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# ASSIGNMENT , IIT HYDERABAD

Instructions:

## i) All questions are compulsory.

ii) Only calculator is allowed in the examination room.

1. For a four wheeled vehicle with four wheel trolley as shown in Figure 1, do the following

For a four wheeled vehicle with four wheel trolley as shown in Figure 1, do the following

a) Show the FBD with velocity components at all the wheels and CG of vehicle and trolley, respectively.

## b) Find the velocity components at each wheel.

2. For a car of mass, m, moving down the road of slope angle, as shown in Figure 2, do the following,

a) Assuming the rear wheel drive condition and neglecting the friction at the front wheel draw the FBD of
vehicle moving with velocity and write the governing equations using the generalized form of
equations in terms of quantities in local co-ordinates. Using the governing equations, obtain the normal
load at front and rear wheels. (Assuming, and as the coefficients of static and kinetic friction).

b) If each wheel of radius R and polar moment of inertia J, rolls without sliding with angular velocity, ,
write the governing equations based on generalized sets of equation of rolling wheel and obtain the
relationship between , , , and .

## ********* Good Luck************

3. For a longitudinal motion of four wheel car, do the following,
a) Define the slip ratio under acceleration and braking conditions and write the expression of longitudinal
force in terms of coefficients of adhesion. Draw the characteristics curves of longitudinal motion between
the coefficients of adhesion versus slip ratio for dry asbestos road, mud road, and snow packed road with
clear distinctions in the curve peak.

b) Find the stability condition of longitudinal motion with the variation of characterization curve of
longitudinal motion versus slip ratio.

## 4. For the motion control of four wheel vehicle, do the following,

a) For a unit step input at t>t0, graphically show the transient output and characterize related parameters to
control the nature of curve. Briefly, mention the role of PID controller in controlling the nature of curve.

b) For a mass-spring-damper system of with spring force Fk= -k sin(x), non-viscous damper with force
Fd=-b sin( ) and mass m subjected to an external force of F, write the governing equation of motion along
x-direction. After writing the equation s-domain, obtain the systems transfer function in open circuit and
that in closed circuit with PID controller.

## 5. To analyze the stability of vehicle, do the following,

a) Draw the stability chart of a system of linear equations and clearly showing the stable and unstable
regions of different kinds.

## 6. Answer the following questions:

a) Obtain the expression of curvature gain in terms of understeering coefficient for high
speed cornering at constant speed under negligible aerodynamic forces and aligning
torque.
b) Graphically compare the variation of curvature gain with vehicle speed when the
aerodynamic drag forces are considered and are not considered.
c) Define understeer, neutral steer, and over steer conditions in both the cases.

## ********* Good Luck************

a) Name different types of delay times associated with the performance of a driver.
Obtain the linearized driver model in the form of differential equation considering all
the delay time.
b) Considering only the reaction time, reduce the above driver model to simplified form
and write the coupled form of vehicle-driver model in state space form.
c) Obtain the permissible reaction time of the driver such that the vehicle remains under
stable state.

## 8. Answer the following questions:

a) Draw the driveline components of a four wheeled vehicle and its equivalent lumped
mass system.
b) After reduce the drive line model to two mass systems, describe the variation of
torque transferred to the vehicle from the rest over different stages of clutch operation

c) Obtain the equation of motion under different operating stages and solve them to
obtain corresponding engine speed and vehicle speed over different time stages. Also
obtain the time when the clutch stops slipping.

## 9. Answer the following questions:

a) For a give transmission ratio and given engine power, obtain the condition of
maximum speed attained by a vehicle. Describe the condition of under, over and ideal
transmission ratio.

b) Derive the condition of ideal braking condition of a two axles vehicle. Subsequently,
obtain the condition of wheel lockup for the front wheel and rear wheels,
respectively.