1 .
, :

q av = 1/1 < 2 a

4.31

,
A :

m a a2 max 2 A [L fr ]
, Lfr .

1000-1500 J cm 2 .
600 800 J cm 2 .

()

. , ,
. ,

.

,
( 4.10).
( 4.10b)
1
2, .
( ) 3 (
4.10c) .
,
. 4
, , dc.

. 12-25 cm
30-40 cm .

4.32
4.10.
. b. c.

, ,
,
:

(m d C d + m r C r )t L
md mr o
, . Cd Cr
( C = 482
J/(KgK), C = 880 J/(KgK), t
(' , =
30 Km/h ,
15C) L
, .
,
. ' ,
,
. ':

Lf = ma

v a2
2

a s.d h g + gb

a+b

Lr = ma

v a2
2

ga a s.d h g

a+b

h g , a b ,

a s.d

() .

:
( 4.11 4.12).
( 4.9) .

, ,
. ,

, -
.

4.11.
1. 2. ()
3. 4.
5. () 6.

4.33

4.34

4.12.

4.35

4.13.
1. 2.
3.
4.

4.36

4.14. ( )
1. 2. 3.
4. 5. 6. 7. 8.
9. 10.
()

(, , ).
()

( 4.12).
( ),

. ' 4
( 4.13), 7 ( 4.14)
.

4.37

45
(). () .

.
,
. ,
5 ( 4.14) 9,
, 1,

() .
:
,
. .
.
. ,
.

()

. () ( 4.11)
2 . ,
() .
5
(). 6
45 ,
.
: 4.12,
2,
6, 4 5.
.
3
.
. '
: ,
.
4.15 .
, (. 4.15) 1 2
3 .
, 1 , ,
. ,
, ,
2 .
( 4.15b 4.15c).
. ,

~ 12 .

4.38

, FW
( 4.15d).

Fw = 2 Ptg( a 2 )
FW , ,

.

4.15.
.
a.
b.
c. ( )
d.

4.4.6

(
).
.
4.16 .
:
TT = i f N rav
f (),
N

4.39

rav .

4.16.
a) ,
b)
(Pb )

,
p, i
d c .
:

N = 0.25p

d c2 i
i =1

, rav = ( rex + rin) /2. rex
rin .

(

12-16% )

4.40

:
) ( 4.17)
)
( 4.18)

4.17.

1. 2. 3.
4. 5.

4.18.
. a. b.

4.41

4.6. &
.
4.6.1.

.
4.6.2.

. .

().
. ,

Diesel .
0.5-0.9 bar.
. ,
. ,
.
.

.
.

, ,
.
4.6.3.


.

.
,
( ) ( ).
.
(ABS),
. ,

4.42

.
,
.

( ).
( ), ( )
( ).

4.19. ( )
1. 2. ,
3. 4.
5. () 6.
7. ().

,

.

4.43

4.6.4. .

.
.

4.1.
(DIN 74 000)

4.44

4.6.5.
()

,
. i
:

i = tana =

FA
FE - F0

( 4.4.)

. ,

. ,
, .
4.20. ,
.

4.20. .
1. ( )
2.
3. ( )
4. 5.

4.45

4.4. (BOSCH Handbook 1996)

' ,
, (..
) 4.21.

(1) .
5 6
.
8,
3 .
.
(10),
, (9)
1.5 bar .
.

4.46

.
, 3 5

(1)
.
:

6 8
,
.

4.21. .
1. 2.
3. 4.
5. 6.
7. 8.
9. 10.

6 (
4 5 4.21.).
.

,

4.47

,
.
,
.
, .. .
,
, .

,
. ,
:
- .
-
.

4.5.
.

,
.

4.48

.
' .
,
, ,
,
.

4.22. .
1. 2.
3. 4. 5.

4.7.
4.7.1.

.
.
, .

. T

:
.

4.49

- ,
.

4.50

4.23.

1. 2. 3.
4. 5.

.
,
.

'
. ,
,
.
,
.
.

.

4.24.
1. 2. 3.
4. 5. (/)

4.6.

4.51

4.52

,

.
,
.
,
.

4.25.
1. 2. 3. 4.

4.7.

4.53

.
.

:
-

4.8.

- -

-
-
.


.
,
.

.

4.54

'

.

. ,
.
.
,
, .

.
,
.

' , ( )
- -.
( )
.
.
.
, ,
.

4.26.
, 1. 2. 3. , 4.
5. 6. . 7. 8.
, 9. , 10. , 11.

4.27.

1. , 2. , 3. ,
4. , 5. ,
6. ,
7. , 8. ,
9. ,10.
( ),
11. , 12. ,
13. ,
14. - , 15. ,
16. - ,
17. ,18. , 19. ,
20., 21. ,
22. ,
23. ,24. ,
25 , 26 ,
27. , 28. ,
29. .

4.55

4.56

4.28.

4.29.

4.57

4.30.

4.31.

4.58

4.7.2.

:
-
-
- ( - )
,
.
.
.
:
-
.
- .

, ,
.
,

.

4.32.
1. 2. 3.

4.59

,
,
, ,
(
).
,
.
: ,
7 10 bar ( ) 14 20 bar ( ).
,
6 8 bar.

.

,
0 0C. , ,
.

:
- (.. )
- (.. )
- (.. )
- (..
)
-

.

,

.

, .
.

,
. '

4.60

( )
.

. ,


. ,
.

.
, ,
.
-

.
(
) (
).

.
.

.

.
,
.
( ),
. ,
.
.

( ).
.

4.61

4.9.
( )
1. 2.
3. 4.
5.
6. VA , HA (Bosch
Hanbook 1996(

,
, ,
.

.

4.62

.
.

. ,
.
.
.
,
( )
( ).

,
.

.

.

. , ,
.
. ,
2:1.

4.34.
1. E 2. 3. K 1
4. K 5. K 2
6. A 7. E

4.63

8. K 1 9. B 10. K 2

4.35.
1. 2. , 3. ,
4. 5. 6. 7.
8. 9. 10. .

4.36.
1. 1 2.
3. 2 4. 5.
6. 7.

4.64

8. 9.

,
. ,

.
,

.
1 ()
2 ( )
.
1
2.

.

.
.

4.37. .
1.
2. 3.
4. 5.

4.65

.
.
.
- ( 4.36).
. ,

.

, .
,

. .
, ,
.
. ,
,
.

4.38. ABS 3 (Bosch).

1. 2.
3&4. 5.
6. 7.

4.66

8. 9. 10. ABS, (Bosch Handbook

1996).

 4

4.1.

.
,
.

,
. ,
, .
' ,

. ,
,
. ,
.
( ),
(
) ( ),
, .
.

4.1. Peugeot 405, ,

.

4.2

.
,
.
,
, .
.

.
: ,

.
:
,


.
:
)
. ,
.
) .
,
.
,
, .
) .
,
. ,
, ,
.

.

. ,
.
. '
,
,
.

()
() .
:
i) .
ii) ,

4.3

4.2.
( )

4.4

'
,
- , ' - ,
.

.

4.3. .

4.5
4.2.

4.2.1. .

, ,
,
.
,

. '
3 - 3.5 m/sec,
, .
, ,
,

.

4.1.
)
)

4.6

,
, ,
.
, ,
, , " - "
() .



4.1.
( m/s2)
, :

j dec =

u
t

u = ( ) m/s
t ( ,
0.1 sec).

4.2.

4.7

.
.

.
,
4.2.
tr
,
.
0.4 - 1 sec.
, t r 0.8 sec.
To tdr ,
.
,

. tdr
, 0.2 - 0.4
sec 0.6 - 0.8 sec .
() tdr 1 - 2
sec.
tin ( ) ,
( )
. tin
, ,
. tin ( sec)
.

0.05-0.2

0.05-0.4
()
4500 g
0.15-1.2

4500 g
0.20-1,5

0.20-1.3
tin
,
tin. tin
.
tbr .
tr+tdr u
tin . tbr

.
,

(
).

4.8

13 71/320
( )
:
22.2 m/s 500
( m) :

S br =

u2
10

, 13.8
m/s, 700 .
S br = 0.54u + 0.1u 2

11.5 m/s.
Sbr = 0.65u + 0.113u2

, ,
.
4.2.2. .
,
, Mbr
,
Pbr .
Pbr max
.
( 4.4), ( ) :
Pbr ma x = Pbr1 + Pbr2 = x Z1 + x Z 2 = x (Z1 + Z 2 )

Z1 + Z 2 = G a

Pbrmax = x G a

(4.1)

0.8 - 0.9,

, 80 - 90% .
,
br,

4.9

.
4.2.3. .

,
:
Pbr1 + Pbr2 + Pr1 + Pr2 + Pg + Pair + Pfe + Ph - Pin = Pbr + Prd + Pair + Pfe + Ph - Pin = 0

(4.2)

Pbr = Pbr1 + Pbr2

Prd = Pr1 + Pr2 + P

Pfe =
().

4.4. '

Mfe, Pfe ( )
:
Pfe =

M fe i tr Pfe i tr
=
nrev r
nrev

(4.3)

( m)
, :

M fe = 0.8p m Vhi cyl

:

4.10

pm = (N/m2).
Vh = ,(m3)
icyl = .
,
Pfe = 0.
(4.2) jdec (m/s2):
jdec =

Pbr + Prd + Pair + Ph

rot.b M a

= (Kg),
Ma
rot.b =
.

,
Pair=0. Ph
Pbr,
. ,
, (4.2)
:
Pbr + Prd - Pin = 0

(4.1) :
(4.4)
x G a + Ga - rot.b M a jdec = 0

:

x + -

rot.b
g

jdec = 0

(4.5)

4.2.4. .

,
jdec (m/s2), t ( sec) Sbr
( m).
.

(4.5) jdec (m/s2) :

4.11

jdec =

x
rot.b

g+

(4.6)

x
, (4.6) .
' :
x
jdec =
g
(4.7)
rot.b
rot.b g=10m/s 2,

, 8 - 9 m/s2.
, , 1.5 - 2.5 m/s2
( ). ,
,
.
,

( 4.3).

jdec = f(u)
(4.4). '
, jdec = f(u)
. ,
t t,
. tbr = f(u)
4.3.
(4.2) tst
,
. tin
.
tin
0.5 jdec,max . (
m/sec) :

u =

j dec.max t in
2

(4.8)

( m/sec)
jdec,max. :

u ' = u - u = u -

jdec.max t in
2

(4.9)

4.12

jdec,max ,
t br , u' .
:
u'= jdec,max tbr

(4.10)

(4.10) tbr ( sec)

u' (4.9), :

t br =

u'
jdec max

u
jdec max

- t in

(4.11)

', ( sec) :

t st = t r + t dr + t in + t br = t r + t dr +

t in
u
u
+
= t tot +
2
jdec max
jdec max

(4.12)

,
,
(4.7). , rot.b 1 ,
:

t st t tot +

xg

(4.13)

t br = f(u)
. t br
= f(u) ,
S ,
.
S ,
Sbr . (4.3)
Sbr = f(u),
Pr, Pair Ph
.

, , ,
4.2.

4.13

' , u u',
0.5 j dec .max . ,
:

Sin =

u m u (u + u' ) (u - u' )
1
u 2 - (u' ) 2
=
=
jm
2
0.5 jdec.max
jdec.max

(4.14)

4.3.
) ,

) 1,2,3 (
- , - )

j dec .max
u'
( m) :

Sbr =

(u ) 2
2 jdec.max

(4.15)

Sbr
t br . Sst ( m)

4.14

Sbr ,

,
.

Sst = u (t r + t dr ) + Sin + Sbr = u (t r + t dr ) +

u2
jdec.max

(u' )2
2 jdec.max

(4.16)

(4.16) u' (4.9)

2
t in , :

S st = u t tot +

u2
2jdec.max

(4.17)

, , (4.4) Pfe
= Ph = 0, :

S br =

rot.b

( u' ) 2

2 [ x + G cosa + G sin + Pair ]

rot.b (u' ) 2
u2

2 x g
2 x g

(4.18)

'
.
( 4.3).
Sbr ,
:

Sst = u t tot +

u2
2 x g

(4.19)

t st Sst (4.12)
(4.17) ,
. , t st Sst
(4.3) (4.19)
x .
4.2.5. .

' , Pin
h g.c ( 4.4)
: .

4.15

, 1 2 , ,
,
G1 G 2 . '

m r1 m r2 . x
, m r1 m r2 :

m r1 = 1 +

x h g.c
b

m r2 = 1 -

x h g.c

(4.20)

m r1 m r2 ,
1.5 - 2 0.5 - 0.7, .
m r1 m r2 ,
N:

Z1 = m r1G1

2 = m r2 G 2

.
Pbr1 Pbr 2
, Pbr
, '
, 0 .
.
0 ,
, :

0 =

Pbr1
P
= 1 - br2
Pbr
Pbr1

. 0
:

0 =

b + 0 h g.c
L

.
,

, 20 - 40%

4.16

.
, K eff
, ,
.
K eff , , 1.2
1.4 - 1.6 .
' :

t st = t tot + K eff
S br =

K eff u
2 x g

xg

S st = u t tot + K eff

u2
2 x g

4.2.6. -

,
.
,
.

,
.

, , ,
, ...
, ,
. ,
,

.
, , ,
(...) .
. '
,

.

: s sk
.

x

.

4.17

K eff , (4.7)
,
. , ' ,
(
) .
' ( m/s)
, :

1
2 jdec.max

u 2 - 0.5t in u - s sk = 0

(4.9), (4.15)
2
t in :

u = 0.5 jdec.max t in + 2s sk jdec.max

(4.21)

,
( 4.5). s p
.
' S,
.
4.5
.
( )
( V). .
() s sk
s p .
' ,
.
, t p
t kn
. t kn > t p
' . t kn < t p

.

.
s sk ,
( m/s) :

kn = 2skn jdec.max

(4.22)

4.18

(4.21), sst , (4.19)
( sec) :

t kn = t r + t dr + 0.5t in +

- kn
jdec.max

(4.23)

,
. ( sec)
, :

tp =

sp
p

(4.24)

t kn t p

(4.25)

, t kn t p

( 4.5).
,
,
( sec).

t del = t p - t kn

(4.26)

,
, :

s del = t del

(4.27)

4.19

4.5. .

