DINÁMICA DE VEHÍCULOS

Modulo 3: Maniobrabilidad en estado transitorio

Ricardo Prado Gamez

ENE-MAY 2019
Objective: To understand the handling behaviour of the vehicle
during transition states.

• State Space Model X = AX + BU

• Natural response of the system (Homogeneous Solution)
• Response to an input drive excitation (Particular solution)
• Effect of mass and intertia.
SAE System reference

Ricardo Prado
 Equations of motion Objective
1) F f + Fr = mV ( +  )
Ff
2) aF f − bFr = I z Mz Fy 

a 3) Ff = C f  f
Fc

4) Fr = Cr ar
a Model
5) f =  + −
b u
 b
6) r =  −
u
Fr  ay v 

Kinematically
 : curvature = 1 R related
x
v : Velocity
z SAE
a y : Lateral _ acceleration
x y
 : Vehicle _ slip _ angle

Ricardo Prado
 General transition state
I z = N   + N  + N  
mV ( +  ) = Y  + Y + Y  Mz Fy 

 N   N   N 
Y  =  +  +
 = 
 Y   Y 
  +  mV − 1  +  mV   Iz


 
 Iz 
 
 Iz  Model
 mV     

 Y Y   Y 
− 1
    mV mV     mV   ay v 
 =N  +
N      N  

   
 I I z   I z  Kinematically
 z Related

   Y Y   Y 
X =   mV − 1  mV 
  A= 
mV
 B=N 
X = AX + BU  N N    
Y = CX + DU    I I z   I z 
X =   z
 
U =
C and D Matrix are setting according to desired
Y ,C ,U state variables observavation

Ricardo Prado
    Y Y   Y 
X =  − 1
   mV  
X = AX + BU A= 
mV
 B =  mV
N 
   N N   
X =   I I z   I z 
   z

Proposed solution

t
X = e X(0 )+  e
At A( t − )
BUd
t0
Eigen Values) Particular solution
 Step 1: Homogenous solution
 Y Y   Y  0  Y Y 
− 1
 − 1   1 0     mV  
  mV mV    mV 0 1   −  N
mV
  = 0
  =   +        N    
   N  N 
     N  I I z 
 z
 I   I z 
 z Iz 
 Y Y 
− 1
 0      mV mV  
 Y Y   0     −  N   = 0
− 1     N    
    mV

mV    I I z 
 =N  
N    
 z
   
 I I z 
 z  Y Y 
 − mV −
mV
+ 1
 
   = 0
 N 
 −    
Proposed solution X = AX N
 − I
 z Iz 
 =  0 e t  = 0et
 = 0 e t  = 0et Non trivial solution: Roots of second order equation
 =   = 
 Y N   Y N  N  N  Y 
 − 2
+  +  + − =0
 mV I Z   mVI Z I Z mVI Z 
Homogeneous soution
t
X = e X ( 0 ) +  e A( t − ) BUd
At Phasor diagram

t0 jd

n
 Y N  Y N N N Y 
2 −  +   +    +  −    = 0
 mV I Z   mVI Z I Z mVI Z 
 = n

Second order system of the form:

− j d
 + 2n  + n = 0
2 2

Oscillatory case
 Hand Calculation
Derivative
• DATOS
– Mass = 1000 Kg terms
– Weight distribution 54/46 (front / rear)
– Cf ,Cr =-0.9259 KN/grad
– Wheelbase= 2.5 mts Y = −212, 216;
– Radius of gyration = 1.22 m
Y = 1,091.4
Y = 106,108
Car travels straight at 70 km/h N  = 21, 221.6

Find N  = −17,162.21
• System dynamic Maatrix [A] N  = 122,024
• System input matrix [B]
• Space state matrix equation 
X = AX + BU
• Characteristic equation
• System roots (pools)
• Natural frequency
• Damped frequency (if any)
• Damping
• Roots

Ricardo Prado
Example 1 (Solution)

 −10.91 −0.944  n = 11.8 rad s

A=  
 14.25 −11.53
 = 0.95
5.457 
B= 
81.98
j3.65
    −10.91 −0.944     5.457 
x
 =    +   11.8
   14.25 −11.53   81.98

 2 + ( 22.445)  + 139.3 = 0 (-)

 = 11.22
1 = −11.22 − j 3.65
2 = −11.22 + j 3.65 − j3.65
x
Oscillatory case

Ricardo Prado
 Example 1 Part 2 (Excel) Part 2
Repeat increasing velocities as shown and observe the trends
(damping and roots).
• DATOS +jd 
– Mass = 1000 Kg
70
– Weight distribution 54/46 (delantaro/trasero)
– Cf ,Cr =-0.9259 KN/grad 100
– Wheelbase= 2.5 mts 130
– Radio de giro = 1.22 m
150
180
Car travels straight at 70 km/h 210

Find: Part 3
• System dynamic Maatrix [A] Over damped case 46/54 (front /)

