Vehicle‘s equation of motion

Prof. dr. Jernej Klemenc

 Coordinate system of a vehicle

hn
l'n

l''n
hp

z
y
lp
x
Forces that act on a vehicle in a X-Z plane
 System of vehicle‘s equations of balance

Chassis equatios of motion:

(1) ∑F x ,i = mn ⋅ &x&n = −Gn ⋅ sin α + X 1 + X 2 − Rz − ( R p )

(2) ∑F z ,i = 0 = Z1 + Z 2 − Gn ⋅ cos α

(3) ∑M i = 0 = − ( M 1 + M 2 ) − Z1 ⋅ l ' n + Z 2 ⋅ l "n −

− X 1 ⋅ ( hn − rst1 ) − X 2 ⋅ ( hn − rst 2 ) + [R p ⋅ ( hn − h p )]

Gibalne enačbe za prvo podvozje /

Font-axle equatios of motion:
(4) ∑F x ,i = m1 ⋅ &x&1 = U x1 − X 1 − G1 ⋅ sin α

(5) ∑F z ,i = 0 = Pz1 − Z1 − G1 ⋅ cos α

(6) ∑M i = J 1 ⋅ ϕ&&1 = M 1 − U x1 ⋅ rst1 − Pz1 ⋅ e1

 System of vehicle‘s equations of balance

Rear-axle equatios of motion:

(7) ∑F x ,i = m 2 ⋅ x&&2 = U x 2 − X 2 − G 2 ⋅ sin α

(8) ∑F z ,i = 0 = Pz 2 − Z 2 − G2 ⋅ cos α

(9) ∑M i = J 2 ⋅ ϕ&&2 = M 2 − U x 2 ⋅ rst 2 − Pz 2 ⋅ e2

System of vehicle‘s equations of balance

(2) + (5) + (8): Pz1 + Pz 2 = (Gn + G1 + G2 ) ⋅ cos α

Gn + G1 + G2 = G

(6): J1 ⋅ ϕ&&1 M 1 e1
= − U x1 − Pz1 ⋅
rst1 rst1 rst1
123
Rf 1

J1 ⋅ ϕ&&1 M 1
= − U x1 − R f 1
rst1 rst1

(9): J 2 ⋅ ϕ&&2 M 2 e2
= − U x 2 − Pz 2 ⋅
rst 2 rst 2 rst 2
1
424 3
Rf 2

J 2 ⋅ ϕ&&2 M 2
= − U x2 − R f 2
rst 2 rst 2
 Vehicle‘s equation of motion

(1) + (4) + (6) + (7) + (9):

rst ⋅ ω = v0 < v v0
v0 − v
σt = ⇒ v = ω ⋅ rd
v0 M v

&x&i
ϕ&&i = ; xn = x1 = x2 rst
rd ,i
mn + m1 + m2 = m = G / g

M1 M 2
+ = FK 1 + FK 2 =
rst1 rst 2
G J1 J2 
= + +  ⋅ &x& + G ⋅ sin α + Rz + 1
R f 1 + R f 2 + (Rp )
 g rst1 ⋅ rd 1 rst 2 ⋅ rd 2  424
R
3
f
Forces and torques on a non-traction wheel

Mi… Inertia equivalent torque

ML… Torque losses in bearings,

due to ventilation etc.

e M M
R =Ux = Z ⋅ + L + i
rst rst rst
123
Rf
Forces and torques on a traction wheel

Driving torque compensates losses:

Driving torque for a traction force:

Wheel loads for a rear 4x2 drive
Wheel loads for a front 4x2 drive
Wheel loads for a 4x4 drive