4.5, s
, :

s = s st + s del - s kn - l

(4.28)

l
.
s
sst , ,
, . s< sst
,

.

, .

.
4.3.
4.3.1.
.

,
.
,
,

4.20

( ). ,
,
.
Pfe ,
P' fe .
()
.

.
.
jdec.com.br
jdec.br . , (4.2)
:

jdec.com.br =
:
Ptr =
, ().
rot =

1 Pbr + Prd + Pair + Pfe + Ptr

rot
Ma

(4.29)

,
.

rot = rot.b .
'
:

jdec.br =

rot

Pbr + Prd + Pair + Ph

M a

(4.30)

H , ,
, :

jdec.com.br > jdec.br

Pbr + Prd + Pair + Pfe + Ptr Pbr + Prd + Pair + Ph

>
rot
rot.b
,
,

4.21

Prd , Pair , Ptr , Ph , Pfe , Pbr

rot rot.b .

1, 2 3 4.3
Pbr .
, ,
jdec.com.br ( )
j dec.br ( ). ,
,
. '

.
4.3.2.

.
,
.
, ' ,
.
,

.
, , ,
, ,
.
, ,
,
.
,
.
(A.B.S. - ntilock
Braking Systems) .
.
4.4.
4.4.1 ()

.

( 4.6). , ()
.
fN
, rd .

4.22

4.6. ()
.
b. -
c. -
d.

,
.
: (
) .
:
,
.
:
.

f,
, ,
()
. ()
.

:

4.23

K e1 = TT1 ( P1rd )

K e 2 = TT 2 ( P2 rd )

K e = TT [( P1 + P2 ) rd ]

TT1, TT2 TT
, , P1 P2 .

. , K e1 K e 2
f ,
,
.
4.6
.

' P1 P2 < 1

. 1 = 2
, .
. ,
(0,60 - 0,80).
,
( 10 tn ).

4.6b
.
,
' ,
.

. f = 0,35
e = 0,81, 116%
( 4.6). 1 - 2
,
.
.
4.6c .

.
.
() (
)
( ).

( 4.3b)
( PT1 > PT 2 )
.

4.24

4.6d.
() ,
.
. ,
,
.

().
.
4.4.2

,
, ,
.
, ,

.
.

4.7.
.
a .
b . ()

() .
( 4.7)
y1
A 1 .

4.25

' , ,
A 1
.
O1
( E1 E1 )

OO1 . ,
.
B1 OB1 ,

B1 B1 . :
1 = 1C1 11 cos 1
:

1 = 90 ( 1 + 1 ) 11 = 1 = 1max
() :

1 1max sin(1 + 1 )
(4.31)

2 max sin(1 + 1 )

1max 2max : 1, y1
1 OB1 y 1
OB1 OO1 ( ), x1
.

. '
, A 1
d ( . 4.4b).
' 1
B1 B1 . ,

OB1, 1C1.
d A1 B1 B1 = 90 0
:

1 = B 1C 1 = B 1 B 1 sin = 1 1 sin d

4.26

OA1 = OB1 = rd ,

11/sina = rd/sin.
:

1 = rd sin d
q1 = q1max sin

A1OB1

(4.32)

, () ,

(4.31) (4.32).

.

= q max q u

(4.33)

q u
,
.
q max .
4.4.3

4.8.

4.9.

4.27

TT ,

y .
brd d a , b ( 4.8).
,

dN = qu brd da = qmax brd sin ada

(4.34)

fdN

dTT = dNfrd = q max brd sin ada

.
, :

TT = q max brd (cos cos )

(4.35)

TT = q u brd f ( )

dN = q u brd d

(4.36)

(4.35) (4.36)
.
.
1 ()

(4.37)
1 = f 11
1 1

fN 1

( 4.9).

( 4.35 )
.
1, 1,
:

P1 cos a 0 + S1x N1 (cos 1 f sin 1 ) = 0

(4.38)

P1 S1x c + f1 N1 = 0

4.28

1 x
1,S1x x .
( 4.38 ) N 1 :

N1 = h P1 [c (cos 1 + f sin 1 ) f1 ]

(4.39)

() , (4.37) :

1 = P1hf 1 [c (cos 1 + f sin 1 ) f1 ] = P1B1

(4.40)

, (4.37) :

2 = P2 hf 2 [c (cos 2 + f sin 2 ) f 2 ] = P2 B2

(4.41)

. d ( 4.8)
dx dy
, (4.34) :

Nx=

sin dN =

qmax brd

sin

dN =

= q max brd (2 sin + sin 2) 4

Ny =

cos dN = q max brd sin cos d =

= q max brd (cos 2 cos 2) 4

sin cos dN

'O,

= arctg N y N x = arctg[(cos 2 cos 2) (2 sin 2 + sin 2)]

(4.42)

( 4.35 ) ( 4.37 ) :

N 1 = N 2x + N 2y
:

= 4rd cos cos / (cos 2 cos 2 ) 2 + ( 2 sin 2 + sin 2 ) 2

(4.43)

4.29

' '' , ,
.
,
, :

= 1 + 2 = P1B1 + P2 B2
1 = 2. :

P = ( B1 + B2 )


:

P1 = 0.5 B1

P2 = 0.5 P2

.
(4.40).
(4.40) .

c (cos1 + f sin 1 ) f1 = 0

f < (c cos 1 ) ( 1 c sin 1 )

(4.35) (4.40)
() :

q max 1 =

P1h1
brd2 (cos

cos )[c (cos 1 + f sin 1 ) f1 ]

4.4.4

.

.
.
:

4.30

PTf R zf b + h g max
=
=
PTr R zr a h g max

(4.44)

' (4.44),

asd. 1.3 1.6 , 0.5 - 0.7 = 0.40
- 0.55.

.

TTPf = PTf rd

PTf = R zf max

TTPr = PTr rd

PTr = R zr max

.
rd, ,
() ,
, 20-30 mm.
90-120.

x ( ) ,
. b

, 2.5 a.
, , p
, (15), 0.25 a
11 tons 0.3 a
11 tons:

m a q ( A f + A r ) [p]

(4.45)

m a , A f , A r
.

- ()

.
q av
1 1 .
, :

q av = 1/1 < 2 a

4.31

,
A :

m a a2 max 2 A [L fr ]
, Lfr .

1000-1500 J cm 2 .
600 800 J cm 2 .

()

. , ,
. ,

.

,
( 4.10).
( 4.10b)
1
2, .
( ) 3 (
4.10c) .
,
. 4
, , dc.

. 12-25 cm
30-40 cm .

4.32
4.10.
. b. c.

, ,
,
:

(m d C d + m r C r )t L
md mr o
, . Cd Cr
( C = 482
J/(KgK), C = 880 J/(KgK), t
(' , =
30 Km/h ,
15C) L
, .
,
. ' ,
,
. ':

Lf = ma

v a2
2

a s.d h g + gb

a+b

Lr = ma

v a2
2

ga a s.d h g

a+b

h g , a b ,

a s.d

() .

:
( 4.11 4.12).
( 4.9) .

, ,
. ,

, -
.

4.11.
1. 2. ()
3. 4.
5. () 6.

4.33

4.34

4.12.

4.35

4.13.
1. 2.
3.
4.

4.36

4.14. ( )
1. 2. 3.
4. 5. 6. 7. 8.
9. 10.
()

(, , ).
()

( 4.12).
( ),

. ' 4
( 4.13), 7 ( 4.14)
.

4.37

45
(). () .

.
,
. ,
5 ( 4.14) 9,
, 1,

() .
:
,
. .
.
. ,
.

()

. () ( 4.11)
2 . ,
() .
5
(). 6
45 ,
.
: 4.12,
2,
6, 4 5.
.
3
.
. '
: ,
.
4.15 .
, (. 4.15) 1 2
3 .
, 1 , ,
. ,
, ,
2 .
( 4.15b 4.15c).
. ,

~ 12 .

4.38

, FW
( 4.15d).

Fw = 2 Ptg( a 2 )
FW , ,

.

4.15.
.
a.
b.
c. ( )
d.

4.4.6

(
).
.
4.16 .
:
TT = i f N rav
f (),
N

4.39

rav .

4.16.
a) ,
b)
(Pb )

,
p, i
d c .
:

N = 0.25p

d c2 i
i =1

, rav = ( rex + rin) /2. rex
rin .

(

12-16% )

4.40

:
) ( 4.17)
)
( 4.18)

4.17.

1. 2. 3.
4. 5.

4.18.
. a. b.

4.41

4.6. &
.
4.6.1.

.
4.6.2.

. .

().
. ,

Diesel .
0.5-0.9 bar.
. ,
. ,
.
.

.
.

, ,
.
4.6.3.


.

.
,
( ) ( ).
.
(ABS),
. ,

4.42

.
,
.

( ).
( ), ( )
( ).

4.19. ( )
1. 2. ,
3. 4.
5. () 6.
7. ().

,

.

4.43

4.6.4. .

.
.

4.1.
(DIN 74 000)

4.44

4.6.5.
()

,
. i
:

i = tana =

FA
FE - F0

( 4.4.)

. ,

. ,
, .
4.20. ,
.

4.20. .
1. ( )
2.
3. ( )
4. 5.

4.45

4.4. (BOSCH Handbook 1996)

' ,
, (..
) 4.21.

(1) .
5 6
.
8,
3 .
.
(10),
, (9)
1.5 bar .
.

4.46

.
, 3 5

(1)
.
:

6 8
,
.

4.21. .
1. 2.
3. 4.
5. 6.
7. 8.
9. 10.

6 (
4 5 4.21.).
.

,

4.47

,
.
,
.
, .. .
,
, .

,
. ,
:
- .
-
.

4.5.
.

,
.

4.48

.
' .
,
, ,
,
.

4.22. .
1. 2.
3. 4. 5.

4.7.
4.7.1.

.
.
, .

. T

:
.

4.49

- ,
.

4.50

4.23.

1. 2. 3.
4. 5.

.
,
.

'
. ,
,
.
,
.
.

.

4.24.
1. 2. 3.
4. 5. (/)

4.6.

4.51

4.52

,

.
,
.
,
.

4.25.
1. 2. 3. 4.

4.7.

4.53

.
.

:
-

4.8.

- -

-
-
.


.
,
.

.

4.54

'

.

. ,
.
.
,
, .

.
,
.

' , ( )
- -.
( )
.
.
.
, ,
.

4.26.
, 1. 2. 3. , 4.
5. 6. . 7. 8.
, 9. , 10. , 11.

4.27.

1. , 2. , 3. ,
4. , 5. ,
6. ,
7. , 8. ,
9. ,10.
( ),
11. , 12. ,
13. ,
14. - , 15. ,
16. - ,
17. ,18. , 19. ,
20., 21. ,
22. ,
23. ,24. ,
25 , 26 ,
27. , 28. ,
29. .

4.55

4.56

4.28.

4.29.

4.57

4.30.

4.31.

4.58

4.7.2.

:
-
-
- ( - )
,
.
.
.
:
-
.
- .

, ,
.
,

.

4.32.
1. 2. 3.

4.59

,
,
, ,
(
).
,
.
: ,
7 10 bar ( ) 14 20 bar ( ).
,
6 8 bar.

.

,
0 0C. , ,
.

:
- (.. )
- (.. )
- (.. )
- (..
)
-

.

,

.

, .
.

,
. '

4.60

( )
.

. ,


. ,
.

.
, ,
.
-

.
(
) (
).

.
.

.

.
,
.
( ),
. ,
.
.

( ).
.

4.61

4.9.
( )
1. 2.
3. 4.
5.
6. VA , HA (Bosch
Hanbook 1996(

,
, ,
.

.

4.62

.
.

. ,
.
.
.
,
( )
( ).

,
.

.

.

. , ,
.
. ,
2:1.

4.34.
1. E 2. 3. K 1
4. K 5. K 2
6. A 7. E

4.63

8. K 1 9. B 10. K 2

4.35.
1. 2. , 3. ,
4. 5. 6. 7.
8. 9. 10. .

4.36.
1. 1 2.
3. 2 4. 5.
6. 7.

4.64

8. 9.

,
. ,

.
,

.
1 ()
2 ( )
.
1
2.

.

.
.

4.37. .
1.
2. 3.
4. 5.

4.65

.
.
.
- ( 4.36).
. ,

.

, .
,

. .
, ,
.
. ,
,
.

4.38. ABS 3 (Bosch).

1. 2.
3&4. 5.
6. 7.

4.66

8. 9. 10. ABS, (Bosch Handbook

1996).

 5_________________________________________________________________

5.1
.
,
,

.


.
- . ,
, . ,
, .
,
.

. ( )
, . " "
, ,

5.2

.

,
.

5.1.1

.
, , .
,
. ,
.
. ,
, . ,
. ,
.

5.3

4 : ,
, , .
.

,
(, jeep, ...). ,

( ). ,

Citroen.
.
:
i. .
, .
(, , ..),
.
ii. .
, .
.
. ,


, .
iii. . ,
,
. :
( ),
.
,
. ' ,

.

5.4

5.1.2:
.

5.5

. ,
. ,
.
, .
(), .
.
, ,
, .
,
.
,
.

5.1.3:

5.6

5.1.4

. ()
. (, ,
)
( 5.1.1). ,
, .
.
.
,
. ,
.
, .

5.1.4 McPherson .

5.7

5.1.5 U.

5.1.6 .

5.8

5.1.7: .

5.1.8 : De-Dion.

5.9

5.1.9 : Citroen 2CV.

5.1.10 McPherson .

5.10

5.1.5

.
. ,
.
().
.
.
,
.
, , , , ,
..

5.1.2. .

5.11

5.2
5.2.1

.
.
,
.
(0-25 Hz) (25-20000 Hz).
25 Hz ,
.

.
.

5. 2.1 o SAE (Society of Automotive

Engineers)

5.12

:
- .
- .
- .
5.2.1 SAE.

5.2.2

.

. ,
, ,
.



.

.
'
.

PSD (Power Spectral Density).


Fourier
.
(wavenumber) ( )
.
PSD (Power Spectral Density) ,
( 5.2.2). PSD
,
.

.

.

5.13

5.2.2:
(T. Gillespie, Fundamentals of
Vehicle Dynamics)

5.2.3:
(Roll) .