• System input matrix [B] 1 2 

• Space state matrix equation 70
X = AX + BU
• Characteristic equation
100
• System roots (pools)
130
• Natural frequency
• Damped frequency (if any) 160

• Damping 190

• Roots 220

Ricardo Prado
Example 1 Part 2 (Solution)
Under steer Over steer
+jd  1 2 
70 -11.22 +/- j3.65 0.95 70 -15.11 -7.33 1.06
100 -7.85 +/- j3.71 0.90 100 -11.69 -4.02 1-15
130 -6.043 +/- j3.75 0.85 130 -9.85 -2.23 1.28
160 -4.91 +/- j3.75 0.79 160 -8.71 -1.11 1.51
190 -4.135 +/- j3.75 0.74 190 -7.93 -0.34 2.51
220 -3.57 +/- 3.76 0.68 220 -7.36 +0.22

What would be expected trend for neutral steer ?

Ricardo Prado
Objective: To understand the handling behaviour of the vehicle
during transition states.

• State Space Model X = AX + BU

• Natural response of the system (Homogeneous Solution)
• Response to an input drive excitation (Particular solution)
• Effect of mass and intertia.

Ricardo Prado
    Y Y 
X =  − 1  Y 
X = AX + BU    mV mV  
A=   B =  mV
   N N  N 
X =   
   I I z   I z 
Proposed Solution  z
t
X = e X ( 0 ) +  e A( t − ) BUd
At
t0

Homogeneous Particular
(Eigen values)
(Excitation)

 Y  d      Y  Nr      
( t ) =   2 
2 
− e −t  sinh d + cosh d t  −   +   2 d 2  1 − e −t  cosh d t + sinh d t 
 mV   − d   d  d  mVd  Iz   − d    d 

N  Yr      
+  − 1 2 d 2  1 − e −t  cosh d t + sinh d t 
I zd  mV   − d    d 

 Y  N   d  −t    N  d   −t   
r( t ) =     2  −   +   +   −   +  
 mV  I z   −  2 1 e

cosh d

sinh d t

 I  2
 −  2 

e  sinh d t

cosh d t
 d   z  d  d  
d d

N  Y      
−  +   2 d 2  1 − e −t  cosh d t + sinh d t 
I zd  mV   − d    d 

Ricardo Prado
 • DATA MATLAB instructions
– Mass = 1000 Kg 1.- Directory
– Weight Dist 54/46 (front / Rear)
– Cf ,Cr =-0.9259 KN/grad
– Wheelbase= 2.5 mts
– Radius of gyration= 1.22 m
2.- Run the command file

Car travels at 70 km/hr, the drivers suddently

steers the wheel at 34.2º right, obtain the car
response.
3a.- Run applying step function

 , , 
3b.- Second option run ltiview tool

suggested..!
 Exercise 2 (Matlab)
clear all
%---Sistem 1------- The command file shows the instructions on the left, which
m =1000;
k =1.22;
is organized to see  and w only.
L=2.5
rw=0.46
a=rw*L;
b=(1-rw)*L;
Cf = -106108; %N/grad
Cr = -106108; %N/grad
u = 70 %km/h
u = u/3.6; %(m/s)
I = m*k^2;

yb = Cf+Cr;
yw =(a*Cf-b*Cr)/u;
yd = -Cf;
nb=a*Cf-b*Cr;
nw = (a^2*Cf+b^2*Cr)/u;
nd = -a*Cf;

A = [yb/(m*u) (yw-m*u)/(m*u)
nb/I nw/I];
B = [yd/(m*u)*0.035 nd/I*0.035]'; To see  ,  The matrix C, D should be modified
%C = A; %Para calcular rpunto y beta punto
C = eye(2); %Para calcular r y beta
D = [0 0]';
sys1 = ss(A,B,C,D);
Exercise 2 (Matlab) 0.005
0
-0.005 0 0.5 1 1.5 2 2.5
• DATA -0.01
– Mass = 1000 Kg

rad
-0.015
beta
– Weight Dist 54/46 (front / rear) -0.02
– Cf ,Cr =-0.9259 KN/grad -0.025
– Wheelbase= 2.5 mts -0.03
– Radius of Gyration= 1.22 m -0.035
sec
0.060
0.040
0.020
0.000
0 0.5 1 1.5 2 2.5

rad
-0.020
• Car travels at 110 km/hr and driver beta_dot
attemts to skid an obstacle turning -0.040

suddently the steering wheel 34.2º -0.060

towards the right. Obtain the car -0.080

response. -0.100
sec
0.25
• Observe the response of . 0.2
0.15
rad/s

0.1

 , , 
w
0.05
0
0 0.5 1 1.5 2 2.5
sec
Objective: To understand the handling behaviour of the vehicle
during transition states.