5.14

1.0 Hz
88 ft/sec 26.82 m/sec (60 mph 96.6 km/h).
88 ft 26.82 m ( 0.011 cycles/ft 0.0373
cycles/m) .
10%
(bounce)
.
.

. :
i)
ii)
.

:
i) .
ii)
.
iii) .
iv) .
v) .


.

5.2.4.

.

.
. '

.

5.15

5.2.4 -
.

.
'
.
5.2.5
-. '

(
).

5.16

5.2.5
.
.
.
. ,
,
.
'
.

.
.


.

5.17

5.2.6 (Peugeot 405 Mi 16)

.

.
:
i) , :

.
ii) , , :
, ,
.
iii) , : .
iv) , :

, .

5.18

v) , V 60 :
.
vi) , V 90 ( ):

,
vii) , V 90 ( ):
,
.

.
viii) , : .
ix) , V 90 :
, .

5.19

5.3
5.3.1


.
.

...
.

5.3.1

(. 5.3.1)

.
:
. (3-5mm 8-10mm )
. (10-12mm 5-8mm )


.

5.20

5.3.2

. .
.
,
, .

.

:
a.
b.

c.

d.
e.

50 60mm (

).

(

).



.


( 5.3.2.).

5.21

5.3.2 :

50mm 250, 500 1000 mm ,
.
120 mm 25, 35 50 mm ,
, .
, ,
,
.

5.22

, .

.

5.3.3 :

5.23

5.3.4 : (MTS Systems Corporation)

,
, .

,
(
).
1.4-2.8 m/s 1.4 m/s.
.
(1.5-2.5 m) (0.8-1.2 m) .
5.5-11 m/sec

.

. ..
0.8 3m. ,
40 80 mm .

5.24

.



.

.

.

.
10% - 30%.

.


(autotimer).
.

.



() b,,

.
. '
V
5.3.5
.
.
.

5.25

1 (
N.m.s2):

1 =

l 2 1

(5.3.1)

4 2

= (/m)
l = (m)
1 = (sec)

5.3.5
Ib ( .m.s2)

:
Ib = I1 - mb R02

(5.3.2)

mb = (kg)
R0 =
1 ( 5.3.5), (m).



.

5.26

5.3.3.

.


.
:

.

,

n=

1
T

To zmax
m.

, m/sec.

,
m/sec2.

,
m/sec3.

(5-13Hz)
(0.8-2 Hz).

.
(, )
.

1.17 - 1.66 Hz .
(1.0 - 1.3 Hz).

5.27

, .
(m/sec)
:

0.035

0.035-1

0.1-0.2

0.2-0.3

0.3-0.4

.
,
.
,
.
25m/sec3 40m/sec3. '
25 m/sec3
40m/sec3. '
25m/sec3. 5.3.2
.
5.3.1

(Hz)
1
1.5
2
3

(m/sec2)

2.3
2.7
2.1
2.5
1.9
2.3
1.7
2.0

5.3.2

( m/sec3)

1.0
2.5
4.0

0.6
1.0
2.0

0.5
0.7
1.0

5.28

,
G ( 5.3.6)
(/m).
.
G
:

f=

5.3.6

.
.
, .
zmax
(
, ..
).
, ,
.
'

d 2z
m 2 + z = 0
dt

(5.3.3)

z = z max sin

(5.3.4)

5.29

zmax m.

k (5.3.4)
m

. (5.3.4) :

z = z max sin t


.
( m/sec)

v=

dz
= z max cost
dt

(5.3.5)

( m/sec2)

j=

d 2z
= z max 2 sin t
2
dt

(5.3.6)

( m/sec3)

dj d 3 z
= 3 = z max 3 cost
dt dt

(5.3.7)

n=

1
c
=
=
T 2. 2. m

c (5.3.3)
m G/g ;

n=

1 g
2. f

. '

.
Janeway.
.
.

5.30

.

.

5.3.7 - Peugeot 405

5.31

5.3.4


5.3.8.

5.3.8

5.3.9. 1 2
.

.
5.3.9.b G
ks (
) kt.

5.32

5.3.9
.

G
.
,
( m) :

f =

G
k eff

keff ( /m).
:

G
G G
=
+
k eff
k s kt
keff

keff =

ks.kt
ks + kt

20 60 /m.
.

5.33

( 5.3.10)
.
xx, yy, zz Sx, Sy, Sz
x, y, z.

5.3.10

,
. Sz y (
5.3.10).
.

. ,

.

.

5.34

5.3.11 y.


' .

5.3.12.
(c.e.)

.
5.3.12.
1 2. f1 f2
y .

5.3.12 .

5.35

M cg = R1a Px R2 b = 0

(5.3.8)

R1 R2 .
(5.3.8) x

x=

R1a R2 b
P

(5.3.9)

R1 R2 ( ) :
R1 = k1 f1 R2 = k2 f2

(5.3.10)

k1 k2 f1 f2

.
:

P = R1 + R2 = k1 f 1 + k 2 f 2

(5.3.11)

R1, R2 (5.3.9) :

x=

k 1 f 1a k 2 f 2 a
k1 f 1 + k 2 f 2

(5.3.12)

f1 = f 2

(5.3.13)

(5.3.12) (5.3.13) :

x=

k1 a k 2 b
k1 + k 2

(5.3.14)

.
,
( mb , 5.3.13)
: m1, m2, m3 ( 5.3.13b). m1
m2 b bb
.

:

5.36

m1 + m2 + m3 = mb
(5.3.15)

(5.3.16)
m1a b = m2 bb

yy

m1a b2 + m2 bb2 = I = mb b2

(5.3.17)

b
yy.
(5.3.15), (5.3.16) (5.3.17)
m1, m2 m3 kg

m1 =

mb b2
ab L

(5.3.18)

m2 =

mb b2
bb L

(5.3.19)

m3 = mb (1

ab
)
ab.bb

(5.3.20)

5.37

5.3.13.

.
m3
( 5.3.13c).
Pin ( )
:

Pin = m 3 . j
j .

M in = Pin x = m3 jx

in
. in m3
x .

5.38

m3 .
(5.3.20) m2 :

b2
=1
a b bb
mb .
,

b,
.

b2
1
a b bb
.
x
. '

x=

k1a b k 2 bb
=0
k1 + k 2

k1a = k 2b
b
b

k1 bb
=
k2 a
b

A
.


.

5.39

5.3.14 x (Roll).
Sz
(1.1 - 1.3 z). x
( 5.3.14)

. '
.
()
.
,

, .

.


. ,

.

5.40

5.3.5. T

. 5.3.9 6
.
x, y, z, x,
y z .

5.3.15.

...
.

.


.

.

5.41

5.3.15. (
). 5.3.16.

.

5.3.16.

5.3.15
:

m s z"+ c s ( z1' + z 2' ) + k ( z1 z 2 ) = 0

mus z "2 + c s ( z 2 z1 ) + ct z 2' + k t z 2 = F (t )

(5.3.21)

(5.3.22)

ms
mus
cs
ct
ks
kt

F(t)


s

5.42

us ( ms
mus):

s =

us =

k s k t /(k s + k t )
ms
ks + kt
mus

(5.3.22)

(5.3.23)

fus. ms mus
fus , fus .

.
5.3.17
.

5.3.17

5.43

5.3.18.

m s z"+ k ( z l1) + k r ( z + l2 ) = 0
f
I y " k l1 ( z l1) + k r l2 ( z + l2 ) = 0
f

(5.3.23)
(5.3.24)

1
(k + k r )
D1 =
ms f
1
( k r l 2 k l1 )
f
ms
1
1
( k l12 + k r l 22 ) =
( k l12 + k r l 22 )
D3 =
f
f
2
Iy
m s ry
D2 =

(5.3.25.1)
(5.3.25.2)
(5.3.25.3)

ry y . kf
kr l1 l2
.
:

z"+ D1z + D2 = 0

(5.3.26.1)

D2
z=0
ry2

(5.3.26.2)

"+ D3 +

D2 = 0 z .
:

k r .l2 = k .l1
f
:

z = D1

(5.3.27)

= D2

(5.3.28)

5.44

(5.3.26)

z = z. cost

(5.3.29)

= cos t

(5.3.30)

z :

( D1 2 ) z + D2 = 0

(5.3.31)

D2
z + ( D3 2 ) = 0
2
ry

(5.3.32)

To ,
:

4 ( D1 + D3 ) 2 + ( D D
1 2

D
2 )=0
2
r
y

(5.3.33)

D22
1
1
2
2
( D D3 ) +
1 = ( D1 + D3 )
2
4 1
ry2
1
1
22 = ( D1 + D3 ) 2 +
( D1 D3 ) 2 +
2
4

D22
ry2

(5.3.34)

(5.3.35)

1 2 z
.
(5.3.31) (5.3.32)
. 1

D
z
= 2 2
1 1 D1

(5.3.36)

D
z
= 2 2
2 2 D1
.

(5.3.37)

5.45

. ( OC1) 1
2 ( OC2):
1

lo1 =

D2
D1

(5.3.38)

lo 2 =

D2
D1

(5.3.39)

2
1

2
2
2

lo1 lo2 .
OC1
( )
( 5.3.18).

5.3.18. .

.
OC1 OC2.
,
.

5.46

5.3.19. - ().

(OC1 5.3.18)
(C2 5.3.18.).
f1 1.2 z
. (..
5.3.19)
. (roll)
(1.5-2.0 Hz)
.

.

:

k f .l1 = k r .l 2

.

ry2 = l1 .l 2

(
l1=l02 l2 = lo1). 5.3.20
ms :

ms l2
l1 + l 2

m s l1
l1 + l 2

(
).

5.47

5.3.20.
.
:

f =

k f (l1 + l 2 )

ms l s

r =

k r (l1 + l 2 )
m s l1

,
. .

ry2
l1l 2
0.8 0.9 - 1.0
1.2.
f r '

( 5.3.21).
. kf<kr f<r,

. ,
. l1 + l2,
.

5.48

5.3.21
.
5.3.6.
O

, .
, .

.

, ..
z
x y .
. ..

Fourier.
. ..

,

.
.
Fourier

5.49

. ,
.

(RMS). n(x),
Zn ln :

Z n ( x ) = Z n sin

n =

2 x
= Z n sin n x
l n

2
l n

l
Zn 2
1 n
2 x
Z sin(
Z =
)dx =

n
n
l
l
2
n 0
n

(5.3.40)

,

.
S(n0)
n0, :

2
S ( n ) = n = Z 2
2

(5.3.41)

Z2
Z2
S (n ) = n = n
2

(5.3.42)

,
5.3.23 S(). H
:

Z 2 = S ( )d

(5.3.43)

1 2
:

2
2
Z = S ( )d
1
2
1

(5.3.44)

5.50

.
.

1
l

(cycles/m)

( ).

Sg() Sy()
.

( Laplace). ..
, ( ),
:

H ( ) =

1 + ( 2 / n ) 2
[1 ( / n ) 2 ]2 + ( 2 / n ) 2

(5.3.45)

, n
.

.
, , ,
.
.

5.51

5.4
5.4.1

.

.

5.4.1: Peugeot
Mi 16.

5.52

,

, ,
.

5.4.2: .

. ,
-
.
,
,
,
. ,

.
.
.

52

5.53

.
. ,

.
E -
. .

,

.


.
5.4.2

.

.


.
.
.
.

.
.
5.4.3
.

.
5.4.3

.

5.54

,
.

.
,
.

.


.
.
,
20 ms.
5.4.4 .

.

, 5.4.3.

,
.
1 Lotus. H

.
,
.

54

5.55

5.4.3:

5.56

5.5
5.5.1

240

.

.

.
5.5.2

:
) Mc-Pherson ( 5.5.1).

5.5.1: Mc-Pherson .

5.57

) (multi-link)
( 5.5.2)

5.5.2 - .
) Mc-Pherson (multi-link)
( 5.5.3).

5.5.3: Mc-Pherson - .

5.58

) (multi-link) Mc-Pherson
( 5.5.4).

5.5.4: - Mc-Pherson .
5.5.3


x -
y -
.

:

xi mi
x =
s
m
tot
yi mi
y =
s
m
tot
:
xs, ys

(5.5.1)

x i, y i
mi, mtot
730 kg,
:
) 316 kgr 130.57 kgr/m.

5.59

) 175 kgr 125 kgr .

) 50 kgr .
) - 32 kgr 32 kgr .
,
2 * 75 kgr = 150 kgr , 50 kgr,
. :
xs = 109.87 cm
(5.5.2)
ys = 49.21 cm
(5.5.3)

Steiner
. Steiner

:

J
:
Jik, Ji

= J +m r
ik
i
ii

(5.5.4)

mi, ri
.
:
Jtot= 431.1971 kgr.m2

(5.5.5)

5.5.4


q(t ) = q sin(t )
(5.5.6)

f (t ) = k u q0 sin(t ) + Cu q0 cos(t )

(5.5.7)

ku cu
.
' . 3
) , ) )
.
3 : ) 5 m/sec , ) 15 m/sec ) 22 m/sec.

5.60

5.5.5
CARJUMP
.

. '

.
5.5.1
.

.
CARJUMP. CARJUMP
.

:
(5.5.8)
msf = ms[b/(a+b)]
msr = ms[a/(a+b)]
(5.5.9)

5.5.1:
) Mc-Pherson -
) multi link - ) Mc-Pherson -multi link
msf, msr ms
, a b
.
CARJUMP :

msf = 490 kgr
muf = 32 kgr
ks = 80000 N/m

5.61

ku = 350000 N/m
cs = 500 N/m/sec2
cu = 1500 N/m/sec2

msr = 376 kgr
mur = 32 kgr
ks = 70000 N/m
ku = 350000 N/m
cs = 2500 N/m/sec2
cu = 1500 N/m/sec2

, :

ks = 75000 N/m
ku = 350000 N/m
cs = 3000 N/m/sec2
cu = 1500 N/m/sec2

ks = 60000 N/m
ku = 350000 N/m
cs = 2500 N/m/sec2
cu = 1500 N/m/sec2

CARJUMP 5.5.2
5.5.3 .

CARGALL DYNCAR.
:
ms = 924 kgr

Js = 431.2 kgr*m2

xs = 1.1 m


ys = 0.492 m
s = 0 rad

mfa = 18 kgr

xfa = 0.55 m

yfa = 0.25 m

fa = 0 rad

mra = 18 kgr

5.62

xra = 1.87 m
yra = 0.25 m
ra = 0 rad
mft = 14 kgr
xft = 0.4 m
yft= 0.25 m
ft = 0 rad
mrt = 14 kgr

xrt = 2.02 m
yrt = 0.25 m
rt = 0 rad

5.5.4 - 5.5.9.
5.5.4, 5.5.6 5.5.8
3 .
5.5.5, 5.5.7 5.5.9
. ,

.
.
,
,
.

5.63

5.64

5.65

5.66

5.67

5.68

)
) ks= 70000 N/m
ii) ks= 60000 N/m

)
) ks= 70000 N/m
ii) ks= 60000 N/m
5.5.2:

5.69

)
) ks= 70000 N/m
ii) ks= 60000 N/m

)
) ks= 70000 N/m
ii) ks= 60000 N/m
5.5.3:

5.70

5.5.4: CARGALL
: ) 5 m/sec ) 15 m/sec ) 22 m/sec

5.5.5: CARGALL
: ) 5 m/sec ) 15 m/sec ) 22 m/sec

5.5.6: CARGALL
: ) 5 m/sec ) 15 m/sec ) 22 m/sec

5.71

5.5.7: CARGALL
: ) 5 m/sec ) 15 m/sec ) 22 m/sec

5.5.8: CARGALL
: ) 5 m/sec ) 15 m/sec ) 22 m/sec

5.72

5.5.9: CARGALL
: ) 5 m/sec ) 15 m/sec ) 22 m/sec

5.56

5.5
5.5.1

240

.

.

.
5.5.2

:
) Mc-Pherson ( 5.5.1).

5.5.1: Mc-Pherson .

5.57

) (multi-link)
( 5.5.2)

5.5.2 - .
) Mc-Pherson (multi-link)
( 5.5.3).

5.5.3: Mc-Pherson - .

5.58

) (multi-link) Mc-Pherson
( 5.5.4).

5.5.4: - Mc-Pherson .
5.5.3


x -
y -
.

:

xi mi
x =
s
m
tot
yi mi
y =
s
m
tot
:
xs, ys

(5.5.1)

x i, y i
mi, mtot
730 kg,
:
) 316 kgr 130.57 kgr/m.

5.59

) 175 kgr 125 kgr .

) 50 kgr .
) - 32 kgr 32 kgr .
,
2 * 75 kgr = 150 kgr , 50 kgr,
. :
xs = 109.87 cm
(5.5.2)
ys = 49.21 cm
(5.5.3)

Steiner
. Steiner

:

J
:
Jik, Ji

= J +m r
ik
i
ii

(5.5.4)

mi, ri
.
:
Jtot= 431.1971 kgr.m2

(5.5.5)

5.5.4


q(t ) = q sin(t )
(5.5.6)

f (t ) = k u q0 sin(t ) + Cu q0 cos(t )

(5.5.7)

ku cu
.
' . 3
) , ) )
.
3 : ) 5 m/sec , ) 15 m/sec ) 22 m/sec.

5.60

5.5.5
CARJUMP
.

. '

.
5.5.1
.

.
CARJUMP. CARJUMP
.

:
(5.5.8)
msf = ms[b/(a+b)]
msr = ms[a/(a+b)]
(5.5.9)

5.5.1:
) Mc-Pherson -
) multi link - ) Mc-Pherson -multi link
msf, msr ms
, a b
.
CARJUMP :

msf = 490 kgr
muf = 32 kgr
ks = 80000 N/m

5.61

ku = 350000 N/m
cs = 500 N/m/sec2
cu = 1500 N/m/sec2

msr = 376 kgr
mur = 32 kgr
ks = 70000 N/m
ku = 350000 N/m
cs = 2500 N/m/sec2
cu = 1500 N/m/sec2

, :

ks = 75000 N/m
ku = 350000 N/m
cs = 3000 N/m/sec2
cu = 1500 N/m/sec2

ks = 60000 N/m
ku = 350000 N/m
cs = 2500 N/m/sec2
cu = 1500 N/m/sec2

CARJUMP y
.

CARGALL DYNCAR. :
ms = 924 kgr

2
Js = 431.2 kgr*m

xs = 1.1 m


ys = 0.492 m
s = 0 rad

mfa = 18 kgr

xfa = 0.55 m

yfa = 0.25 m

fa = 0 rad

mra = 18 kgr

xra = 1.87 m

5.62

yra = 0.25 m
ra = 0 rad
mft = 14 kgr
xft = 0.4 m
yft= 0.25 m
ft = 0 rad
mrt = 14 kgr

xrt = 2.02 m
yrt = 0.25 m
rt = 0 rad

.

. ,
.
.
,
,
.
: ) 5 m/sec ) 15 m/sec ) 22 m/sec

 6_________________________________________________________________

6.1

.
.
,
( , )


, , ,
.

,
'.

.
,
.

,
.

,

2

. ,

,
, Runge-Kutta 4 .

.
Quick Basic 7.1.
6.2
6.2.1

.

.
.
,

6.2

,
.

.
6.2.1
() , ()

6.3

.

()

, (m/sec).
()

, (m/sec).
()

( ).
()
( ).
,
,
,
.
.

,
. ,
,
6.2.1 ().
,
.
o,
, V 0 Vs.

(2), 6.2.1 (),
.
,
.

6.4

6.2.2

6.5

, (. 6.2.2).
,
.

.
1-2 '
() . 2-3

( ). 3-4
R
. 4-5
R . 5-6
'.

,

Pc = M a 2

(6.2.1)

M, , (kgr), , , (rad/sec)
, , (m).
:

U
R
L
L
, =
, R=

R
cos
tan

(6.2.2)

,
.

. = tan.

.

tan.

V :

M V 2 M V 2
P =

c Rcos
Lcos

(6.2.3)

Pc

Py = Pc cos

M V 2

(6.2.4)

6.6

.
(N) :

Py =

M Ub

s.w

(6.2.5)

b (m),
s.w (rad/sec).

Ptot = Py + Py =

M
L

(U 2 + Ub s.w )

(6.2.6)

Py
. P y

.
s.w P y
.

, s.w ,

. , P y
,
, ,
Py. P y
.
,
(.
Min 6.2.2).

6.2.3(a). ,
, Py,
.
:

0.5 G B Py h g.c =Z ins B

(6.2.7)

: Zins
, (N).

6.7

6.2.3 (a) (b)

, Zins .

0.5G B = Py h g.c

(6.2.8)

Py (6.2.4)
" ", (m/sec)

VO =

gGL
2h g.c

gBR

(6.2.9)

2h g.c

Py
(skidding).
Yins Yout , ,
(
):

Yins + Yout = y G ,

Yins + Yout = PY =

M V 2

VS =

y gL

y gR

(6.2.10)

6.8

, ,
. Ptot
Pgrid

.

,
. :

Ptot = Pgrip

M s.w

(V 2 t + Vb) = y Ga

(6.2.11)

t,

t=

(V 2 t + Vb) = y Ga

(6.2.12)

,
,
.


.
(
)
, G sin,
6.2.3 (b).

Z ins B + Gsin hg.c = Gcos 0.5B

(6.2.13)

, Zins = 0

o = arctan(

B
2hg.c

(6.2.14)

Gsin = Yins + Yout

Yins + Yout = y Gcos

(6.2.15)
(6.2.16)

6.9

S = arctan( y )

(6.2.17)

.
. 6.2.4

.
,
P y Pyy
Pyz. Gy Pyy
. Pyz Gz
.

Gz Pyy .
.

6.2.4

.
.

. ,
:

6.10

Y 2Z 2 X 2
(
) ,

.

. '

Z.
.
,

.
6.2.5
V 1 V1 +V2,
.
V3 ' .
Pc
.

.

( 6.2.5 (b) ),
P c
V2.
.

,
.
,
-
,
.
()
,
O1.
.


,
.
,
.

.

6.11

.
.

.
'
P y,
.

6.2.5 (a) (b)

(c)

6.12

. ,
.

,
.
6.2.2


.
.
. (,
..)
(, )
.
C b , bb
hb .
,
, C1. C
C1 hb>hg.c .


' C 1 C (b <bb).

.

.
(roll center)

. (roll axis)
-
.
.

, (roll axis)
, 6.2.6().
,

6.2.6().

6.13

()

()
6.2.6

(parallel arm suspensions).
6.2.7() ,
, (
) .
,

. C .

6.14

. (roll center)
K-L.
G-G,
K-L O-N G-G.
.

.
( )
.

, D-D
6.2.7().

A
n

B
C

L m

M
G

6.2.7

Pby ,
hr (roll arm).

6.15

.
hr :

hr = hb -

ab h2 - bb h1
L

(6.2.18)

h1 h2
, .

6.2.8

r
( 6.2.8).
Gb Py
. G1
P1y
( .)
. Pby
r (roll axis) C
C'. ZIN YIN
ZOUT YOUT. r
10 hb .

Pby Gb
.
r, C
S r = hr tanr hr r
(6.2.19)
( rad)

r =

Pby hr
cang.a Ghr

(6.2.20)

6.16

cang.c
,
(Nm/rad).

h r,
(angular rigidity) , .
(independent)
, hr (. 6.2.6())
. (stabilizer)

(angular rigidity) .
,

,
.

. , , V 0
0 , ,
10% 15%
(6.2.9) (6.2.14).
6.2.3



. 6.2.9

,
,
. ,

.

. ,

,

,
(bumbs and rebound movements).

6.17

6.2.9

, , 6.2.10

.
P,

, P

.

6.18

6.2.10

6.2.11
,
C.
,

C, .

.
, ,
.



6.2.10.
6.2.11 (strut and link suspension)

.
.

6.19

6.2.11 strut and link

,
.
""
,
.

,
( )

.


"
" (anti-roll rate).


,
,
.


.

6.20

6.2.4

, ,
.
Sc/2 ,
(anti-roll rate) T2Sc/4.

T f2 S cf
4

T 2S
+ r cr
4

( )

Ts.


.
(anti-roll stiffness)
,
.
: Msp
.
g (. 0.5g=4.905
m/sec2).

(roll axis) : MspH (. 6.2.12).
H,

.
(anti roll stiffness) .


, .
:
(1)

( .) .
' :

Wus R
(Nt)
T
:

us =
:

4Wus R
(rad)
T 2 St

6.21

Wusf
W
usa = 2R
+ usr )
2
T f S tf Tr2 S tr
(2) ,
()
(roll axis). Msph/T
'

rc =

4Wsp ah
T 2 St
Wspf h f

: rca = 2

T f2 S tf

Wspr hr
)
Tr2 S tr

hr
W.V2
Rg
h1

W
Roll Axis

hf

6.2.12

(3)
.

t.

6.22

sp =

4Wsp H( + sp + usa + rca )

T f2 S sc + Tr2 S cr

t=sp+usa+rsa .

spf = t usf rcf

W =
tf

Wusf R Wspf h f (t usf rcf )T f S cf

+
+
Tf
Tf
4

spr = t usr rcr

:

Wtr =

Wusr R Wspr hr (t usr rcr )Tr S cr

+
+
Tr
Tr
4

Wt

4Wt
ST

4Wtf
tf =
S tf T f

tr =

4Wtr
S tr Tr

sf =

(t usf rcf )T f S cf 4T f
(t usf rcf )S cf
=
4
S sf
T f2 S sf

sr =

( usr rsr )S sr
t
S sr

6.2.5

6.23

,
.

.
.

6.2.13 (a)
(b)

,
.

.
, . ( 6.2.13())
, . S g.c

,
P ins.

Sg.c (

6.24

6.2.13())
. '
.
,
,
().
,
,
. .

, Pins
Sg.c.
( 6.2.14(),

Pins Sg.c,
. Sg.c
.
6.2.14()
, Sg.c ,
.

Sg.c Pin

Sg.c Pin

6.2.14

,
,
.
,

.
H ,

.

.

6.25

(trailer) .
,


.
.
( ),
,
( 6.2.15).
Pr1,Pr2,Pair Mr .
Pins ,
Pair,Pins,Pt

X 1 = Pr1 ,X 2 = Pt Pr2
X1 X2
Pt
2.
r, Pg,Ptra

Pg = Ga sina ,

Ptra = Gtra sina

Z2 =

Ga cosa + Ga sina(h g.c r) + Gtra sina(htra r)

L x r

,

:

Pgr = x Z 2 = (Ga + Gtra )sin

,

tan sk =

x Ga
Ga (L x h g.c ) + Gtra (L x htra )

Gtra =0

tan sk =

x
L x hg.c

H sk
. x= .3 4.6
10-15 4 2 (

6.26

). 4 4 6 6

Pgr = x Ga cos

tan = x
6.2.6


,
.
, ,
.
,
.

) ,
,
) ,

,
) (steering linkage)


)
,

.
6.2.7
6.2.2 .
,
. P
P x
Pr1=fG1 .
P ( N)

Py1 = Pr1tan = fG1tan

6.2.21

6.27

R 1.

Pc1 =

M 1V 2 tan
Lcos

6.2.22

M1
.
Py1 Pc1
.
, :

Y = Pc1 + Pc2 2 Z 2 X 2 G1 2 f 2

6.2.23

P1 '
.
(Vst)

. (6.2.1) - (6.2.3)

Vst = (

2 f 2
f)gLcos
tan

6.2.24

Vst
,
. Vst
, ( )
.
, (f)
(),
.

(f) () 2 - f 2
Vst .

f
cos

6.2.24
.

6.28

f
cos

Vst .
Vst "
" (V0) " " (Vs),
.
.
(
,
), ( )
,
.
, .
6.2.8

.
,
,
.

.
" (wheel lateral slip)
,
" " (slip angle).
P z Px,
(6.2.15). ,
B1, C C1 .
AD1,
.
Py.

bt
, .
B B1 , C
C1 . AD2. ,
1s
.

, 1s .
, 1s.
.
,
( k-k),
( nn) (6.2.15),

6.29

.


. ,
Y,
Py .
ct
.
X, bt
.

6.2.15

,

.
, X Y

. .

(toe-in)
(camber).