• State Space Model X = AX + BU

• Natural response of the system (Homogeneous Solution)
• Response to an input drive excitation (Particular solution)
• Effect of mass and intertia.
 (1)

At steering request time 0:

b a

(
mu r +  )
c  0 = 0
r = 0
0  0
v

Fr = cr r
Ff = c f  f
Center of Gravity
Center of percusion

0
F f + Fr = mu  +  ( ) c f  f = mu

0 ac f  f = I Z 
ac f  f − bcr r = I Z 
 (1)

We know that: Integrating:

1 t
v v =  c f  f dt
= m o
u
1 t
Then: r =  ac f  f dt
IZ o
c f  f = mv
ac f  f = I Z 

Differential equations: Simplifying

cf f t
v=
dv 1 m
= cf f
dt m ac f  f t
r= 2
dr 1 mk z I Z = mk z
2
= ac f  f
dt I Z
Dividing both equations:

( )
Center of gravity
v mu r + 
cp = Center of percusion
r cp r
cf f t r = 0
cp = m v
ac f  f t
2
mk z
Simplyfing: Normalizing with
respect to “b”:
2
k
cp = z cp k z
2
a =
b ab
2
kz
DI =
ab
Example 3 (Matlab)

0.25
• DATA
0.2
– Mass = 1000 Kg
– Weight Dist 54/46 (front / rear)
0.15
– Cf ,Cr =-0.9259 KN/grad
– Wheelbase= 2.5 mts 0.1
– Radius of Gyration= 1.15 m
0.05

0
0 0.5 1 1.5 2 2.5
• Car travels at 110 km/hr and driver attemts
to skid an obstacle turning suddently the DI=0.85 DI=1 DI=1.15

steering wheel 34.2º towards the right. b_dot

Obtain the car response. 0.06
• Obtain the response for different dynamic 0.04
index 0.02

0
0 0.5 1 1.5 2 2.5
k z = 1.15 m DI = 0.85 -0.02
-0.04
k z = 1.246 m DI = 1.0 -0.06
-0.08
k z = 1.34 m DI = 1.15 -0.1

DI=0.85 DI=1 DI=0.85

 Step Steer of 25o @ 150 km/h  + abs(_dot)
0.4

0.35

0.3
• At 150 km/h none of the
0.25
cars will support a step
0.2 steer of 34 deg.
0.15
• Maximum yaw response
0.1
is of 0.27 rad/s
0.05

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

DI=0.85 DI=1 DI=1.15 125 km/h 130 km/h 150 km/h

0.35

0.3

0.25

0.2
rad/s

0.15

0.1

0.05

0
0 50 100 150 200 250 300 350
km/h
Step Steer of 25o @ 125 km/h
 + abs(_dot)
0.4

0.35 • At 125 km/h only the car

0.3 with dynamic index of
0.25 1.15 will be imminent to
0.2 lose friction.
0.15

0.1

0.05

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

DI=0.85 DI=1 DI=1.15 125 km/h 130 km/h 150 km/h

0.35

0.3

0.25

0.2
rad/s

0.15

0.1

0.05

0
0 50 100 150 200 250 300 350
km/h
Step Steer of 20o @ 125 km/h
 + abs(_dot)
0.35

0.3 • However, all cars are

0.25
capable to sustain a steer
0.2
wheel step steer of 20 deg
0.15
below of 130 km/h.
0.1

0.05

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

DI=0.85 DI=1 DI=1.15 125 km/h 130 km/h 150 km/h

0.4

0.35

0.3

0.25
rad/s

0.2

0.15

0.1

0.05

0
0 100 200 300 400
km/h
Ejercicio 4 (MATLAB )
0.4
• DATA
0.35
– Mass = 1000 Kg
– Weight Dist 54/46 (front / rear) 0.3
– Cf ,Cr =-0.9259 KN/grad
0.25
– Wheelbase= 2.5 mts

rad/s
– Radius of Gyration= 1.15 m 0.2
– Steering Ratio: 17:1
0.15
• The driver is having a sport event wherby
0.1
the average speed is of 115 km/h with a
driving cycle of double steer (slaloms) of 0.05

+/- 17 of steer wheel. 0

0 50 100 150 200 250 300 350
km/h

-21 +21
• Study the response of the car considering
different radius of gyration.

k z = 1.15 m DI = 0.85
• Consider that tyre-road has an envelope k z = 1.246 m DI = 1.0
yaw angular velocity limited by the
following curve. k z = 1.34 m DI = 1.15
 Double Steer of 20o @ 125 km/h
 + abs(_dot)
0.4

0.35
• However a double step
0.3
steer (reversals) at 125
km/h can be sustained
0.25

0.2

0.15
only by the car with 1.15
0.1 Dynamic Index.
0.05

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

DI=0.85 DI=1 DI=1.15 125 km/h 130 km/h 150 km/h

0.4

0.35

0.3

0.25
rad/s

0.2

0.15

0.1

0.05

0
0 100 200 300 400
km/h