6.30

Py ,

. Py
, ,
,
. Py
,
,
.
( )
,
.
6.2.16()
P y 1s. Py ,
Py '
. Py

( B'C'). :

Py = kl.s l.s

(6.2.25)

Py ,
.
1S Py. k1.s

1 rad, (N/rad). (4-5)
k1.s .
15 - 40 (kN/rad)
30-90 (kN/rad).
y
.
Py - 1S
AB'C' AB''C''.
6.2.16(b) 1S
Py, 6.40-13
2(kN) 3-4 6(kN), 1 2
( 0.17 KN/m
0.12 KN/M ). ,
6.2.16(a).
k 1.s
.


.
,

.

6.31

.
. ,
6-7 ,

.


f .
,
.

6.2.16

(road test)
.

6.32

,
(
).
,
(certan exposure)
.
(. )

.

(
), .

.
0.2 - 0.3 (MN/m2). ,
,
. R 1 ( 6.2.17)
, R
.

.
R 1 R " " ,
:

sin =

L
R

R1 R
R1

(6.2.26)

6.33

6.2.17 ,
, .

R1el R2el, 6.2.17,

1.
O1CA O2CB :

R1el cos( 1 ) = R2el cos2

2 [1 sin 2 ( )] = R 2 (1 sin 2 )
R1el
2
2
1el
R2el sin2 = L R1el sin( 1 )

:

(L2 + R 2 1el - R 2 2el )

sin( - 1 ) =
2LR1el

(6.2.27)

6.34

sin2 =

(L2 R 2 1el - R 2 2el )

2LR2el

(6.2.28)

(6.2.25) 1 2
.

.

, . 6.2.17 :
(6.2.29)
L = R tan( ) + R

el

el 2

, 1 2 ,

L
L

Rel =
tan( 1 ) + tan 2 + 2 1

(6.2.30)

1 = 2 = 0

R=

L
tan

(6.2.31)

,
,

.

.
(turnability)
,

.

6.35

i.s

i.s

1 = 2 = i.s

6.2.18 ()
()

,
(turnability) "". '
R=Rel
(6.2.29)
"" ( 2=1
.
6.2.18() ( )
( 1).

.
,
"" , ,
1.s A-A ( 6.2.18 ()), ..
B-B. A-A,
1.s A-A.
1 > 2 Rel > R
R,

.

6.36

"".
,
( 6.2.19(a)) 1
, 2.
'
() .

Pcy Py,
. '
""
.
1 < 2 Rel < R ,
R,
.
"".

( 6.2.19).
P cy Py.

.



.
""

"" . ""
.
, (rad),
(6.2.29)

L
Rel

( )
2
1

(6.2.31)

1 2 Py1
Py2
V

Py1
M 1V 2
(6.2.32)
1 =
=
k(l.s)1 Rel k(l.s)1
Py2
M 2V 2
(6.2.33)
2 =
=
k(l.s)2 Rel k(l.s)2

kl.s1 kl.s2
, kN/rad.

2 1.

6.37

(6.2.31),
Vl.s.
'
. Vl.s
: (21) > (L /Rel) .
.

Vl.s.
1

2
Pcy

Py

Pc

Pc
1 > 2

Pcy

Py

1 < 2

1
6.2.19

=0
(6.2.31) 21 (6.2.32)
(6.2.33)

2 1 = (

M2
k(l.s)2

M1

V2

k(l.s)1 Rel

, m/sec,

L
Rel

6.38

Vl.s =

L
M2
k(l.s)2

M1

(6.2.34)

k(l.s)1

(turnability), Vl.s,
, 1>2
1=2.
,
.
kl.s1.

.

,

.
6.2.20
, .

(). ,
M-M, .
Pby
( 6.2.20) .
, (
),
( ).
.

.

,
"" .

6.39

6.2.20
.

(camber)

. camber
camber acam. camber
10-15'.
,
camber
.
camber .

( 6.2.7)

.

6.40

.
6.2.9

,
,
, 6.2.18(a).
, ,
.
, .
out ins
OAC OCD:

cot out =

OC
OA
, cot ins =
L
L

(6.2.35)

cot out cot ins =

OC OA L pin
=
L
L

(6.2.36)

Lpin " ",

,
(m).
(6.2.36) ins out .
.

,
(6.2.36).
(6.2.36)
. 12-15
.
, ins out.

,
,
. O1,

( ),
. ,
:

cot out cot ins

M2
)
kl .s 2V 2
=
M
M
L ( 2 1 )V 2
k l .s 2 k l .s1
L pin ( L

(6.2.37)

6.41

(6.2.36) (6.2.37) out

ins ,
.
(steering gear)
. ,

.
.
6.2.10
,
,
" " .
(wooble) ,

,
. .
() .
,

.
, g
" "
.
g,

.
(woobles),
.
,
:
..
, .

,
.
(
, , ). ,

.

.


.

.

6.42

.
()
, ,

.

() (
). (2)
6.2.21(a) (5)
(4),
(5). (3)
(4) .
,
.

(3) .
6.2.21(b)

,
6.2.21(c).

N
M 5

M
4

5
3

(a)

2
1

4
1

3
M
N

(b)

N
M

(c)

6.2.21

6.2.11


.
,

6.43

,
.
, .

' . ,

.
.

.
,

.

.
.
,
.
s.w
.
,
.

Sr1

Pby1

hr1
Roll Center

Gb

hr

Pfry1

Zlins

0.5B

Gfr1

0.5B

Zlout

6.44

6.2.23

" " (king pins)
.

. ,

P by1 Pfry1,
6.2.23.
, :

( Z1out Z1ins )0.5B = Pfry1 R + Pby1 ( hr1 + hr 2 ) + Gb1 S r1

(6.2.38)

Pfry1
(6.2.20) (6.2.21), :

0.5( Z1out Z1ins ) = cang .1 r + Pby1h1

(6.2.39)

cang1 " " (angular rigidity), ,

(Nm/rad).
,
.
:
0.5( Z 2out Z 2ins )B = cang .2 r + Pby 2 h2
(6.2.40)

:

Z 1 = 0.5( Z 1out Z 1ins ) =

c ang .1 r + Pby1 h1

Z 2 = 0.5( Z 2 out Z 2ins ) =

c ang .2 r + Pby 2 h2

(6.2.41)
(6.2.42)

Z1out = 0.5G1 + Z1 ,
Z 2out = 0.5G2 + Z 2 ,

Z1ins = 0.5G1 Z1
Z 2ins = 0.5G2 Z 2

Bby
. '
..
,
.
X,

6.45

fZ1 ( f
).

Py1.
,
.

.
,
.

, :

Y1out = Y1ins

M 1V 2
=
=
2
2L
Py1

(6.2.43)

Y1out Y1ins
. Py1
Y1ins Y1out .

. 6.2.24,
, ( y).
" "
t, t t
Oz. :

tan t = t2 t2

(6.2.44)

" "
t Oy. t t :

sin t =

,cos t = t
t
t

(6.2.45)

.
t t
" "
.
6.2.24 camber (cam=0)
X Y :

M x = X ( lkn mkn ) = X [ lkn r t cos( + t )]

M y = YP = Yr t sin( + t )

(6.2.46)
(6.2.47)

l kn (m).
'

6.46

Zt
. :

M z = Z mut n = Z mut lkn sin( + t )

(6.2.48)

(6.2.45)
:

M x = X [ l kn r( t cos t sin )]

(6.2.49)

M y = Yr( t sin + t sin )

(6.2.50)

M z = Zl kn ( t sin + t cos )

(6.2.51)

6.2.24

6.47

(.. )
. sin(-) = - sin()
sin()
.

( Nm).
:

Mins = M xins + M yins + M zins

(6.2.52)

M out = M xout + M yout + M zout

6.2.25

6.2.25
.
" "
B1n Bout.
,
, Zinst Zoutt

6.48

.
.
Yins Yout
.

M My Ybt Xbt (
6.2.25). M+ My=Mt "
(tyre stabilizing moment).
6.2.26(a) Mt
. ,
.

' Y Yc t

' .
Xbt Yct
Mt .

6.2.26

6.49

, Mst
.
Msc
"" ( )
.
,
Mst+ Msc. Mst
.
,

Mst- Msc. ,
Mst
.
Msc
.
6.2.26(b) Mst
,
t=6 t=3.5 .
, Mt Mz .
Mz , Mx
f,

.


" ",
Mt My.

,
.

.
,

.

.
,
. ,
.


, .

.
camber
.

6.50

6.51

6.2.12 STABLITY.BAS
stability.bas, Quick Basic, :
-

, (6.2.1),
(6.2.5) (6.2.6)
-
,
(6.2.9) (6.2.10)
-
(6.2.20)
-
(6.2.33) (6.2.34)
-
( )
-

(6.2.46) (6.2.52)
-


ROLL.BAS
"Moments and Forces".

.
, .

6.2.13 ROLLANGL.BAS
ROLLANGL.BAS
.
6.2.9
(, , )
:
-

-

-

-


, ,
Animation.

6.52

, ,
. .
Path

File

Select
Exit_Program
Help
Moments and Forces
Roll angles during turning
Steering system simulation
Transient behaviour on cornering
Suspension-wheels oscillation

()
Path
File
Select
Exit_Program
Set paths
Choose graphics analysis

Help

()
Path File Select Diagrams Exit_Program Help Show
Centrifugal Force
Critical speed and angle
Body lateral rolling
Wheels rolling without sliping
Sliping angles
Stabilization of steerable wheels

()
6.2.27 main menu roll.bas ()
stability.bas rollang.bas () directory
drive () stability.bas

6.53

6.2.28 ()
()
.

6.54

Path File Select Diagrams Exit_Program Help Show

Set paths
Choose graphics analysis
Create Data File
Update Data File

6.2.29 main menu Rollangl.bas

6.2.30 rollangl.bas ()
( - ,
.) () ,

6.55

6.2.31 () ()
() .

6.56

6.3

6.3.1
,


.

"", .

"".

.

.

.

:

,
, .
.
. 90

30 .
.
,


.
,
.



,
.

.


,
. O

6.57

.


,
.
.

.

6.3.1 -

.
,
( 6.3.1),

,
.

,

6.58

. ,
,
.



,
.
(
6.3.1)
,
,
.
(
6.3.1), ""

(
6.3.1). -
.

,

(
6.3.1).



.
.

. 6.3.2
. F
F .
,
,

. F F
,
.


. ,
, .
.

.

6.59

6.3.2

.
.
F
.
.
" ",


. ,

.

. ,
, ,
.

6.60

,
,


.

.

, ,
(, )
.
. ,
.

.

.
.

.



.


.

, ,
.

,

.
6.3.2

,
. : ,

.
,
.

.

.

6.61

,
.

:

f =

L
R

+(

Wf
C af

Wr V 2
)
C ar gR

(6.3.1)

Wf , Wr , Car
.
().

. ,

,
. , ,

.
().


.
().


.
,
.
,

.


,


.

.


, .

6.62

6.3.3

, .
,
,
.
.
,
, .


( .

. ,
.

,
,

.

,
.
Ox Oy
, V x Vy
V
, t ( 6.3.3).
,
t+t V

6.3.3. x
:

( Vx + Vx ) cos Vx ( V y + V y ) sin =
V x cos + V x cos Vx V y sin V y sin

(6.3.2)

6.63

t + t

6.3.3

Vx Vy

(6.3.3)

x
,
t, :

x =

dVx
d dVx
Vy
=
V y z
dt
dt
dt

(6.3.4)

dVx/dt
Vx, dVy/dt
Vy .
y :

y =

dVy
dt

+ Vx

d dVy
=
+ Vx z
dt
dt

(6.3.5)

( 6.3.4),
, :

6.64

dVx
V y z ) = Fxf cos f + Fxr Fyf sin f
dt
dV
m( y Vx z ) = Fyr + Fyf cos f + Fxf sin f
dt
d z
Iz
= l1 Fyf f l2 Fyr + l f Fxf sin f
dt

m(

(6.3.6)

(6.3.7)

(6.3.8)

Iz z (
6.3.4).
xz
.
Y

l1

l2

O
Fxr
Fyr

Fxf

Fyf

O
Y
Iz z - Vy
Vx

Vx

Vx

1
Iz z - Vy

Vy
O

X
6.3.4

6.65

x,
6.3.6
6.3.7 6.3.8.
f r Vy z.
, :

f =f

l1z + V y

(6.3.9)

Vx

Fyf = 2Caf f

(6.3.10)

Fyr = 2Car r

(6.3.11)

6.3.7 6.3.8
Fxf

, :

mV + [ m
Iz

dV y
dt

2l1Caf 2l2C ar
Vx

] z + [

2Caf + 2Car
Vx

]V y = 2Caf f ( t ) (6.3.12)

2l12 C af + 2l 22 C ar
2l1C af 2l 2 C ar
d z
=[
] z + [
]V y = 2l1C af f ( t )
dt
Vx
Vx

(6.3.13)

, f(t)
.
,
,

.

,
z Vy

.
6.3.4 ROLLCAR.BAS
ROLLCAR, Quick Basic,

. ROLL.BAS
Transient Behavior.

6.66

(6.3.12) (6.3.13).
,
Diffe
,
.

.

Runge-Kutta 4 . RungeKutta.

.
,
Solve
Runge-Kutta.

, Diagrams.

.

.

()

()
6.3.5 ()
, ,
() ,
Runge-Kutta

6.3.6 Rollcar

6.67

6.68

()

()

6.69

()

()

6.3.7 () () ()
()
, ,
0.1 (rad).

6.70

6.4
6.4.1
,

.
.
( ),

,.
x = L/2, . 6.4.1. 5
2.75m, 15.75m.
25 km/h 0.31g. ,
,
,
.

fo
ro
fi
ri

6.4.1

.

"" .
6.4.2
( 6.4.2),

6.71

. i,
0,
Tfk "
" e
, :

T fk = T f 2e
6.4.2 :

Tr Tf
) = tan

2
Tr Tf
L
=
R ri + e +
2
tan i

L/(R ri + e +

L
Tr Tf
R ro e
2
L
R ro =
sin

= tan o

(6.4.1)
(6.4.2)
(6.4.3)

(6.4.4)

e
Tf

Tf

Tr

Rfo
Rfi

6.4.2 -

Rri

6.72

6.4.3 -

. 6.4.3

,
.

.
L/2 , , R r0 Rri
. .

Tf

Tr

Rfo

L/2
Rro
A

Rfi

Rri

Tr/2
B
Rro/2
Rri/2

6.4.3

,

. ,
R f0 Rf1

6.73

R f0 Rf1
.
,

.

,
,
.
6.4.4

70 75 .

70 75
3 4,5 ,
15:1 22,5:1.

. , ,
.


.

.

,
""
4,5
.
(. ).
(forward
efficiency) .
(rack and pinion)
.
.
. 75

1,2
. 4,5
,
28,27 pinion. R
r pinion : 1,2R=28,27r : R/r = 23.56 . R=0.14m
r=0.00594 m .
,
,
pinion
(rack) pinion

6.74

. pinion 5
4 , .

, pinion
, ( 6.4.4 rack and pinion 2).
(rack)
pinion
pinion .
cam and
roller 6.4.5 6.4.6.

6.4.4 rack and pinion

6.75

6.4.5

6.4.6

6.76

6.4.5


.
.

,
.
.

.

. ,
,

,
.
Ellis
,
.

,
. Ellis

,

.
,
.

.
:
AT :
B fw :
Bsw :
C :
CF : Coulomb
CR :
()
Ifw :
Isw :
K
:
Ksc :
Ksl :

6.77

Kss :
Ng : ()
Nl :
Tsw :
V :
xc :
xP :
xT :
Y :
y
:
:
fw :
sc :
sl :
l :

:
:
f :
:

6.4.5.1

.
,

, .
,
,
.
.
,
, Segel 1965

.
, 6.4.7

6.78

6.4. SAE

Pitman

6.79

6.4.8. 6.4.8
(steering linkage),

.

.

.

, :

Bs
Tsw

Isw

Ksl

Ks

sc

CF

Nl

Ng

Bfw

AT

Ifw

sl

fw
6.4.8

(I

sw

D 2 + Bsw D + K ss sw K ss fw = T sw

1
1
ss

ss sw + I sw D 2 + Bsw D + K ss fw = AT CFsng ( sw ) +

1
I fw r
1
ss

(6.4.5)
:

= n (GR)2 I sw
I sw
f

sw = sw

GR
= n (GR)Tsw
Tsw
f

= n (GR)2 Bsw
Bsw
f
h f (GR)2 K sl K sc
K ss =
K sl + n f (N g )2 K sc

6.80

D :

Di =

di
dt i

6.4.5.2
(yaw) ,
.
,

,

, .


, .

-
Coulomb,
.
, ,
:

D 2 + Bsw
D + K ss) sw - K ss = Tsw

(I sw
fw

(6.4.6)

- K ss sw + (I fw D 2 + B fw D + K ss ) fw = -AT

(6.4.7)

6.4.5.3

Y = C( fw - )

(6.4.8)

Y = Ky

(6.4.9)

.

.

6.81

y
.

C( fw - ) = Ky

(6.4.10)

y& - xc fw

(6.4.11)

(D + )y = (xc D + V) fw

(6.4.12)

=UK/C.
Y :

AT = (x p + xT )Y = xo y
y& - xc fw
AT = xT Ky = xT C( fw )
V

(6.4.13)
(6.4.14)

I sw

K ss
0

K ss
2
I
D +B
D + K ss
fw
fw
(x c D + V )

,
fw

x K
T
D + y

,
T

sw
0
=

(6.4.15)

(),

y=

K ss (xc D + V)

Tsw

(6.4.16)

.
y sw

y
sw

(D) =

I fw

D 3 + ( I

K ss (xc D + V)
2
fw + B fw )D + ( B fw + K ss + xc xT K)D+ K ss + VxT K

(6.4.17)

6.82

6.4.5.4
,
.

x
AT = xT C( fw + c sw )
V

(6.4.18)

I sw
D 2 + Bsw
D + K ss

- K ss

- K ss
T
S sw = sw (6.4.19)
xc xT C
2
I fw D + (B fw +
) + (K ss + xT C) S fw 0
V

6.4.5.5

.
/.

1 2
35 mph.

"".

, .
4% .
" " (cornering stiffness) (lateral
stiffness)
.
,

.
,

.
15 mph.
,
.
.
6.4.5.6


.

6.83

,
6.4.9 6.4.10.
""
.
,
.

6.4.10 6.4.11, .
Kss
.
.

, 6.4.12.
6.4.5.7 .

,
.
.



, .
,
.

.

.
.
.
6.4.5.8 .

,

.
.
,
.

. ,
. ,
,
.

6.84

6.4.9

6.85

6.4.10 =500000 lb
ft / rad

6.86

6.4.11 K=350 lb ft /rad

6.87

6.4.12 =0 lb ft / (rad sec)

6.4.6 STEERCAR.BAS
STEERCAR Quick Basic

6.4.5.
(6.4.19),
.
.

.


.

,

6.88

,
.
,
, ,
.

,
,
, ,
.. ,
,
,
.
, .

()

()
6.4.13 ()

, () ,
Runge-Kutta

6.89

, ,
Runge-Kutta 4 . RungeKutta.
Diffe,
,
.
,
.
,
sw .

.
, Dgrms
.

.

, .

6.4.14 main menu Steercar

6.90

()

()

()

()
6.4.16 () () ()
()
.

6.91

6.5

6.5.1

.

. ,
: .
sec, .
, . z, .
.
.

1.17-1.66 Hz .
.
,
.
m/sec, :
- :
0.035
- :
0.035-0.1
- :
0.1-0.2
- :
0.2-0.3
- :
0.3-0.4

.
.
:

(Hz)
1
1.5
2
3

m/sec2

2.3
2.1
1.9
1.7

2.7
2.5
2.3
2.0

,
25m/sec3
40m/sec3.

0.5-5Hz 15-18 Hz,
.
m/sec2
.

6.92

1.0
0.6
2.5
1.0
4.0
2.0

0.5
0.7
1.0

Janeway
.
.

6.5.1 :
1-6 Hz
6-20 Hz
20-60 Hz

6.93

6.94

6.5.1 Janeway

6.5.2 I.S.O

6.95

1-6 Hz xmax<12.6 m/sec3.

3 J (jerk). 6-10Hz

0.33 m/sec. , 2060 Hz
2.7
mm/sec.
I.S.O 1974,
1-80 Hz.
:
=

=
C= .
6.5.2 . 6.5.2
6.5.2
y x. 6.5.2
I.S.O.
6 dB . 10 dB .

.
6.5.2


6.5.3:
-
, z.
-
x
- y
- y
- x
- z

6.96

6.5.3

6.5.4. 7
2
. :
,
(, )
.

6.97

6.5.4

C: .
C':
C'':

6.98

: ( - )
E:
x o1(t), xo2(t), xo3(t), xo4(t):
x(t):
x'(t), x''(t): C' C''

x1(t ), x 2 (t ), x 3 (t ), x 4 (t ):

x 5 (t ), x 6 (t ), x 7 (t ), x8 (t ) :
.
a(t):

(t):

'(t), ''(t):

m', m'':
I,I:

I,I:

G', G'':

F', F'':
g', g'':

f', f'': ,
:
G z = k z + G (z)
(6.5.1)

z
.
:
Fz = c z& + F (z&) + R sgnz&
(6.5.2)

G(z) ,
. F(z)
.

:
(6.5.3)
g(zo ) = k o z o

f(zo ) = (0.1ko /22fo ,z o = sin2i

.

(6.5.4)

6.99

7
Lagrange.
:
- :

q1 = x , q2 = x , q3 = x , q4 = x
q5 = a , q6 = , q7 =

(6.5.5)

- :

q1 = x , q2 = x , q3 = x , q4 =
q5 = , q6 = , q7 =

(6.5.6)

- :

q1 = x , q 2 = x5 , q3 = x6 , q4 = x7
q5 = x8 , q6 = , q7 =

(6.5.7)

x1,,x8
, ,
6.4.4:
- :

x1 = q1 q5 + dq6 ,
x2 = q1 q5 + dq6 ,

x3 = q1 + bq5 + d&&q6 ,
x4 = q1 + q5 q6 ,

x5 = q 2
x6 = q3

E
x7 = q4 + q7
2
E
x8 = q4 ( )q7
2

- :

E
x5 = q 2 + q6
2
E
x6 = q2 q6
2

x1 = q1 q4 + d q5 ,
x2 = q1 q4 + d q5 ,

x = q + bq + dq5
3
1
4

x7 = q +
3

= q + bq dq5
1
4

x =q
8
3

- :

x1 = q1 q6 + d q7 ,
x2 = q1 q6 d q7 ,

x5 = q 2
x6 = q3

E
2
E

q7

q7

6.100

x3 = q1 + bq6 + d q7 ,
x4 = q1 + bq6 d q7 ,

x6 = q4
x8 = q 5

f1 = k (x1 x5 ) c (x&1 x&5 )

f 2 = k (x2 x6 ) c(x& 2 x&6 )

f 3 = k (x3 x7 ) c(x&3 x&7 )

f 4 = k (x4 x8 ) c(x&4 x&8 )

f 5 = k o (x5 xo1 ) co (x&5 x&o1 )

f6 = k o (x6 xo2 ) co (x&6 x&o2 )
f7 = k o (x7 xo3 ) co (x&7 x&o3 )

f 8 = k o (x8 xo4 ) co (x&8 x&o4 )

(6.5.8)

k', k'', c', c''

K0, K0, C0, C0
.
x x1,,x8, q
q1,,q7, f' f1,,f8 x0
x01,x02,x03,x04.

:

x = Aq
A .
A :

(6.5.9)

6.101

1
1

1
A=
0

0
0

0
0
0
0
1
0
0
0

0
0
0 b
0 b
0 0
0 0
1 0
1 0

0
0
0
0
0
1
0
0

d
d
d
d

0
0
0

0
0

0
E/2

E/2

0
0
0
0

.
:

1
1

1
A=
0

0
0

0
0
0
0
1
1
0
0

0
0
0 b
0 b
0 0
0 0
1 0
1 0

d
d
d
d
0
0
0
0

0
0
0
0
0
0

0
0
E/2
0

E/2
0
0
E/2

E/2
0

1
1

1
A=
0

0
0

0
0
0
0
1
0
0
0

0
0
0
0
0
1
0
0

0
0
0
0
0
0
1
0

0
0
0 b
0 b
0 0
0 0
0 0
1 0

d
d
d

d
0

0
0

f = [K x + C x& + K o xo + Co x& o ]
K', C', Ko, Co

(6.5.10)

6.102

KS
C
C = S

KP
0

K
K = S
0

CS
C P

0
0
CO =
KO =

K P
C P
:

k 0 0 0
c
0 k 0 0

CS = 0
KS =
0 0 k 0
0

0 0 0 k
0

0
c

0
co
0

0 0
CP =
0
k o 0

0 k o
0

0
co

k o
0
KP =
0

0
k o
0
0

0
0

0
0

0
0
c
0

0
0
0

0
0 0
co 0

0 co
0

:
-
:

m 0 0 0 0
0 m 0 0 0

0 0 m 0 0

M = 0 0 0 m 0
0 0 0 0 Ia

0 0 0 0 0
0 0 0 0 0

0
0
0
0
0
Ib
0

0
0
0

0
0

0
I b

- :

6.103

m 0 0 0
0 m 0 0

0 0 m 0

M = 0 0 0 Ia
0 0 0 0

0 0 0 0
0 0 0 0

I
Ib
0

0
0
I b

0
0
0

0
0

0
I b

- :

0 0
m 0 0 0
0 m 0 0
0 0

0 0 m 0
0 0

M = 0 0 0 m 0 0
0 0 0 0 m 0

0 Ia
0 0 0 0
0 0 0 0
0 0

0
0
0

0
0

0
I b

Lagrange
:

T
T
= g i ,i = 1,2,...,7
)
dt qi
qi
d

(6.5.11)

g i . 7

Lagrance.
VIBRATIO.BAS Quick Basic.
Lagrange :

x
g i = f k k ,k = 1,2,...,8 i = 1,2,...,7
qi

(6.5.12)

f [f1,,f8]
x1,,x8,
q1,,q7:

f1 = f1 , f 2 = f 2 , f 3 = f 3 , f 4 =
f6 = f 2 + f6 , f7 = f 3 + f7

f 4 , f 5 = f1 + f 5
, f 8 = f 4 + f 8

6.104

f = Ff
F :

I
F =
I

0
I

4 4.

, :

F = [Kx + Cx& + K o x + Co x& o ]

:

K
K = FK = S
K S

KS
C
, C = FC = S

KS + KP
C S

CS
C S + C P

xk = ki qi , i = 1,2,...7 k = 1,2,...8
1
T = mii qi2
2
o ki mii :

xk
q i

= ki , k = 1,2,...8i = 1,2,...7

T
= mii qi , i = 1,2,...7
q i
, Lagrange

g i = ki f k = (AT F)i
d T
(
) = mii q&& = (Mq&&)i
dt qi

AT .
Lagrange :

Mq&& = AT f

(6.5.10) (6.5.13)
:

f = [K Aq + CAq& + K o xo + Co x&o ]

(6.5.13)

6.105

Mq&& + AT CAq& + AT KAq = [AT Co x&o + AT K o xo ] k1

6.5.3 VIBRATIO.BAS

VIBRATIO.BAS
6.5.2.

6.4.3. 7 7
.

,
( , )
.
, , .
Diagrams.
, 6.4.3
Runke-Kutta 4 .
RungeKutta.
diff.
: (1),(3),...,(13)
(. 6.4.3) q1,,q7
(2),(4),...,(14) q1,,q7.

( ),

. ,
,

.
Solve.
Diffe
, .

,
,
(
) .
,
, Diffe
.
.

, .

6.106

V=20,

6.107

V=20,

6.108

V=5,

6.109

V=5,

6.110

V=40,

6.111

V=40,

6.112

Gear ratio of the entire steering system

.02

Steering wheel moment of inetria

300

Front wheel moment of inetria

40

Steering wheel viscous damping

.6

Steering column flexibility

500

Tire cornering stiffness

2500

Pneumatic trail length

.5

Mechanical trail length

.1

Vehicle forward velocity

5, 20, 40

Steering wheel torque

500

Forward torque transmission efficiency

.2

Gearbox displacement ratio

.5

Front wheel viscous damping

.7

Steering linkage flexibility

600

6.113

6.5.5 -

K 9

9.1

.

,
.



.

.
.
,

.

, .
, , , ,
' . '
,
, '
.


.
, 18
. 1860 Lenoir
, . 1870 Langen Otto

1897 Diesel . 1883 Benz
1888
Daimler .

. 1906
Grinevetsky
. , Mazing, Stechkin
Inozemtsev.

,
.
[7].

.

9.2

KINHTHE

9.2
9.2.1 .
()
.
,
.


'
.

(),
.
...
.
. ,
. ,
.
, .
,
( ),
() , ( )
( ).
..
,
.
(
). ' .
,
(, ).
.
(/)
(/),

.
, .
-
.

. ,
- .
'
.
, ().
,
.

9.3

9.2.2
- P-V.
,
. ,

.
,
,
P-V ( 1).
1,

' 1 2,
' 2 1.
,

L = V dp.

1.

P-V

2. T-S

To - T-S.

T-S. T-S ( 2),
,
P-V.
, T-S H-S , dH=Cp dT.

L. n=1Q/Q
, ,

9.4

KINHTHE

,
.
Carnot
, 1824 Carnot,

T max Tmin
T-S.
Carnot
. '
Carnot ( 3)
.
: n=(T max-Tmin)/Tmax.

3. Carnot

, .

.
:
.
( 4, 5)
. ( 6)

.

9.5

4.
1. P-V 2. P-t,
(TDC , BDC )

5. P-V T-S

9.6

KINHTHE

6. P-V T-S

.
,
.


- ,
.

.
P-V

P mi
, -
(P-t) - (P-a),
( 4).

. , ,
.

.
, ( ).

.

9.7

9.3 OTTO

, . '
, - 1525 bar ( = 7...10) .
400-600 ,
,
. '

.


-.
,
-,
. ..
, ,

- (
).
,
.
- 0.8 1.2,
,
( ).

( ). -
,
-
. ,
() .

.

.

.
7,
.
,
-
.
,

.
,

9.8

KINHTHE

-
.
.

7. - ,
.

- ( )

.

,

-. ,

, ()

.
,
.
-.

9.9

-
0.2 mJ. ,
3mJ .
9.4 O DIESEL
Diesel
( ) .
35 55 bar
700 900 .
(

530 C)
(TDC).

- ,
(=),
. 8
.
,

.
.

8. .

,
0.3 0.5 (0.3<<0.5).

9.10

KINHTHE

,


.



(
),
- ' .

.



.


.

,
,
,

.


.
.

,
.

'
' ,

,
.
Diesel ,
.

9.11

'
.



.

( 9).
Diesel
.

9.
.

'
,
( 10).
,


.
-


.
,
.
,

9.12

KINHTHE

.

.

10. .

( ).
,

.
,
.

. (11)
.

9.13

11. .

Diesel,
. ,
( ).

.
,
.

,
50%
.

.
.


.
,
.

9.14

KINHTHE

12.
.

25-35% . ,
.

, ,
.
.
Diesel
.
.
.
.
Diesel
.
.
.

9.15

13.
.

9.5 WANKEL
Wankel ( 14 15)


.
.
,
(
).
. ,
(A,B C) 120 '
.
.
,
.


360 .

.

.

.

.
.

9.16

KINHTHE

,

.
. Wankel
'
.
.

.


270
.


.
.


.

14. Wankel:
1. . 2. . 3. (). 4. .
5.
a: - ,
C. b: .
, .
.
a, C .
120

9.17

. ,
.

15. Wankel :
1. 2. 3.

WANKEL

.
.
.
.
.

.
.
.
.
.
.
.

9.18

KINHTHE

9.6
( 16)
(,
), (,
..). ' .

16. :
1. . 2. .
3. . 4.
5. 6.
7. 8.
9. 10.
11. . 12.

9.19

9.7 H

- .

,
().

0.2 mJ
- .
3 mJ.
.
.
.
-,
.
' .

.

,
( ).
.

().

.

,
(10-12 KV).
,
.
- .
,
( 17)

9.20

KINHTHE

17.

( ,
),

( - detonation).

.
.
()
.

-
12V,
. .

. dwel
,
(),
'
( ().

.
25-30 KV,
60-120 mJ.

.
,
.
. ,
.

.

9.21

.


2 msec. '
, , '
.
:

.
.
"".
.

. ,

.
,
:

.
.
.
.
(. , , ).

().
, .

, .

. ,
, .
, .
.

.
,
.
, 18.

9.22

KINHTHE

18.

19 '
.
,
. ,
, .
, ,
"". ,
.

9.23

19.

( 20)
,
. ,
,
(, , )
.

20. NOx

9.24

KINHTHE

9.8


. ,
, ,
,
. ,

. ( 21)
.

21. .
.
1. . 2. . 3. .
4. . 5. . 6. ().
7. . Rv: .

9.25

22. .
1. . 2. .
3. . 4. .

23. advance, .
1. . 2. . 3. .
4. . 5. . 6. .

9.26

KINHTHE

,
().
.
,
(proximity switch .).

.

24.
1. . 2. . 3. .
4. . 5.
. 6. . 6. .
7. .

9.27

25.
1. . 2. .
3. . 4. .

26.
1. b. 2. . 3. IC.
4. . Ug: .

9.28

KINHTHE

(
)
.
,

,
B.

.

.
,
.
.


, .
, 0.1-0.3 msec ,
-. '

,
.

27.
1. . 2. . 3. .
4. . 5. .
6. . 7.

9.29

.

.

(), .

.
28, 1
,
.

. ' ,
.
.
'
.

28. (ESA)
1. . 2. . 3. . 4.
. 5. . 6. . 7. .
8. . 9. .

9.30

KINHTHE

,

.

.
.
dwell
.
. ,
, .
,
.
,
.
,


.

29.
1. . 2. . 3. .
4. . 5. .

9.31
6. . 7. .
8. - . 9. .

9.32

KINHTHE

30.
.

, ,
.
.

, ,
,
.


"" ( 31).

31.
1. . 2. . 3. .

9.33

4. . 5. . 6. . 7.
.
8. . 9. .

9.34

KINHTHE

9.9
, , .
,
( RPM) "" (throttle
opening).
, -
.

.

, - .

.
, .

. 32
.
.

,
.



.
.
, (=1).

.


.

.

,
, .

9.35

32. .

.

().
. T
.

, '

. ,
.


.
.
:
;
.

, .

.
, ,

9.36

KINHTHE

.
.

.
.
30m
.
.

33. .

O , ,
"BURST" . '
.


1 msec
.

9.37

, 20% .
34
- (),
"BURST" ().
,
100nsec.

34.
-.

, 75%

.
,

, .
- ,
.

.

.



.
.

, .. .
35

9.38

KINHTHE

"".
.
,
35
. '

.
,
.

35.
"".

,
.

.
:
1. . .
2. . .
3. .
4. .
5. .
6. .
7. .
8. .
( Diesel).

9.39

9. . ,

.
.
10. , '
.
,
. ' :
1. .
() Venturi,
( )

.
2. , . ,
-
.
3.
( ).
4.
, -
.
(knock) Otto
.
:

36.

9.40

KINHTHE

36. (Mono-jetronic)

9.41

9.42

KINHTHE

9.43

36. (k-jetronic)

9.44

KINHTHE

36. (Cummins Co)

9.45

36. (throttle body fuel injection)

9.46

KINHTHE

9.10

,
.
9.10.1

.
.
.
.
.
.

9.10.2 K- Jetronic

-
-

, K-Jetronic

.
, KJetronic
,
.

,

.


.

. .

9.47

37. K-Jetronic:
1. 2. .
3. . 4. .
5. . 6. . 7. .
8. . 9. .
10. . 11. .
12. . 13. .
14. . 15. .
16. . 17. .
18. . 19. .

9.48

37

:
1.
2.
3.
4.
5.

KINHTHE

37
:
1.
2. .

9.10.3 KE-Jetronic
KE-Jetronic ( 38)
K-Jetronic,

. :
- ,
.
- .
-
.

.
,
(
K-Jetronic
, K-Jetronic
).

.
K-Jetronic
.

.
, ,

9.49

, .
,
.
.
,
.

.
.

, .

38. KE-Jetronic
1. . 2. .
3. . 4. .
5. . 6. .
7. . 8. .
9. . 10. .
11. . 12. .
13. . 14. .
15. . 16. .
17. . 18. .
19. . 20. .

9.50

KINHTHE

38.
1. . 2. .
3. . 4. .
5. . 6. .

9.10.4 L-Jetronic

.
.
.
L-Jetronic ( 39)
. K-Jetronic,
(, ,
)
,

.

9.51

.
.

.

2.5-3 bar
.
.
,
.
' .

39. L-Jetronic
1. . 2. .
3. . 4. .
5. . 6. .
7. . 8. .
9. . 10. .
11. . 12. .
13. .
14. . 15. .
16. . 17. -.

9.52

KINHTHE

39.
1. .
2. .
3. . 4. (). 5. .
6. .

39. L-Jetronic
1. . 2. .
3. . 4. .
5. . 6. .
7. .

9.53

9.10.5 LH-Jetronic
LH-Jetronic ( 40) L-Jetronic.

, LH-Jetronic
.
.

. LH-Jetronic
L-Jetronic. LH-Jetronic
,
L-Jetronic,
- ,
.

.
, ,
/ .


. quartz .

40. LH-Jetronic
1. . 2. . 3. . 4. . 5.
. 6. . 7. . 8.
. 9. . 10. . 11.
. 12. . 13. .
14. .15. . 16. -.

9.54

KINHTHE

40

1. .
2. .
3. .
4. .
5. .
6. .
7. .

40
Karman Vortex
1. ..
2. Vortex.
3. .
4. . 5. .
6. . 7. .
8.
9.

9.10.6 Mono-Jetronic
Mono-Jetronic ( 41)
(),
.
,
.
,
.
Single Point Injection.

Mono-Jetronic Bosch Central Fuel
Injection Throttle Body Injection.

9.55

41. Mono-Jetronic
1. . 2. . 3. . 4.
. 5. . 6. . 7. . 8.
. 9. . 10. . 11. .
12. . 13. . 14. -.

9.10.7 LPG
LPG (International Designation for Liquefied Petroleum Gas)
- . LPG

.
. LPG
, .
LPG 4-12 bar
.
LPG
42.

9.56

KINHTHE

42. LPG
1. LPG. 2. .
3. . 4. .
5. . 6. . 7. ().
8. . 9. .
10. .

9.11

.
,
, ,
,
.

.. CO, HC, NO x,
CO2, H2O, N2. ,
. 43
,
60 /cm
0,15 mm.
140000 m2
18 . ' gr
.
CO HC x.

9.57

43, (=1) NOx 2

HC CO.
,
.. ,
.
2
.

. 44
.
. 250 .
,
,
.
-
, =0,99 =1,01 ( window).
CO, HC, NO x.
,
1%
.
.

43.

9.58

KINHTHE

44.

- .

9.59

,
.
:
1. 850 C
2. " " .

, .

.
. .
,

x. HC
, , .,
.
HC,
. , HC
.

HC.
()
-
, .
. ,
.
:
1. ,
,
.
2.
,
HC
.
3.
(2MgO x 2Al 2O2 x 5SiO2).
,

,
.
( 0,04 mm) ,
.
4. .
5. x . '

, x.

9.60

KINHTHE

9.12 ()
45
, ,
-. =1,4
=1,6 (40-60% ) x
.
,
x.
=1.

, ' .

45. ,
-

.
.
(
) ,
' .
.

9.61

9.13
... '
30 , 1971,
(C)
(CO).
, 1977,
NOx, 1983
Diesel. 1989,
Diesel.
9

.
"" 91/441,
... 1/1/93. (2.72
gr/km CO 0.97 gr/Km HC+NOx)
70-90%, ,
, diesel (0.14
gr/Km) 50% 1989.

( 47),
( 46).
46 Mauna Loa Hawaii.
46
.

46.
30 .

9.62

KINHTHE

9.63

47. , ..,
, . ,
.

9.14
(ECU)
, ,
,
.
48

.
(6) 48
.

.
2.5-3 bar
(7)
.
(ECU) (1).
,
, ,
.
48 ' .

, ,
.

(ECU)

.
.
, -
1(=1).

(12) 48.
(ECU)

.


. (15)
,
(11)
.
(11)
48: . , . . .

9.64

KINHTHE

48. 1. , 2. 3.
, 4. () - , 5.
, 6. , 7. , 8.
, 9. , 10. , 11.
, 12 , 13. , 14.
, 15.
, 16. , 17. , 18. , 19.
, 20. , 21.
, 22. , 23.
, 24. , 25.
, 26. .

9.65

.
,
.
, (ECU)
,

.

1. BOSCH Automotive Handbook, 1996 SAE Edition.

2. Automobile Technology of the Future, 1990 Ulrich Seiffert and Peter Walzer, SAE
Edition.
3. Motor Vehicles Fundamentals and design, 1976 M.D. Artamonov, V.A. Ilarionov
and M.M. Morin, Mir Publishers, Moscow.
4. Motor Vehicle Engines, 1976 M. Khovakh, Mir Publishers, Moscow.
5. E K, 2000 . ,
6. . " ".
. 2001.
7. . " ".
. 2001.

 11

, -
- .
,
,
. ,
,
,

. ,
.
,
.

11.2

,
. ,
trial and error,
.
, ,
. ,

.


.
,
, ,
.
, ,
.
.
,
,
.
,
.

.


:
)
.
) ,
,
.

,


,
.
11.1 .
11.1.1. .

.
.
.

11.3

,
.
,
, .1.

.

1. .
1-, 2-, 3-, 4-

,
. , ,

. ,
,
.

:

V = r
, V , , r
.

11.4

,
,
.

:
,
, . 2

. 3kW 1750
... , ,
.
:

Pt = nm ntr M eitr / r
Pt , nm
, ntr , Me
, itr
r .
,
.

,
.

, .
.

.

11.5

11.2 --

11.6

11.1.2. .

. :
rs
.
r d
. Pz
,
p t . ,

rd .
rr

' . ' ,
, '
' .
,
.

.
, ,
. rr
,
. l
m :

rr = 1 / 2 n

(11.1)

n l.
rd rr
.
rd rr .
l , rr.
n
rr .
'
,
,
. ,
rr .
rd, rr rs ,
r.

11.7

r = 0.5 Dr + Bt (1 t )
Dr m, Bt
m, t
, 0.1 0.16
.
11.1.3. .
( )
, , . '

, , .

. Nt
,
Ne Nf .
:

Nt = Ne N f
,
.
,
.
,
.
ntr
Nt Ne ,
Mt Me.

ntr = N t / N e = ( N e N f ) / N e = ( M eitr M f ) / M eitr

itr .
,

.

nrev = N fe /( N fe + N f ) = M feitr /( M feitr + M f )

11.8

Nfe ( )
kW. Mfe .
ntr
,
"" ntr
.

,

, Mf Nf.
,
,

. '
,
, '
.

ntr .

ntr
0.90-0.95
0.90-0.92
0.82-0.85

nrev
0.80-0.85
0.80-0.82
0.75-0.78

0.80-0.85

0.72-0.76

1. .

11.9

11.1.4. .


.
, ,
.
,
: ) ,
)
.

.
.
)
, ,
, ,
.
.
.
.

, .
.
,

. .

. Px
Py ,
. (. .3)

R = ( Px 2 + Py 2 )1 / 2 = ( X 2 + Y 2 )1 / 2
Pgr
Pmax .

Pgr = Rmax = Z
.

11.10

2.

3. . ) , ) , )

( )
. x
y,

11.11

. x, y
, ,

.

.
.
:

Pgr = Z > ( X 2 + Y 2 )1 / 2
,

. .
,

.
Pz t
4. ( okl). ,
( oml).
oklmo
().

.

,
, .

Pz' Pz''.
() ( 4)

at. at
.
,
, .
at.

Px
. :

PX = at Z / r
4
,

11.12

.
,
. dRrd
.
Rrd
rd.
,
. Rrd

at
ard
.
Px :

P = aZ / r
a/r f.
:

f = a / r = PX / Z

( ) ,
.
Pr :

Pr = f Z
Mr :

M r = Pr r = f Z r
, '
:

X 1 = f Z1 = Pr1

,
:

11.13

X 2 = M t / r Pr 2

Mt Mmax

. '
( ) :

X 2 = M max / r Pr 2 = Pt Pr 2 (ntr Iftr 2 + I 2 ) j / r 2

:

X 1 = ( I1 j / r 2 + Pr1 )
I .


.
,
, .
,
, ()
.
, f ,
running out.
.

.
'
f. 40-50 km/h
.


.

, f.

:

f = f 0 (1 + / 1500)

11.14

f0 .
.

11.15

f0 50km/h

0.014
0.018
0.025
0.020
-

0.014
0.023
0.020
0.050
0.050
0.100
0.070

0.018
0.030
0.025
0.015
0.015
0.300
0.100

11.2 . .

, f
.
f '
.
,
.

.
f ,
,
.
Cs
1cm
.
Cs.

0.5 ()

0.5-1()

1.0()

0.15-0.5

1.0-1.5

0.2-0.6

0.05-0.1

1.0-2.0

0.1-0.5

0.05-0.1

0.5-1.0
11.3 Cs.

11.16

Cs f
:

f = 0.12 / Cs + 0.05
,
.
f .
) .
.
rd ,
i, H/B 11.5.

11.5 .

G ,
Gsinrd Gsinrd
' . Gsinrd
Pg.

4o-5o.

11.17

i
i=tanrd=sinrd.

35'.

11.18

Pg

Pg = G sin ard = Gi
Ng i kW

N g = PgV / 1000 = GiV / 1000

(11.5)

Pg
() . rd
i
.
, ,
. , Pg
.
) .
,
, Gcosrd.
,
Pr=fGcosrd , .
rd cosrd=1
Pr ,

Pr = f ( Z1 + Z 2 ) = f G
, .
, f
i, , ,
, . '
P rd
Pr Pg . :

Prd = Pr + Pg = G ( f cos ard + sin ard ) = G ( f + i )

. ' :

Prd = G

11.19

N rd = PrdV / 1000 = GV / 1000

,
.
.
) .
'
. , .
,
:
) ,
. 55%60% .
) , ,
, , .
12%-18% .
)
, , ...
10%-15%.
)
, 8%-10% .
)
, 5%-8%
.
,
, '
,
P air. Pair (sail center )
.
:

Pair = kair FairV 2

kair (
) ,
Nsec2/m4. Fair m2.
kair
1m2
1 m/sec.

11.20

Fair
.
,
, .
,
:
) Fair =BHa,

B ,
Ha .
) Fair =0.78 BaHa,

Ba
kairFair
Wair.
kair, Fair, Wair.

kair Ns2/m4
0.20-0.35

Fair m2
1.6-2.8

Wair Ns2/m2
0.3-1.0

0.40-0.50
0.60-0.70
0.25-0.40

1.5-2.0
3.0-5.0
4.5-6.5

0.6-1.0
1.8-3.5
1.1-2.6

0.13-0.15

1.0-1.3

0.13-0.2

11. 4. .

nair = PairV / 1000 = WairV 3 / 1000

(kW)

running out,
, .
, , .

,
.
P air ,
' .
, .
,
kair. ,

11.21

,
.
,
1/5 - 1/10 .
'
, . ,
,
. kair
.

.
,
,
,
.
, ,
.

, . ,
.
) .

.
.


. ,
, ' .

.
,
.
.
'
, 11.6.
Pin
G=Mag.
. :

Pin = M a j
Ma kg j m/sec2.
Mr1 Mr2
Min1 Min2.

11.22

X1 X2. Pair
sail center hair.

X 2 X 1 Pin Pg Pg = 0
:

X 1 = ( I1 / r 2 ) j Pr1
X 2 = Pt (ntr Ifitr 2 + I 2 ) j / r 2 Pr 2
:

Pt I1 j / r 2 ntr Ifitr 2 + I 2 ) j / r 2 M a j f ( Z1 + Z 2 ) Pg = 0

Pair = 0
:

Prd = Pr + Pg = f ( Z1 + Z 2 ) + Pg
:

Pt Prd Pair j ( I1 / r 2 + ntr Ifitr 2 / r 2 + I 2 / r 2 + M a ) = 0

j.

. '
, rot.
:

rot = 1 + (ntr itr 2 f + I r ) / M a r 2

Pin = M a j rot

2-10

11.23

,
.
If, Ir ,
rot ,
.
rot ,
:

Pt Prd Pair M a j rot = 0

, .
' ,
, .
Pt ,
. - Pr , '
Prd (.4.).
'
,
.
) .
,
Me, ntr,
itr, r.
,
. ,
.
, :

Pgr = X Z > X
:

X = Pt fZ

Pt < ( X + f ) Z

x
f ,
:

Pt < Pgr = X Z

11.24

Pgr
.
, xZ,
.
,
, .
, ,
.
, ,
, .
Px
,
Gb ,
:

X = PX / Gb
, ,
.
,

. ,
, ,
.
. ,
, ' ,
.
,
, .
,
x.
, . ,
, .
, x, ,
15km/h,
, .
120km/h x 40km/h.
' x,
' ,
x .

11.25

0.7-0.8

0.35-0.45

0.7-0.8

0.35-0.45

0.6-0.7
0.5-0.6

0.3-0.4
0.2-0.4

0.1-0.2

0.2-0.3

11. 5. x

y
x.
) .
:

Pt Prd Pair M a j rot = 0

, :

Pt > Prd + Pair

, ,
.
. :

Pt < Pgr = X Z

:

X Z = Pgr > Pt > Prd + Pair

11.26

,
,

,
.
) .
,
.
a b
(..6).
Z1, Z2, G1, G2
, :

Z1 = G1 = Gb / L

Z 2 = G2 = Ga / L

L .
,

.
,
.
. ,

. ,
( ) ,
,
.
,
,
,
( 6).
.
sail center hair,
.' :

Z1 L + ( Pg + Pair + Pin )(hg r ) + M r + ( X 2 X 1 )r G cos ard b = 0

Z 2 L + ( Pg + Pair + Pin )(hg r ) M r ( X 2 X 1 )r G cos ard = 0

M r = M r1 + M r 2 = f ( Z1 + Z 2 )r = Pr r
X 1 = ( I1 / r 2 ) j Pr1
X 2 = Pt (ntr Ifitr 2 + I 2 ) j / r 2 Pr 2
I1 + I 2 = I r ,
Pin = M a j

11.27

,

. ,
,
Pr, Pair.
' mr.
,

. :

mr1 = Z1 / G1

mr 2 = Z 2 / G2

,
, 0.65-0.7
1.2-1.35.
, ,
.
,
,
.
11.2 .
,
.
,
Pt, Prd, Pair .
, ,
.
' ,
, .
,
,
,
, .
11.2.1 .
,
.
,
vmax .

11.28

Pt = Prd + Pair + Pin

,
11.7.
11.7, Pt,
, 11.1.
itr,
,
.

11.7

11.29

,
Prd, (..
) 11.4.

Pair, .5.
, Prd+Pair
,
. Pt
Prd+Pair,
,
() ,
,
.
,
, .
,
, itr
,
Pt Prd+Pair. '
0,
.

,
.

, .
,
11.8, :

Pt < Pgr = X Z
.
,
Pgr, .
"" , ,
,
.
'
, .
,
(. ). Pg Pin
.

.

11.30

11.31

11.2.2. .

,
Nt,
.
:

N t = N rd + N air + N in
Nin=Pinv/1000
kW.
, :

N t = ( fG cos ardV + G sin ardV + WairV 3 rot M a jV ) / 1000

-240,
, 11.8.

:

N t = nm ntr N e

Nrd

N rd = PrdV / 1000 = GV / 1000

f '

11.32

11.8

11.33

Nrd Nrd+Nair.
,
,
. Nt
Nrd+Nair

,
(, ).
,
vmax, .

vmax.
' ,
, ,
,
, , vmax
.

, .
, Ng, Nin
, .
U
,
. :

U = ( N rd + N air + N in ) / N t
:

U = ( N rd + N air ) / N t

, , .
, , , ""
, .

11.2.3. .
, ,
, ,

. .

,

11.34

.

, .
D ,
.':

D = ( Pt Pair ) / G = (ntr M eitr / r Wair ) / G

D
'
.
, ' Pt
Pair.
:

Pt Pair = Prd + Pin

:

D = = rot / jg

. D
. ,
, ,
' :

D>g

'
:

Pt = Pgr = m 2 X G2

Dgr = ( Pgr Pair ) / G = (m 2 X G2 Pair ) / G

Pair=0. m2=1, :

11.35

Dgr = X G2 / G
:

Dgr > D >

11.9,
D,
itr, .

, .
, ,
, :
D=. .
)
.
) ,
, ,
.
) ,
,
.
) , ,
,
, .
,
,
.
f ,
,
:

= f +i
,
,
max,
.

11.9 D

11.36

11.37

11.3 : ,
.
11.3.1. .
,
.
20%-25% . 30%-45%,
30%-40%.
,

. ,
. ,
,

.
,
. ,
, ,
.
400m
, 100km/h.
,

,

, ,
.
,
,
.
(i=0)
, ( )
. :

Pt = Prd + Pair + Pin

D = + j rot / g
:

j = ( Pt Prd Pair ) / rot M a = g ( D f ) / rot

11.38

, D j
.
.

. 11.10
, itr=2.6.
,
"" .

.
.
, jm

jm = ( j1 + j2 ) / 2
j1, j2 .
:

jm = V / t = (V2 V1 ) / t

t = V / jm
Vm = (V1 + V2 ) / 2
S = Vm t

11.39

11.10

-, -,
. t=0

11.40

vmin. v2 t1,
v3 t1+t2 ' .

.

:

t = t1 + t 2 + ... tn
:

S = S1 + S 2 + ... Sn
11.3.2. .
.

.
,
.
, '
.

, .
, 50km/h
, . ,
.
,
. :

cst M a j = Pg + Pr + Pair + Ph
Ph = Mh / r
Ph
. Ph
:

Ph = 103 (2 + 0.09V )Ga

,
, . Ph , Pr , Pair

11.41

. 8.11,
. Pg
i .
Pg i>0 , i<0
.

.
Ph+Pr+Pair i.
Pg Ph+Pr+Pair .
, .

:

jd = ( Pg + Pr + Pair + Ph ) g / cst G
11.12, ,
i, .
,
,
.

running out.

, ,
,
,
.

11.42

11.12

11.43

11.44

11.13

11.45

11.4 .
11.4.1. .
,
, ,
,
,
. ,
,
.

.

,

(, , , )
, .
,

,
,
.
, .

, , .

,
.
'
,
,
.
(
' ), ,

.

,
.
, '
.
,
,
. ,
, ,

11.46

,
,
.
. '
,
,
, .
'
.
,
.

. ,
.
,


.

,
. '
(' ),
,

.
, ,
, .

,
.
, ,
,

(, ,
...)
' , '
.


.
.
-,
- .
,
,

11.47

.
,

.

11.4.2.


.
, .
Microsoft Basic
Compiler, Developement System
version 7.0, PC.

( 2.5) ( CGA, HERCULES,
EGA, MCGA, VGA).
.
11.4.3. .

-240.

11.48

11.49

11.50

11.51

11.52

 11

11.2

1. Artamonov M. D., V. A. Ilarionov, M. M. Morin, 1976, Motor Vehicles,

Fundamentals and Design, Mir Publishers, Moscow
2.Gillespie T. D., Fundamentals of Vehicle Dynamics, S.A.E.
3. Bono S. G., W. J., DeKryger, 1990, Auto Technology, Theory and Service, Delmar
Publishers Inc., N.Y., U.S.A.
4. Krouskas S. S., T. G. Chondro3s, A. D. Dimarogonas, 1991, Computer Aided
Selection of Power Units for Electric cars, Patras.
5. , 1992,
, , ,

6. Dimarogonas A. D., 1989, Computer Aided Machine Design, Prentice Hall, U.K.
7. Nikravesh P. E., 1988, Computer Aided Analysis of Mechanical systems, Prentice
Hall, U.S.A.